An accelerometer calibration method, system and device based on a suspended power mechanism

Abstract

The present invention discloses an accelerometer calibration method, system and device based on a suspended power mechanism. The present invention obtains the position data of the suspended power mechanism in real time through the method, generates activation data for obtaining accelerometer calibration-related data according to the position data of the suspended power mechanism; generates first acceleration data corresponding to the suspended power mechanism according to the activation data; generates and obtains second acceleration data of the accelerometer itself; combines the first acceleration data and the second acceleration data to generate an error value of the accelerations of the two, and calibrates the accelerometer in real time according to the error value, as well as a system, platform and device corresponding to the method; directly acts on the wave buoy through a drone, omits the intermediate transmission device, can perform motion control in real time, ensures real-time error and full-stroke error, and the invention has a simple structure and can perform precise quantitative calibration.

Description

Technical Field

[0001] The present invention belongs to the technical field of metrological inspection and calibration, and particularly relates to an accelerometer calibration method, system and device based on a suspended power mechanism. Background Art

[0002] Waves are one of the most important elements in ocean observation, ocean survey and ocean environmental monitoring. The change of waves has important significance for the impact on climate, fishery and environment. The accuracy and reliability of the measured data of wave buoys directly affect the quality of ocean survey and observation.

[0003] Currently, the calibration of accelerometers requires the assistance of an intermediate transmission device, which cannot achieve real-time motion control and cannot guarantee real-time error and full-stroke error.

[0004] Such as Figure 1 shown, a pulley-rope combination calibration system uses an artificial method to maintain a vertical motion with a limited period to simulate wave motion. Due to the damping effect of the elastic system and the limitation of the effective height, this method is only applicable to indicating whether the buoy is working and it is difficult to accurately calibrate quantitatively.

[0005] Such as Figure 2 shown, a pendulum calibration method, in which a pendulum pulley-rope combination calibration system is fixed on a drum, and a buoy and a balance are suspended on both sides of the drum. The swing of the pendulum is converted into a vertical sine motion of the buoy through the drum. This method can adjust both the period and the amplitude, but the calibration range is small and the damping still exists; the maximum measured wave height of the existing gravity acceleration type wave buoy is 20m.

[0006] Such as Figure 3 shown, a vertical lifting type sine simulation calibration device converts the rotation of a motor into a linear sine motion of a sprocket through a specific transmission mechanism, and drives the buoy or accelerometer to be calibrated to perform a vertical sine motion. The disadvantages of such a device are: complex structure, many moving parts, serious wear, unbalanced motor load and high maintenance cost.

[0007] Therefore, aiming at the above technical problems and defects, it is urgent to design and develop an accelerometer calibration method, system, device and platform based on a suspended power mechanism. Summary of the Invention

[0008] In order to overcome the deficiencies and difficulties existing in the above-mentioned prior art, the purpose of the present invention is to provide an accelerometer calibration method, system, device and platform based on a suspended power mechanism. The intermediate transmission device can be omitted, real-time motion control can be performed, and real-time error and full-stroke error can be guaranteed.

[0009] The first object of the present invention is to provide an accelerometer calibration method based on a suspended power mechanism;

[0010] The second object of the present invention is to provide an accelerometer calibration system based on a suspended power mechanism;

[0011] The third object of the present invention is to provide an accelerometer calibration device based on a suspended power mechanism;

[0012] The fourth object of the present invention is to provide an accelerometer calibration platform based on a suspended power mechanism;

[0013] The first object of the present invention is achieved as follows: The method includes the following steps:

[0014] Obtain the position data of the suspended power mechanism in real time, and generate activation data related to obtaining accelerometer calibration data according to the position data of the suspended power mechanism;

[0015] Generate first acceleration data corresponding to the suspended power mechanism according to the activation data;

[0016] Generate and obtain second acceleration data of the accelerometer itself; wherein, the accelerometer is arranged in the suspended power mechanism; wherein, it includes: obtaining the position data of at least four points not in the same plane, combining the displacement data and time data corresponding to any position of the suspended power mechanism, and generating first acceleration data corresponding to any corresponding position of the suspended power mechanism;

[0017] Combine the first acceleration data and the second acceleration data to generate an error value of the accelerations of the two, and calibrate the accelerometer in real time according to the error value.

[0018] Further, the step of obtaining the position data of the suspended power mechanism in real time and generating activation data related to obtaining accelerometer calibration data according to the position data of the suspended power mechanism further includes:

[0019] Generate and obtain hovering command data of the suspended power mechanism, and generate position data corresponding to the suspended power mechanism in real time according to the hovering command data.

[0020] Further, the step of generating first acceleration data corresponding to the suspended power mechanism according to the activation data further includes:

[0021] Generate displacement data and time data corresponding to the suspended power mechanism respectively according to the activation data;

[0022] Generate first acceleration data corresponding to the suspended power mechanism in real time according to the displacement data and the time data, and in combination with the corresponding relationship between the displacement data and the time data.

[0023] Further, generating displacement data and time data corresponding to the suspended power mechanism according to the activation data further includes:

[0024] Generating at least two consecutive time data corresponding to the suspended power mechanism;

[0025] Generating two displacement data corresponding to the two consecutive time data;

[0026] The displacement data includes: vertical direction displacement data and horizontal direction displacement data; the time data includes: vertical direction time data and horizontal direction time data.

