Gyroscope data calibration method and device, electronic equipment and storage medium

Abstract

The invention relates to a gyroscope data calibration method and device, electronic equipment and a storage medium, and belongs to the technical field of gyroscopes. The method comprises the following steps: obtaining a target function relationship between the temperature of the electronic equipment and the collected data of a gyroscope, the gyroscope being arranged on the electronic equipment; and based on the target function relationship, calibrating the current acquisition data of the gyroscope. Therefore, the target function relationship between the temperature of the terminal equipment and the acquired data of the gyroscope can be considered, the current acquired data of the gyroscope is calibrated, the influence of temperature interference on the gyroscope data can be effectively avoided, the accuracy of the gyroscope data is improved, and the accuracy of the gyroscope data is improved. The method is suitable for the application scene of optical anti-shake of the camera module of the electronic equipment.

Description

Technical Field

[0001] The present disclosure relates to the technical field of gyroscopes, and in particular to a calibration method, device, electronic device and storage medium for gyroscope data. Background Art

[0002] At present, gyroscopes have been widely used in the fields of motion detection, motion control of vehicles, navigation, virtual reality, etc. For example, the motion of the human body can be detected by the gyroscope on the wearable device, and the attitude and trajectory control of the vehicle can be performed by the gyroscope on the vehicle. However, in the related technology, the gyroscope data is easily affected by temperature and has low accuracy. Summary of the invention

[0003] The present disclosure provides a gyroscope data calibration method, device, electronic device, computer-readable storage medium, and computer program product to at least solve the problem that gyroscope data in the related art is easily affected by temperature and has low accuracy. The technical solution of the present disclosure is as follows:

[0004] According to a first aspect of an embodiment of the present disclosure, a method for calibrating gyroscope data is provided, comprising: obtaining an objective function relationship between a temperature of an electronic device and data collected by a gyroscope, wherein the gyroscope is arranged on the electronic device; and calibrating current collected data of the gyroscope based on the objective function relationship.

[0005] In one embodiment of the present disclosure, the method of obtaining the objective function relationship between the temperature of the electronic device and the collected data of the gyroscope includes: obtaining a sample data set, wherein each sample data in the sample data set includes a sample temperature of the electronic device and sample collected data of the gyroscope at the same moment; and obtaining the objective function relationship based on the sample data set.

[0006] In one embodiment of the present disclosure, obtaining the objective function relationship based on the sample data set includes: determining a sample point in a two-dimensional coordinate system corresponding to the sample data based on the sample temperature and the sample acquisition data at the same time in the sample data; performing linear fitting on sample points corresponding to multiple sample data in the sample data set to obtain a target straight line; and determining a linear function relationship corresponding to the target straight line as the objective function relationship.

[0007] In one embodiment of the present disclosure, the acquiring of the sample data set includes: in response to the electronic device being continuously in a stationary state within a first time period; generating the sample data set based on the sample temperature and the sample collection data at multiple moments within a second time period, wherein the second time period is later than the first time period.

[0008] In one embodiment of the present disclosure, the method further includes: in response to the electronic device being continuously in a stationary state within a third time period; updating the objective function relationship.

[0009] In one embodiment of the present disclosure, the updating of the objective function relationship includes: updating the sample data set based on the sample temperature and the sample collection data at multiple moments in a fourth time period, wherein the fourth time period is later than the third time period; and updating the objective function relationship based on the updated sample data set.

[0010] In one embodiment of the present disclosure, the plurality of sample data in the sample data set are sorted from small to large according to the sample temperature;

[0011] The updating of the sample data set based on the sample temperatures and the sample collection data at multiple moments in a fourth time period includes: identifying that the sample temperature at a first moment in the fourth time period is less than a first sample temperature and greater than a second sample temperature, wherein the first sample temperature and the second sample temperature are the sample temperatures in the sample data set; adding the sample temperature and the sample collection data at the first moment as newly added sample data to the sample data set, and the order of the newly added sample data in the sample data set is between the sample data corresponding to the first sample temperature and the second sample temperature.

[0012] In one embodiment of the present disclosure, the plurality of sample data in the sample data set are sorted from small to large according to the sample temperature;

[0013] The updating of the sample data set based on the sample temperatures and the sample collection data at multiple moments in a fourth time period also includes: identifying that the sample temperature at a second moment in the fourth time period is less than a minimum sample temperature in the sample data set; adding the sample temperature and the sample collection data at the second moment as newly added sample data to the sample data set, and the newly added sample data is sorted first in the sample data set.