[0027] Further, the corresponding relationship between the displacement data and the time data is specifically as follows:

[0028]

[0029] Where a is the acceleration, s1 and s2 are the displacement data within the time periods of t1 and t2 respectively, and t1 and t2 are the time data.

[0030] Further, generating first acceleration data corresponding to the suspended power mechanism in real time according to the displacement data and the time data, and in combination with the corresponding relationship between the displacement data and the time data further includes:

[0031] Obtaining the first acceleration data and differentiating the first acceleration data to generate third acceleration data corresponding to the first acceleration data.

[0032] The second object of the present invention is achieved as follows: The system includes:

[0033] A first data generation unit, configured to obtain the position data of the suspended power mechanism in real time, and generate activation data for obtaining acceleration sensor calibration-related data according to the position data of the suspended power mechanism;

[0034] A second data generation unit, configured to generate first acceleration data corresponding to the suspended power mechanism according to the activation data;

[0035] A third data generation unit, configured to generate and obtain second acceleration data of the acceleration sensor itself; wherein, the acceleration sensor is disposed in the suspended power mechanism;

[0036] A fourth data generation unit, configured to combine the first acceleration data and the second acceleration data to generate an error value of the accelerations of the two, and calibrate the acceleration sensor in real time according to the error value.

[0037] Further, the first data generation unit further includes:

[0038] A first generation module, configured to generate and obtain hovering instruction data of a hovering power mechanism, and generate position data corresponding to the hovering power mechanism in real time according to the hovering instruction data;

[0039] And / or, the second data generation unit further includes:

[0040] A second generation module, configured to generate displacement data and time data corresponding to the hovering power mechanism respectively according to the activation data;

[0041] A third generation module, configured to generate first acceleration data corresponding to the hovering power mechanism in real time according to the displacement data and the time data, and in combination with the corresponding relationship between the displacement data and the time data;

[0042] And / or, the second generation module further includes:

[0043] A fourth generation module, configured to generate at least two consecutive time data corresponding to the hovering power mechanism;

[0044] A fifth generation module, configured to generate two displacement data corresponding to two consecutive time data;

[0045] The displacement data includes: vertical direction displacement data and horizontal direction displacement data; the time data includes: vertical direction time data and horizontal direction time data;

[0046] And / or, the third generation module further includes:

[0047] A sixth generation module, configured to obtain the first acceleration data, and perform differential processing on the first acceleration data to generate third acceleration data corresponding to the first acceleration data.

[0048] The third object of the present invention is achieved as follows: The device is applied to the acceleration meter calibration method based on a hovering power mechanism as described above. The device includes a hovering power mechanism, an acceleration meter to be calibrated detachably connected and carried with the hovering power mechanism, and an electromagnetic wave receiver for receiving electromagnetic waves; and at least four electromagnetic wave transmitters for transmitting position data to the hovering power mechanism and located in different planes.

[0049] The fourth object of the present invention is achieved as follows: It includes a processor, a memory, and an accelerometer calibration platform control program based on a suspended power mechanism; wherein the processor executes the accelerometer calibration platform control program based on the suspended power mechanism, the accelerometer calibration platform control program based on the suspended power mechanism is stored in the memory, and the accelerometer calibration platform control program based on the suspended power mechanism realizes the accelerometer calibration method based on the suspended power mechanism.

[0050] The present invention obtains the position data of the suspended power mechanism in real time through the method, generates activation data related to obtaining accelerometer calibration-related data according to the position data of the suspended power mechanism; generates first acceleration data corresponding to the suspended power mechanism according to the activation data; generates and obtains second acceleration data of the accelerometer itself; wherein, the accelerometer is arranged in the suspended power mechanism; combines the first acceleration data and the second acceleration data, generates an error value of the accelerations of the two, and calibrates the accelerometer in real time according to the error value, as well as the system, platform, and device corresponding to the method; directly acts on the wave buoy through the unmanned aerial vehicle, omits the intermediate transmission device, can perform motion control in real time, ensures real-time error and full-stroke error, and the invention has a simple structure and can accurately and quantitatively calibrate. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0052] Figure 1 Schematic structural diagram of a pulley-rope combination calibration system in the prior art;

[0053] Figure 2 Schematic structural diagram of a pendulum calibration method in the prior art;

[0054] Figure 3 Schematic structural diagram of a vertical lifting type sine simulation calibration device in the prior art;

[0055] Figure 4 Schematic flow chart of an accelerometer calibration method based on a suspended power mechanism of the present invention;

[0056] Figure 5 Schematic structural diagram of an accelerometer calibration system based on a suspended power mechanism of the present invention;

[0057] Figure 6It is a schematic diagram of the overall structure of an accelerometer calibration device based on a suspended power mechanism of the present invention;

[0058] Figure 7 It is a schematic diagram of an embodiment of the overall structure of an accelerometer calibration device based on a suspended power mechanism of the present invention;

[0059] Figure 8 It is a schematic diagram of a second embodiment of the overall structure of an accelerometer calibration device based on a suspended power mechanism of the present invention;

[0060] Figure 9 It is a schematic diagram of a three-dimensional structure of an equipment carrying mechanism of an accelerometer calibration device based on a suspended power mechanism of the present invention;

[0061] Figure 10 It is a second structural schematic diagram of a three-dimensional device-carrying mechanism of an accelerometer calibration device based on a suspended power mechanism of the present invention;