[0014] In one embodiment of the present disclosure, the plurality of sample data in the sample data set are sorted from small to large according to the sample temperature;

[0015] The updating of the sample data set based on the sample temperatures and the sample collection data at multiple moments in a fourth time period also includes: identifying that the sample temperature at a third moment in the fourth time period is greater than a maximum sample temperature in the sample data set; adding the sample temperature and the sample collection data at the third moment as newly added sample data to the sample data set, and the newly added sample data is sorted last in the sample data set.

[0016] In one embodiment of the present disclosure, the method further includes: determining a target sample temperature from the sample data set based on the distribution of the sample temperatures in the sample data set; deleting sample data corresponding to the target sample temperature from the sample data set; and updating the sorting of the remaining sample data in the sample data set.

[0017] In one embodiment of the present disclosure, calibrating the current collected data of the gyroscope based on the objective function relationship includes: acquiring the current temperature of the electronic device; obtaining current calibration data of the gyroscope based on the current temperature and the objective function relationship; and calibrating the current collected data based on the current calibration data.

[0018] In one embodiment of the present disclosure, the method further includes: performing optical image stabilization processing on the image captured by the camera module of the electronic device based on the calibrated current captured data.

[0019] According to a second aspect of an embodiment of the present disclosure, a gyroscope data calibration device is provided, comprising: an acquisition module configured to execute acquisition of an objective function relationship between a temperature of an electronic device and data collected by a gyroscope, wherein the gyroscope is arranged on the electronic device; and a calibration module configured to execute calibration of current collected data of the gyroscope based on the objective function relationship.

[0020] In one embodiment of the present disclosure, the acquisition module is further configured to execute: acquiring a sample data set, wherein each sample data in the sample data set includes a sample temperature of the electronic device and sample acquisition data of the gyroscope at the same moment; and obtaining the objective function relationship based on the sample data set.

[0021] In one embodiment of the present disclosure, the acquisition module is further configured to execute: determining a sample point in a two-dimensional coordinate system corresponding to the sample data based on the sample temperature and the sample acquisition data at the same time in the sample data; performing linear fitting on the sample points corresponding to multiple sample data in the sample data set to obtain a target straight line; and determining a linear function relationship corresponding to the target straight line as the target function relationship.

[0022] In one embodiment of the present disclosure, the acquisition module is further configured to execute: in response to the electronic device being in a stationary state for a long time period, generating the sample data set based on the sample temperature and the sample collection data at multiple moments in a second time period, wherein the second time period is later than the first time period.

[0023] In one embodiment of the present disclosure, the acquisition module is further configured to execute: in response to the electronic device being in a stationary state for a third time period; updating the objective function relationship.

[0024] In one embodiment of the present disclosure, the acquisition module is further configured to execute: updating the sample data set based on the sample temperature and the sample collection data at multiple moments in a fourth time period, wherein the fourth time period is later than the third time period; and updating the objective function relationship based on the updated sample data set.

[0025] In one embodiment of the present disclosure, the plurality of sample data in the sample data set are sorted from small to large according to the sample temperature;

[0026] The acquisition module is further configured to perform: identifying that the sample temperature at the first moment in the fourth time period is less than the first sample temperature and greater than the second sample temperature, wherein the first sample temperature and the second sample temperature are the sample temperatures in the sample data set; adding the sample temperature at the first moment and the sample collection data as newly added sample data to the sample data set, and the order of the newly added sample data in the sample data set is between the sample data corresponding to the first sample temperature and the second sample temperature.

[0027] In one embodiment of the present disclosure, the plurality of sample data in the sample data set are sorted from small to large according to the sample temperature;

[0028] The acquisition module is further configured to execute: identifying that the sample temperature at the second moment in the fourth time period is less than the minimum sample temperature in the sample data set; adding the sample temperature at the second moment and the sample collection data as newly added sample data to the sample data set, and the newly added sample data is sorted first in the sample data set.

[0029] In one embodiment of the present disclosure, the plurality of sample data in the sample data set are sorted from small to large according to the sample temperature;

[0030] The acquisition module is further configured to execute: identifying that the sample temperature at the third moment in the fourth time period is greater than the maximum sample temperature in the sample data set; adding the sample temperature at the third moment and the sample collection data as newly added sample data to the sample data set, and the newly added sample data is sorted last in the sample data set.