[0062] Figure 11 It is a bottom-up structural schematic diagram of an equipment-carrying mechanism of an accelerometer calibration device based on a suspended power mechanism of the present invention;

[0063] Figure 12 It is a schematic diagram of a top view of the structure of an equipment mounting mechanism of an accelerometer calibration device based on a suspended power mechanism of the present invention;

[0064] Figure 13 It is a schematic diagram of the architecture of an accelerometer calibration platform based on a suspended power mechanism of the present invention;

[0065] Figure 14 A schematic diagram of a computer-readable storage medium architecture in an embodiment of the present invention;

[0066] In the figure: 1 - drone; 11 - first electromagnetic wave transmitter; 12 - second electromagnetic wave transmitter; 13 - third electromagnetic wave transmitter; 14 - fourth electromagnetic wave transmitter; 101 - first electromagnetic wave receiver; 102 - second electromagnetic wave receiver; 103 - third electromagnetic wave receiver; 104 - fourth electromagnetic wave receiver; 111 - first electromagnetic wave transceiver; 112 - second electromagnetic wave transceiver; 113 - third electromagnetic wave transceiver; 114 - fourth electromagnetic wave transceiver; 01 - device mounting mechanism; 011 - control switch; 022 - USB interface; 033 - HDMI interface; 11 - first mounting hole; 12 - second mounting hole; 13 - third mounting hole; 14 - fourth mounting hole; 15 - fifth mounting hole; 101 - first mounting member; 102 - second mounting member; 103 - third mounting member; 104 - fourth mounting member; 105 - fifth mounting member; 2 - first annular protrusion; 201 - threaded hole; 202 - rib; 3 - scale; 4 - fixed pulley; 5 - rope; 6 - movable pulley; 7 - wave measuring buoy; 8 - second annular protrusion; 9 - third annular protrusion;

[0067] The realization of the object, functional features and advantages of the present invention will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0068] To better understand the object, technical solution and advantages of the present invention more clearly, the present invention will be further described below with reference to the accompanying drawings and specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0069] The present invention can also be implemented or applied through other different specific examples. Various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0070] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0071] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, such descriptions of "first", "second", etc. are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. Secondly, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0072] Preferably, a method for calibrating an accelerometer based on a suspended power mechanism according to the present invention is applied to one or more terminals or servers. The terminal is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to a microprocessor, an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), an embedded device, etc.

[0073] The terminal may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The terminal can perform human-computer interaction with the customer through a keyboard, a mouse, a remote control, a touchpad, a voice control device, etc.

[0074] The present invention aims to implement a method, a system, a platform, and a storage medium for calibrating an accelerometer based on a suspended power mechanism.

[0075] As Figure 4 shown, it is a flowchart of the method for calibrating an accelerometer based on a suspended power mechanism provided by an embodiment of the present invention.

[0076] In this embodiment, the method for calibrating an accelerometer based on a suspended power mechanism can be applied to a terminal with a display function or a fixed terminal, and the terminal is not limited to a personal computer, a smart phone, a tablet computer, a desktop computer or an all-in-one computer equipped with a camera, etc.

[0077] The method for calibrating an accelerometer based on a suspended power mechanism can also be applied to a hardware environment composed of a terminal and a server connected to the terminal through a network. The network includes but is not limited to: a wide area network, a metropolitan area network or a local area network. The method for calibrating an accelerometer based on a suspended power mechanism in the embodiments of the present invention can be executed by the server, can be executed by the terminal, or can be jointly executed by the server and the terminal.

[0078] For example, for an accelerometer calibration terminal that requires a suspended power mechanism, the accelerometer calibration function provided by the method of the present invention can be directly integrated on the terminal, or a client for implementing the method of the present invention can be installed. Again, the method provided by the present invention can also run on devices such as servers in the form of a Software Development Kit (SDK), providing an interface for the accelerometer calibration function based on the suspended power mechanism in the form of an SDK. The terminal or other devices can implement the accelerometer calibration function based on the suspended power mechanism through the provided interface. The present invention will be further described below with reference to the accompanying drawings.

[0079] As Figure 4 shown, the present invention provides an accelerometer calibration method based on a suspended power mechanism, and the method includes the following steps:

[0080] S1. Real-time obtain the position data of the suspended power mechanism, and generate activation data related to obtaining accelerometer calibration data according to the position data of the suspended power mechanism;

[0081] S2. Generate first acceleration data corresponding to the suspended power mechanism according to the activation data; wherein, it further includes: obtaining the position data of at least four points not in the same plane, and combining the displacement data and time data corresponding to any position of the suspended power mechanism to generate first acceleration data corresponding to any position of the suspended power mechanism;

[0082] S3. Generate and obtain second acceleration data of the accelerometer itself; wherein, the accelerometer is arranged in the suspended power mechanism;

[0083] S4. Combine the first acceleration data and the second acceleration data to generate an error value of the accelerations of the two, and calibrate the accelerometer in real time according to the error value.

[0084] The real-time obtaining of the position data of the suspended power mechanism and generating activation data related to obtaining accelerometer calibration data according to the position data of the suspended power mechanism further includes:

[0085] S11. Generate and obtain suspended instruction data of the suspended power mechanism, and generate position data corresponding to the suspended power mechanism in real time according to the suspended instruction data.