[0031] In one embodiment of the present disclosure, the acquisition module is further configured to perform: determining a target sample temperature from the sample data set based on the distribution of the sample temperatures in the sample data set; deleting sample data corresponding to the target sample temperature from the sample data set; and updating the sorting of the remaining sample data in the sample data set.

[0032] In one embodiment of the present disclosure, the calibration module is further configured to execute: obtaining the current temperature of the electronic device; obtaining current calibration data of the gyroscope based on the relationship between the current temperature and the objective function; and calibrating the current collected data based on the current calibration data.

[0033] In one embodiment of the present disclosure, the calibration module is further configured to execute: performing optical image stabilization processing on the image captured by the camera module of the electronic device based on the calibrated current captured data.

[0034] According to a third aspect of an embodiment of the present disclosure, there is provided an electronic device, comprising a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to implement the steps of the method described in the first aspect of the embodiment of the present disclosure.

[0035] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the method described in the first aspect of the embodiment of the present disclosure are implemented.

[0036] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor of an electronic device, the computer program implements the steps of the method described in the first aspect of the embodiment of the present disclosure.

[0037] The technical solution provided by the embodiments of the present disclosure brings at least the following beneficial effects: the objective function relationship between the temperature of the terminal device and the collected data of the gyroscope can be taken into consideration to calibrate the current collected data of the gyroscope, which can effectively avoid the influence of temperature interference on the gyroscope data, help to improve the accuracy of the gyroscope data, and is suitable for application scenarios of optical image stabilization of the camera module of electronic equipment.

[0038] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute improper limitations on the present disclosure.

[0040] Figure 1 The figure is a flow chart of a method for calibrating gyroscope data according to an exemplary embodiment.

[0041] Figure 2 The figure is a flow chart of a method for calibrating gyroscope data according to another exemplary embodiment.

[0042] Figure 3 The present invention is a flowchart of updating an objective function relationship in a gyroscope data calibration method according to an exemplary embodiment.

[0043] Figure 4 is a flowchart of a method for calibrating gyroscope data according to another exemplary embodiment.

[0044] Figure 5 The invention is a block diagram of a device for calibrating gyroscope data according to an exemplary embodiment.

[0045] Figure 6 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0046] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings.

[0047] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0048] The acquisition, storage, use, and processing of data in the technical solution disclosed in this disclosure are in compliance with the relevant provisions of national laws and regulations.

[0049] Figure 1 is a flow chart of a method for calibrating gyroscope data according to an exemplary embodiment. Figure 1 As shown, the calibration method of the gyroscope data of the embodiment of the present disclosure includes the following steps.

[0050] S101, obtaining an objective function relationship between the temperature of the electronic device and data collected by a gyroscope, wherein the gyroscope is provided on the electronic device.

[0051] It should be noted that the subject of executing the calibration method of gyroscope data in the embodiment of the present disclosure is an electronic device, and the electronic device includes a mobile phone, a notebook, a desktop computer, a vehicle terminal, a smart home appliance, etc. The calibration method of gyroscope data in the embodiment of the present disclosure can be executed by the calibration device of gyroscope data in the embodiment of the present disclosure, and the calibration device of gyroscope data in the embodiment of the present disclosure can be configured in any electronic device to execute the calibration method of gyroscope data in the embodiment of the present disclosure.

[0052] It should be noted that there are not too many restrictions on the gyroscope. For example, it can include a two-axis gyroscope, a three-axis gyroscope, etc.

[0053] It should be noted that the objective function relationship refers to the functional relationship between the temperature of the electronic device as the independent variable and the data collected by the gyroscope as the dependent variable. There are no excessive restrictions on the objective function relationship, for example, it can include a linear function relationship, an inverse proportional function relationship, a quadratic function relationship, an exponential function relationship, etc.

[0054] For example, the objective function relationship refers to the functional relationship between the temperature of the electronic device as the independent variable and the data collected by the gyroscope of the electronic device in a stationary state as the dependent variable, or the objective function relationship refers to the functional relationship between the temperature of the electronic device as the independent variable and the data collected by the gyroscope of the electronic device in a moving state as the dependent variable. It should be noted that there are no excessive restrictions on the stationary state and the moving state. For example, the stationary state may include a stationary state, a state with a small movement amplitude, a state with a slow movement speed, etc., and the moving state may include a state with a large movement amplitude, a state with a fast movement speed, etc.

[0055] It is understandable that the data collected by the gyroscope includes multi-axis collected data, and the objective function relationships corresponding to the collected data of different axes may be different or the same, and no excessive restrictions are made here.