[0086] The generating of first acceleration data corresponding to the suspended power mechanism according to the activation data further includes:

[0087] S21. Generate displacement data and time data corresponding to the suspended power mechanism respectively according to the activation data;

[0088] S22. Generate first acceleration data corresponding to the suspended power mechanism in real time according to the displacement data and the time data and in combination with the corresponding relationship between the displacement data and the time data.

[0089] The step of generating displacement data and time data corresponding to the suspended power mechanism respectively according to the activation data further includes:

[0090] S211. Generate at least two consecutive time data corresponding to the suspended power mechanism;

[0091] S212. Generate two displacement data corresponding to the two consecutive time data;

[0092] The displacement data includes: vertical direction displacement data and horizontal direction displacement data; the time data includes: vertical direction time data and horizontal direction time data.

[0093] The corresponding relationship between the displacement data and the time data is specifically as follows:

[0094]

[0095] where a is the acceleration, s1 and s2 are the displacement data within t1 and t2 respectively, and t1 and t2 are the time data.

[0096] The step of generating first acceleration data corresponding to the suspended power mechanism in real time according to the displacement data and the time data and in combination with the corresponding relationship between the displacement data and the time data further includes:

[0097] S221. Obtain the first acceleration data, and perform differential processing on the first acceleration data to generate third acceleration data corresponding to the first acceleration data.

[0098] Specifically, in the embodiment of the present invention, the method for calibrating the accelerometer using the suspended power mechanism: the suspended power mechanism provides displacement and time in the vertical direction or the horizontal direction, and uses the relational formula between acceleration and time and displacement (a is the acceleration, s1 and s2 are the displacements, t1 and t2 are the times), measure the displacement values within consecutive times t1 and t2, and then calculate the standard acceleration value a standard, and compare it with the acceleration value a calibrated output by the accelerometer to be calibrated mounted on the suspended power mechanism, obtain the indication error of the acceleration, and perform accelerometer calibration.

[0099] That is to say, a suspended power mechanism such as a drone, an aircraft, or a hot air balloon is used to carry an accelerometer, a vertical displacement sensor, a horizontal displacement sensor, and a timer.

[0100] The times of the vertical displacement and horizontal displacement sensors and the accelerometer are based on the timer, recording the real-time displacement of the suspended power mechanism such as the drone in the vertical direction, and calculating the acceleration value according to formulas (1), (2), and (3). When the displacement has a displacement formula, formula (4) can be used for second-order differential calculation of the acceleration.

[0101]

[0102]

[0103]

[0104]

[0105] The vertical displacement sensor can use technologies such as air pressure difference, ultrasonic, acoustic wave, laser, GPS, etc. to measure the vertical height of the suspended power mechanism.

[0106] The horizontal displacement sensor can use technologies such as GPS, laser, etc. to measure the horizontal displacement.

[0107] The timer can use timing devices such as national reference time, quartz clock, atomic clock, etc.

[0108] Taking the quartz clock as the time reference, the laser rangefinder as the height reference, the drone as the suspended power mechanism, and the gravity accelerometer as the accelerometer to be calibrated. Synchronize the laser rangefinder, drone, gravity accelerometer with the quartz clock, with an error ≤ 10-6s. Input S = Asinwt (S - displacement, A - amplitude, w - angular velocity, t - time, other motion equations can also be set, such as S = A + Bt + Ct 2 ) into the drone control system, and the standard acceleration a standard can be calculated through formulas (1), (2), (3) or (4), and compared with the acceleration value a calibrated output by the accelerometer to calculate the error value.

[0109] In other words, in a specific example, the method of calibrating an accelerometer using a drone: the distances from an unknown point to four points not in the same plane can be used to obtain the spatial position of the unknown point. The azimuth coordinates (X A , Y A , Z A )、(X B , Y B , Z B )、(X C , Y C , Z C )、(XD , Y D , Z D ), taking point A as the coordinate origin, and the unknown point P(X P , Y P , Z P ) has distances L PA , L PB , L PC , L PD ,

[0110] (X P - X A ) 2 + (X P - Y A ) 2 + (X P - Z A ) 2 = L PA 2

[0111] (X P - X B ) 2 + (X P - Y B ) 2 + (X P - Z B ) 2 = L PB 2

[0112] (X P - X C ) 2 + (X P - Y C ) 2 + (X P - Z C ) 2 = L PC 2

[0113] (X P - X D ) 2 + (X P - Y D ) 2 + (X P - Z D ) 2 = L PD 2 Based on the above equations, the azimuth coordinates of point P at any time can be obtained.

[0115]

[0115] At times t1, t2, and t3, the azimuth coordinates of point P on the Z-axis are Z1, Z2, and Z3 respectively, and Δt = t2 - t1 = t3 - t2. Assuming that the time Δt is short enough, point P undergoes uniformly accelerated motion with an acceleration of a within the time period (t1 to t3). The displacement S1 of point P on the Z-axis within the time period (t1 to t2) is (Z2 - Z1), and the displacement S2 of point P on the Z-axis within the time period (t2 to t3) is (Z3 - Z2).

[0116]

[0117] Based on the above equations, the Z-axis acceleration a of point P at any moment can be obtained. Z 。

[0118] Similarly, the X-axis acceleration a of point P at any moment can be obtained. X 、Y-axis acceleration a Y and the combined acceleration a of the X, Y, and Z axes.

[0119] According to the above method, it can be applied to the calibration of the accelerometer. Electromagnetic wave transmitters are installed at points A, B, C, and D that are not in the same plane. Point P is a drone equipped with an electromagnetic wave receiver and also an accelerometer. The electromagnetic wave transmitters and the electromagnetic wave receiver are synchronized with the same clock, and time synchronization can be achieved using GPS or Beidou, etc. The electromagnetic wave information transmitted by the electromagnetic wave transmitters at points A, B, C, and D includes the azimuth coordinates X i , Y i , Z i and time T i (i = A, B, C, D). The electromagnetic wave receiver of point P receives the electromagnetic wave information of points A, B, C, and D, calculates the time difference between the reception time of point P and the transmission time of points A, B, C, and D. According to the propagation speed of the electromagnetic wave being the speed of light (c = 3×10 8 m / s), the distance L Pi between point P and points A, B, C, and D is L = c×(T P - Ti), where (i = A, B, C, D), and thus the real-time displacement of point P can be calculated.

[0120] It can also be achieved using a sound wave generator and a receiver. The acceleration displayed by the accelerometer carried by the drone can be divided into a X , a Y , a Z or the combined acceleration of the XY axis, YZ axis, etc., and is compared with the standard acceleration a X ’, a Y ’, a Z ’ or the combined acceleration of the XY axis, YZ axis, etc. of point P where the drone is located, and the indication error is calculated to complete the accelerometer calibration work.

[0121] To achieve the above object, the present invention further provides an accelerometer calibration system based on a suspended power mechanism, as Figure 5 shown. The system specifically includes:

[0122] A first data generation unit, configured to obtain the position data of the suspended power mechanism in real time, and generate activation data for obtaining accelerometer calibration-related data according to the position data of the suspended power mechanism;

[0123] A second data generation unit, configured to generate first acceleration data corresponding to the suspended power mechanism according to the activation data;

[0124] A third data generation unit, configured to generate and obtain second acceleration data of the accelerometer itself; wherein, the accelerometer is arranged in the suspended power mechanism;

[0125] A fourth data generation unit, configured to combine the first acceleration data and the second acceleration data, generate an error value of the accelerations of the two, and calibrate the accelerometer in real time according to the error value.

[0126] The first data generation unit further includes:

[0127] A first generation module, configured to generate and obtain hovering instruction data of the suspended power mechanism, and generate position data corresponding to the suspended power mechanism in real time according to the hovering instruction data;

[0128] And / or, the second data generation unit further includes:

[0129] A second generation module, configured to generate displacement data and time data corresponding to the suspended power mechanism respectively according to the activation data;

[0130] A third generation module, configured to generate first acceleration data corresponding to the suspended power mechanism in real time according to the displacement data and the time data, and in combination with the corresponding relationship between the displacement data and the time data;

[0131] And / or, the second generation module further includes:

[0132] A fourth generation module, configured to generate at least two consecutive time data corresponding to the suspended power mechanism;

[0133] A fifth generation module, configured to generate two displacement data corresponding to the two consecutive time data;

[0134] The displacement data includes: vertical direction displacement data and horizontal direction displacement data; the time data includes: vertical direction time data and horizontal direction time data;

[0135] And / or, the third generation module further includes:

[0136] A sixth generation module, configured to obtain first acceleration data, and perform differential processing on the first acceleration data to generate third acceleration data corresponding to the first acceleration data.

[0137] In the embodiment of the system solution of the present invention, the method steps involved in the acceleration calibration based on the suspended power mechanism have been described in detail above. That is to say, the functional modules in the system are used to implement the steps or sub-steps in the above method embodiment, which will not be elaborated here.

[0138] To achieve the above object, as Figures 6 - 12 shown, the present invention further provides an acceleration calibrator based on a suspended power mechanism. The device is applied to the acceleration calibration method based on the suspended power mechanism. The device includes a suspended power mechanism, an accelerometer to be calibrated detachably connected and carried with the suspended power mechanism, and an electromagnetic wave receiver for receiving electromagnetic waves; and at least four electromagnetic wave transmitters for transmitting position data to the suspended power mechanism and located in different planes. For example: a first electromagnetic wave transmitter 11; a second electromagnetic wave transmitter 12; a third electromagnetic wave transmitter 13; a fourth electromagnetic wave transmitter 14;

[0139] That is to say, electromagnetic wave transmitters are installed at points A, B, C, and D that are not in the same plane. Point P is a drone carrying an electromagnetic wave receiver and also carrying an accelerometer. The electromagnetic wave transmitters and the electromagnetic wave receiver are synchronized with the same clock, and GPS or Beidou can be used for time synchronization. The electromagnetic wave information transmitted by the electromagnetic wave transmitters at points A, B, C, and D includes azimuth coordinates X i , Y i , Z i and time T i (i = A, B, C, D). The electromagnetic wave receiver at point P receives the electromagnetic wave information from points A, B, C, and D, and calculates the time difference between the time T P (i = A, B, C, D) when point P receives and the time when points A, B, C, and D transmit. According to the propagation speed of electromagnetic waves being the speed of light (c = 3×10 8 m / s), the distance L Pi between point P and points A, B, C, and D is L P = c×(T

[0140] - Ti), where (i = A, B, C, D), and thus the real-time displacement of point P can be calculated. X It can also be implemented using a sound wave generator and a receiver. The acceleration displayed by the accelerometer carried by the drone can be divided into a Y , a ZOr the combined acceleration of the XY axis, YZ axis, etc., is compared with the standard accelerations a X ’, a Y ’, a Z ’ or the combination of the XY axis, YZ axis, etc., to calculate the indication error and complete the accelerometer calibration work.