[0056] For example, taking the gyroscope as a two-axis gyroscope, the collected data of the gyroscope includes the collected data of the x-axis and y-axis, and the objective function relationship between the temperature of the electronic device and the collected data of the gyroscope is obtained, including obtaining the objective function relationship between the temperature of the electronic device and the collected data of the gyroscope x-axis, and / or, the objective function relationship between the temperature of the electronic device and the collected data of the gyroscope y-axis.

[0057] In some examples, the objective function relationship between the temperature t of the electronic device and the collected data biasx of the gyroscope x-axis is a linear function relationship, which can be expressed by the following formula:

[0058] biasx=a x t+b x

[0059] In some examples, the objective function relationship between the temperature t of the electronic device and the bias of the collected data of the y-axis of the gyroscope is a linear function relationship, which can be expressed by the following formula:

[0060] biasy=a y t+b y

[0061] Among them, a x , b x 、a y , b y All are function parameters.

[0062] In one embodiment, the objective function relationship is preset. For example, the objective function relationship can be calibrated during the design, manufacture, and use of the electronic device to obtain a calibrated objective function relationship. Obtaining the objective function relationship between the temperature of the electronic device and the collected data of the gyroscope includes obtaining the calibrated objective function relationship.

[0063] In one embodiment, obtaining the objective function relationship between the temperature of the electronic device and the collected data of the gyroscope includes obtaining the objective function relationship based on a mapping relationship between the identifier of the gyroscope and the objective function relationship. It is understandable that the mapping relationship between the identifier of the gyroscope and the objective function relationship can be established in advance, and different gyroscopes can map different objective function relationships.

[0064] S102, calibrating the current collected data of the gyroscope based on the objective function relationship.

[0065] It should be noted that the currently collected data of the gyroscope includes the currently collected data of the gyroscope when the electronic device is in a stationary state or in a moving state, that is, there is no excessive limitation on whether the electronic device is in a stationary state or in a moving state.

[0066] In one implementation, based on the objective function relationship, the current collected data of the gyroscope is calibrated, including the following two possible implementations:

[0067] Method 1: Obtain the current temperature of the electronic device, obtain the target acquisition data of the gyroscope based on the relationship between the current temperature and the target function, and calibrate the current acquisition data based on the target acquisition data.

[0068] It should be noted that the target collected data is a reference value for the current collected data.

[0069] In some examples, based on the current temperature and the target function relationship, the target acquisition data of the gyroscope is obtained, including substituting the current temperature as an independent variable into the target function relationship, and determining the dependent variable of the obtained target function relationship as the target acquisition data.

[0070] In some examples, the current acquisition data is calibrated based on the target acquisition data, including updating the current acquisition data to the target acquisition data.

[0071] Method 2: obtaining the current temperature of the electronic device, obtaining the current calibration data of the gyroscope based on the relationship between the current temperature and the objective function, and calibrating the current collected data of the gyroscope based on the current calibration data.

[0072] It should be noted that the objective function relationship in this embodiment refers to the functional relationship between the temperature of the electronic device as the independent variable and the gyroscope data collected when the electronic device is in a stationary state as the dependent variable. The current calibration data is the calibration value of the current collected data.

[0073] In some examples, current calibration data of the gyroscope is obtained based on the current temperature and the objective function relationship, including substituting the current temperature as an independent variable into the objective function relationship, and determining the dependent variable of the obtained objective function relationship as the current calibration data.

[0074] In some examples, the current collected data of the gyroscope is calibrated based on the current calibration data, including obtaining a difference between the current collected data and the current calibration data, and updating the current collected data to the difference.

[0075] For example, taking the gyroscope as a two-axis gyroscope, the current acquisition data of the gyroscope includes the current acquisition data biasx of the x-axis c , the current collected data bias of the y-axis c .

[0076] If the objective function relationship between the temperature t of the electronic device and the biasx collected by the gyroscope x-axis when the electronic device is stationary is a linear function relationship, it can be expressed by the following formula:

[0077] biasx=a x t+b x

[0078] The objective function relationship between the temperature t of the electronic device and the bias of the gyroscope y-axis collected data when the electronic device is in a stationary state is a linear function relationship, which can be expressed by the following formula:

[0079] biasy=ay t+b y

[0080] The current temperature of the electronic device t c Substitute into the formula biasx=a x t+b x , get the current calibration data of the gyroscope x-axis (a x t c +b x ), the current temperature of the electronic device t c Substitute into the formula bias=a y t+b y , get the current calibration data of the y-axis of the gyroscope (a y t c +b y ).