[0141] In another embodiment of this solution, electromagnetic wave receivers can also be installed at points A, B, C, and D that are not in the same plane, such as the first electromagnetic wave receiver 101; the second electromagnetic wave receiver 102; the third electromagnetic wave receiver 103; the fourth electromagnetic wave receiver 104; and an electromagnetic wave transmitter for emitting electromagnetic waves is installed on the suspended power mechanism; for the specific calculation principle and working principle, refer to the calibration method and will not be elaborated here.

[0142] The suspended power mechanism is also detachably connected to an equipment carrying mechanism 01; at least four threaded holes 201 are circumferentially arranged on the equipment carrying mechanism 01; screws are used to pass through the threaded holes 201 and the suspended power mechanism (such as a drone) for detachable connection.

[0143] A first annular protrusion 2 is provided at the top of the equipment carrying mechanism 01, and at least four ribs 202 are provided inside the first annular protrusion 2. At least two power-on holes are provided in each rib 202 to realize the electrical connection between the equipment carrying mechanism 01 and the suspended power mechanism; correspondingly, a conductive core rod inserted into the power-on hole is provided in the suspended power mechanism. At least two control switches 011 for controlling the power-on state of the equipment carrying mechanism 01 are provided on one side of the first annular protrusion 2;

[0144] At least one USB interface 022; at least one HDMI interface 033 are provided on one side of the equipment carrying mechanism 01;

[0145] A first mounting hole 11, a second mounting hole 12, a third mounting hole 13, a fourth mounting hole 14, and a fifth mounting hole 15 are respectively provided at the bottom of the equipment carrying mechanism 01;

[0146] A first mounting member 101 connected by a constant velocity joint is provided in the first mounting hole 11, and an accelerometer is fixedly installed on the first mounting member 101;

[0147] A second mounting member 102 connected by a constant velocity joint is provided in the second mounting hole 12, and a vertical displacement sensor is fixedly installed on the second mounting member 102;

[0148] A third mounting member 103 connected by a constant velocity joint is provided in the third mounting hole 13, and a horizontal displacement sensor is fixedly installed on the third mounting member 103;

[0149] A fourth mounting member 104 connected by a constant velocity joint is disposed in the fourth mounting hole 14, and a timer is fixedly mounted on the fourth mounting member 104.

[0150] A fifth mounting member 105 connected by a constant velocity joint is disposed in the fifth mounting hole 15, and a 3D camera is fixedly mounted on the fifth mounting member 105.

[0151] Specifically, in the embodiment of the present invention, an accelerometer, a vertical displacement sensor, a horizontal displacement sensor, and a timer are carried by a related suspended power mechanism such as a drone, an airplane, or a hot air balloon.

[0152] Preferably, a connecting body is disposed at the bottom of the suspended power mechanism and is detachably connected to the device mounting mechanism 01 through the connecting body. In this solution, the detachable connection is achieved through at least four threaded holes 201 provided; screws are passed through the threaded holes 201 and a connecting body provided at the bottom of the suspended power mechanism (such as a drone) for detachable connection; that is, the detachable connection is a screw detachable connection. Chamfers are respectively provided at the bottom and side of the device mounting mechanism 01 to increase friction for detachable installation with the suspended power mechanism.

[0153] A first mounting hole 11 for mounting the first mounting member 101, a second mounting hole 12 for mounting the second mounting member 102, a third mounting hole 13 for mounting the third mounting member 103, a fourth mounting hole 14 for mounting the fourth mounting member 104, and a fifth mounting hole 15 for mounting the fifth mounting member 105 are respectively provided at the bottom of the device mounting mechanism 01; a constant velocity joint is disposed in the mounting hole, and the mounting member is mounted in the mounting hole through the constant velocity joint. An accelerometer is fixedly mounted on the first mounting member 101; a vertical displacement sensor is fixedly mounted on the second mounting member 102; a horizontal displacement sensor is fixedly mounted on the third mounting member 103; a timer is fixedly mounted on the fourth mounting member 104; a 3D camera is fixedly mounted on the fifth mounting member 105, and the position image of the suspended power mechanism can be obtained through the 3D camera.

[0154] The first mounting hole 11, the second mounting hole 12, the third mounting hole 13, and the fourth mounting hole 14 are respectively disposed around the fifth mounting hole 15 and are symmetrically arranged in pairs. A second annular protrusion 8 is provided around the fifth mounting hole 15, and a waterproof plate is provided inside the second annular protrusion 8.

[0155] Waterproof plates are respectively provided on the outer sides of the first mounting member 101, the second mounting member 102, the third mounting member 103, and the fourth mounting member 104.

[0156] A third annular protrusion 9 is provided on the outer sides of the first mounting hole 11, the second mounting hole 12, the third mounting hole 13, and the fourth mounting hole 14 to prevent the mounted device from being worn when the device mounting mechanism 01 is removed.

[0157] The device mounting mechanism 01 is electrically connected to the suspended power mechanism, and the power supply in the suspended power mechanism supplies power to the device mounted on the device mounting mechanism 01.

[0158] To achieve the above object, the present invention further provides an accelerometer calibration platform based on a suspended power mechanism, as Figure 13 shown, including a processor, a memory, and an accelerometer calibration platform control program based on the suspended power mechanism;

[0159] Wherein, when the processor executes the accelerometer calibration platform control program based on the suspended power mechanism, the accelerometer calibration platform control program based on the suspended power mechanism is stored in the memory, and the accelerometer calibration platform control program based on the suspended power mechanism realizes the steps of the accelerometer calibration method based on the suspended power mechanism. For example:

[0160] S1. Real-time obtain the position data of the suspended power mechanism, and generate activation data for obtaining accelerometer calibration-related data according to the position data of the suspended power mechanism;

[0161] S2. Generate first acceleration data corresponding to the suspended power mechanism according to the activation data; wherein, it further includes: obtaining the position data of at least four points not in the same plane, and combining the displacement data and time data corresponding to the suspended power mechanism at any position to generate first acceleration data corresponding to the suspended power mechanism at any corresponding position;

[0162] S3. Generate and obtain second acceleration data of the accelerometer itself; wherein, the accelerometer is arranged in the suspended power mechanism;

[0163] S4. Combine the first acceleration data and the second acceleration data to generate an error value of the accelerations of the two, and calibrate the accelerometer in real time according to the error value.

[0164] The specific details of the steps have been described above and will not be repeated here.

[0165] In an embodiment of the present invention, the built-in processor of the accelerometer calibration platform based on a suspended power mechanism may be composed of integrated circuits. For example, it may be composed of a single packaged integrated circuit, or may be composed of multiple integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and combinations of various control chips, etc. The processor uses various interfaces and circuits to connect to each component, and by running or executing programs or units stored in the memory, as well as calling data stored in the memory, to perform various functions of the accelerometer calibration based on the suspended power mechanism and process data;

[0166] The memory is used to store program codes and various data, is installed in the accelerometer calibration platform based on the suspended power mechanism, and realizes high-speed and automatic access to programs or data during operation.

[0167] The memory includes read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM), or other optical disc memories, magnetic disk memories, tape memories, or any other computer-readable medium capable of carrying or storing data.

[0168] To achieve the above object, the present invention also provides a computer-readable storage medium, as Figure 14 shown, the computer-readable storage medium stores an accelerometer calibration platform control program based on a suspended power mechanism. The accelerometer calibration platform control program based on the suspended power mechanism realizes the steps of the accelerometer calibration method based on the suspended power mechanism, for example:

[0169] S1. Real-time obtain the position data of the suspended power mechanism, and generate activation data related to obtaining accelerometer calibration-related data according to the position data of the suspended power mechanism;

[0170] S2. Generate first acceleration data corresponding to the suspended power mechanism according to the activation data; wherein, it further includes: obtaining position data of at least four points not in the same plane, and combining displacement data and time data corresponding to any position of the suspended power mechanism to generate first acceleration data corresponding to any corresponding position of the suspended power mechanism.

[0171] S3. Generate and obtain second acceleration data of the accelerometer itself; wherein, the accelerometer is arranged in the suspended power mechanism.

[0172] S4. Combine the first acceleration data and the second acceleration data to generate an error value of the accelerations of the two, and calibrate the accelerometer in real time according to the error value.

[0173] The specific details of the steps have been described above and will not be elaborated here.

[0174] In the description of the embodiments of the present invention, it should be noted that any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present invention includes additional implementations, where functions can be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0175] The logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a sequenced list of executable instructions for implementing a logical function, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processing module, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in combination with these instruction execution systems, apparatuses, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion (electronic device) having one or more wirings, a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM).

[0176] In addition, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other suitable processing as necessary, and then stored in a computer memory.

[0177] In an embodiment of the present invention, to achieve the above object, the present invention further provides a chip system, which includes at least one processor. When the program instructions are executed in the at least one processor, the chip system is caused to execute the steps of the accelerometer calibration method based on the suspended dynamic mechanism, for example:

[0178] S1. Real-time obtain the position data of the suspended dynamic mechanism, and generate activation data related to obtaining accelerometer calibration data according to the position data of the suspended dynamic mechanism;

[0179] S2. Generate first acceleration data corresponding to the suspended dynamic mechanism according to the activation data; wherein, it further includes: obtaining the position data of at least four points not in the same plane, and combining the displacement data and time data corresponding to the suspended dynamic mechanism at any position to generate first acceleration data corresponding to the suspended dynamic mechanism at any corresponding position;

[0180] S3. Generate and obtain second acceleration data of the accelerometer itself; wherein the accelerometer is arranged in the suspended dynamic mechanism;

[0181] S4. Combine the first acceleration data and the second acceleration data to generate an error value of the accelerations of the two, and calibrate the accelerometer in real time according to the error value.

[0182] The specific details of the steps have been described above and will not be repeated here.

[0183] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here.

[0184] The present invention obtains the position data of the suspended power mechanism in real time through a method, generates activation data for obtaining acceleration sensor calibration-related data according to the position data of the suspended power mechanism; generates first acceleration data corresponding to the suspended power mechanism according to the activation data; generates and obtains second acceleration data of the acceleration sensor itself; wherein, the acceleration sensor is arranged in the suspended power mechanism; combines the first acceleration data and the second acceleration data to generate an error value of the accelerations of the two, and calibrates the acceleration sensor in real time according to the error value, as well as a system, a platform and a device corresponding to the method; directly acts on the wave buoy through a drone, omits the intermediate transmission device, can perform motion control in real time, ensures real-time error and full-stroke error, and the invention has a simple structure and can accurately and quantitatively calibrate.