[0081] The gyroscope's current acquisition data can be calibrated using the following formula:

[0082] biasx'=biasx-(a x t c +b x )

[0083] biasy'=biasy-(a y t c +b y )

[0084] Wherein, biasx' is the current collected data of the calibrated x-axis, and biasy' is the current collected data of the calibrated y-axis.

[0085] In one embodiment, the method further includes performing optical image stabilization (OIS) processing on the image captured by the camera module of the electronic device based on the calibrated current captured data, that is, using more accurate gyroscope data for optical image stabilization processing, which helps to improve the accuracy of optical image stabilization.

[0086] It should be noted that the optical image stabilization processing based on the gyroscope data can be implemented by using any optical image stabilization algorithm in the relevant technology, and no further limitation is made here. In some examples, based on the calibrated current acquisition data, the image captured by the camera module of the electronic device is optically image stabilized, including obtaining the posture of the electronic device based on the calibrated current acquisition data, and performing optical image stabilization processing on the image captured by the camera module of the electronic device based on the posture of the electronic device.

[0087] The gyroscope data calibration method provided by the embodiment of the present disclosure obtains the target function relationship between the temperature of the terminal device and the collected data of the gyroscope, wherein the gyroscope is set on the terminal device, and the current collected data of the gyroscope is calibrated based on the target function relationship. Thus, the target function relationship between the temperature of the terminal device and the collected data of the gyroscope can be taken into account, and the current collected data of the gyroscope can be calibrated, which can effectively avoid the influence of temperature interference on the gyroscope data, help to improve the accuracy of the gyroscope data, and is suitable for the application scenario of optical image stabilization of the camera module of the electronic device.

[0088] Figure 2 is a flow chart of a method for calibrating gyroscope data according to another exemplary embodiment. Figure 2 As shown, the calibration method of the gyroscope data of the embodiment of the present disclosure includes the following steps.

[0089] S201, obtaining a sample data set, wherein each sample data in the sample data set includes a sample temperature of the electronic device and sample acquisition data of the gyroscope at the same moment.

[0090] It should be noted that there is no excessive restriction on the number of sample data in the sample data set. For example, the maximum number of sample data in the sample data set is 6.

[0091] In one embodiment, obtaining a sample data set includes collecting sample temperatures and sample collection data at multiple times according to a set period, combining the sample temperatures and sample collection data collected at the same time to obtain sample data, and adding multiple sample data to the sample data set to generate a sample data set.

[0092] In one embodiment, obtaining the sample data set includes generating the sample data set based on sample temperatures and sample collection data at multiple moments in a second time period in response to the electronic device being in a static state for a first time period, wherein the second time period is later than the first time period. Thus, the method can generate the sample data set based on sample temperatures and sample collection data collected in a time period after the electronic device is in a static state for a long time.

[0093] It should be noted that there are no excessive restrictions on the duration of the first time period and the second time period. For example, the duration of the first time period is 3 seconds, and the duration of the second time period is 6 seconds.

[0094] For example, in response to the electronic device being in a static state continuously in the first time period 8:00:04 to 8:00:07, a sample data set may be generated based on sample temperatures and sample collection data at multiple moments in the second time period 8:00:08 to 8:00:13. In some examples, the sample temperature and sample collection data at 8:00:08 may be combined to obtain sample data 1, the sample temperature and sample collection data at 8:00:09 may be combined to obtain sample data 2, the sample temperature and sample collection data at 8:00:10 may be combined to obtain sample data 3, the sample temperature and sample collection data at 8:00:11 may be combined to obtain sample data 4, the sample temperature and sample collection data at 8:00:12 may be combined to obtain sample data 5, the sample temperature and sample collection data at 8:00:13 may be combined to obtain sample data 6, and sample data 1 to 6 may be added to the sample data set to generate the sample data set.

[0095] In some examples, identifying that the electronic device is in a stationary state at the fourth moment includes obtaining the variance of the sample collection data at multiple moments before the fourth moment and the sample collection data at the fourth moment, and if the variance is less than or equal to the set threshold, determining that the electronic device is in a stationary state at the fourth moment. It should be noted that the fourth moment is any moment within the first time period, and the set threshold is not too limited. For example, it may include 3×10 -3 rad / s (radians per second).

[0096] S202, obtaining an objective function relationship based on the sample data set.

[0097] In one embodiment, based on the sample data set, a target function relationship is obtained, including matching multiple sample data in the sample data set with candidate function relationships, obtaining a total matching degree between the sample data set and the candidate function relationships, and determining the candidate function relationship with the highest total matching degree as the target function relationship.