[0185] The above embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but should not be construed as a limitation to the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the appended claims.

Claims

1. An accelerometer calibration method based on a suspended power mechanism, characterized in that, The method includes the steps of: Obtaining the position data of the suspended power mechanism in real time, and generating activation data related to obtaining the calibration data of the accelerometer according to the position data of the suspended power mechanism; Generating first acceleration data corresponding to the suspended power mechanism according to the activation data; wherein, it includes: obtaining the position data of at least four points not in the same plane, and combining the displacement data and time data corresponding to any position of the suspended power mechanism to generate first acceleration data corresponding to the suspended power mechanism at any corresponding position; Based on the distances between an unknown point and four points not in the same plane, the spatial position of the unknown point is obtained. The azimuth coordinates (X A , Y A , Z A ) of the known spatial points A, B, C, and D are (X B , Y B , Z B ), (X C , Y C , Z C ), (X D , Y D , Z D ). Taking point A as the coordinate origin, the distances between the unknown point P(X P , Y P , Z P ) and points A, B, C, and D at time T are L PA , L PB , L PC , L PD , (X P -X A ) 2 +(X P -Y A ) 2 +(X P -Z A ) 2 =L PA 2 (X P -X B ) 2 +(X P -Y B ) 2 +(X P -Z B ) 2 = L PB 2 (X P -X C ) 2 +(X P -Y C ) 2 +(X P -Z C ) 2 = L PC 2 (X P -X D ) 2 +(X P -Y D ) 2 +(X P -Z D ) 2 = L PD 2 The azimuth coordinates of point P at any moment can be obtained according to the above equation; The azimuth coordinates of point P on the Z-axis at times t1, t2, and t3 are Z1, Z2, and Z3 respectively, and Δt = t2 - t1 = t3 - t2. Assuming that the time Δt is short enough, point P undergoes uniformly accelerated motion with an acceleration of a in the time period (t1 - t3). The displacement S1 of point P on the Z-axis in the time period (t1 - t2) is (Z2 - Z1), and the displacement S2 of point P on the Z-axis in the time period (t2 - t3) is (Z3 - Z2); According to the above equation, the Z-axis acceleration a of point P at any moment can be obtained. Z Furthermore, the X-axis acceleration a of point P at any moment can be obtained. X , the Y-axis acceleration a Y and the resultant first acceleration a of the X, Y, and Z axes; Obtaining the first acceleration data, and differentiating the first acceleration data to generate third acceleration data corresponding to the first acceleration data; Generating and obtaining second acceleration data of the accelerometer itself; wherein, the accelerometer is arranged in the suspended power mechanism; Combining the first acceleration data and the second acceleration data to generate the error value of the accelerations of the two, and calibrating the accelerometer in real time according to the error value.

2. The accelerometer calibration method based on a suspended power mechanism according to claim 1, wherein The step of obtaining the position data of the suspended power mechanism in real time, and generating activation data related to obtaining the calibration data of the accelerometer according to the position data of the suspended power mechanism further includes: Generating and obtaining the hovering command data of the suspended power mechanism, and generating the position data corresponding to the suspended power mechanism in real time according to the hovering command data.

3. An accelerometer calibration system based on a suspended dynamic mechanism for use in the accelerometer calibration method based on a suspended dynamic mechanism according to claim 1 or 2, characterized in that, The system includes: A first data generation unit, configured to obtain the position data of the suspended power mechanism in real time, and generate activation data related to obtaining the calibration data of the accelerometer according to the position data of the suspended power mechanism; A second data generation unit, configured to generate first acceleration data corresponding to the suspended power mechanism according to the activation data; obtain the first acceleration data, and differentiate the first acceleration data to generate third acceleration data corresponding to the first acceleration data; A third data generation unit, configured to generate and obtain second acceleration data of the accelerometer itself; wherein, the accelerometer is arranged in the suspended power mechanism; A fourth data generation unit, configured to combine the first acceleration data and the second acceleration data to generate the error value of the accelerations of the two, and calibrate the accelerometer in real time according to the error value.

4. An accelerometer calibration device based on a suspended power mechanism, characterized in that, The device is applied to an accelerometer calibration method based on a suspended power mechanism as described in claim 1 or 2. The device includes a suspended power mechanism, an accelerometer to be calibrated detachably connected and carried with the suspended power mechanism, and an electromagnetic wave receiver for receiving electromagnetic waves; and at least four electromagnetic wave transmitters that are used to transmit position data to the suspended power mechanism and are not in the same plane.

5. An accelerometer calibration platform based on a suspended power mechanism, characterized in that, It includes a processor, a memory, and an accelerometer calibration platform control program based on the suspended power mechanism; Wherein, when the processor executes the accelerometer calibration platform control program based on the suspended power mechanism, the accelerometer calibration platform control program based on the suspended power mechanism is stored in the memory, and the accelerometer calibration platform control program based on the suspended power mechanism implements the accelerometer calibration method based on the suspended power mechanism as described in claim 1 or 2.

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