[0098] In some examples, multiple sample data in a sample data set are matched with candidate functional relationships to obtain a total matching degree between the sample data set and the candidate functional relationship, including substituting the sample temperature in the sample data into the candidate functional relationship to obtain a dependent variable of the candidate functional relationship, obtaining a sub-matching degree between the sample data and the candidate functional relationship based on a deviation between the sample collection data and the dependent variable of the candidate functional relationship, and obtaining a total matching degree based on the sub-matching degrees between multiple sample data in the sample data set and the candidate functional relationship.

[0099] Understandably, bias is negatively correlated with submatching.

[0100] In some examples, the total matching degree is obtained based on the sub-matching degrees between multiple sample data in the sample data set and the candidate function relationship, including weighted averaging the sub-matching degrees between multiple sample data in the sample data set and the candidate function relationship to obtain the total matching degree.

[0101] In one embodiment, based on the sample data set, the objective function relationship is obtained, including determining a sample point in a two-dimensional coordinate system corresponding to the sample data based on the sample temperature and sample collection data at the same time in the sample data, performing linear fitting on the sample points corresponding to the multiple sample data in the sample data set to obtain a target straight line, and determining the linear function relationship corresponding to the target straight line as the objective function relationship. Therefore, in this method, linear fitting can be performed based on the sample data set to obtain the objective function relationship.

[0102] It should be noted that the x-axis in the two-dimensional coordinate system is used to represent the temperature of the electronic device, and the y-axis is used to represent the collected data of the gyroscope. The x-coordinate of the sample point is obtained based on the sample temperature, and the y-coordinate of the sample point is obtained based on the sample collected data. For example, the sample temperature t at the same time in the sample data i can be obtained. i and sample collection data biasx i , determine the sample point i in the two-dimensional coordinate system corresponding to the sample data i, the two-dimensional coordinates of the sample point i are (t i , biasx i ).

[0103] It should be noted that the linear fitting can be implemented by using any linear fitting method in the relevant technology, and no further limitation is made here.

[0104] For example, taking the gyroscope as a two-axis gyroscope, the sample data of the gyroscope includes the sample data of the x-axis and the y-axis, and the sample data set includes sample data 1 {t1, biasx1, bias1}, sample data 2 {t2, biasx2, bias2} to sample data n {t n , biasx n , bias n}. That is, the sample data i is {t i , biasx i , bias i}, where i is a positive integer not greater than n, n is a positive integer, t i 、biasx i , bias i They are respectively the sample temperature of the terminal device at the same moment, the sample collection data of the gyroscope x-axis, and the sample collection data of the gyroscope y-axis.

[0105] If the objective function relationship between the temperature t of the electronic device and the biasx collected by the gyroscope x-axis when the electronic device is stationary is a linear function relationship, it can be expressed by the following formula:

[0106] biasx=a x t+b x

[0107] The objective function relationship between the temperature t of the electronic device and the bias of the gyroscope y-axis collected data when the electronic device is in a stationary state is a linear function relationship, which can be expressed by the following formula:

[0108] biasy=a y t+b y

[0109] Among them, a x , b x 、a y , b y The calculation process is as follows:

[0110]

[0111]

[0112] Among them, μ t From t1 to t n The mean of .

[0113] S203, calibrating the current collected data of the gyroscope based on the objective function relationship.

[0114] For the relevant contents of step S203, please refer to the above embodiment, which will not be repeated here.

[0115] The embodiment of the present disclosure provides a method for calibrating gyroscope data, which obtains a sample data set, wherein each sample data in the sample data set includes the sample temperature of the terminal device and the sample acquisition data of the gyroscope at the same time, and obtains the target function relationship based on the sample data set to achieve the acquisition of the target function relationship.

[0116] Based on any of the above embodiments, the method further includes updating the objective function relationship. Therefore, after obtaining the objective function relationship in the method, the objective function relationship can be updated, thereby improving the accuracy and real-time performance of the objective function relationship.

[0117] In one embodiment, updating the objective function relationship includes identifying that a set update condition is currently satisfied and updating the objective function relationship. It should be noted that there are no excessive restrictions on the set update condition, for example, it may include that the time between the current moment and the moment when the objective function relationship was last obtained is greater than a set threshold.

[0118] In one implementation, updating the objective function relationship includes obtaining calibration feedback information of the gyroscope, and updating the objective function relationship if the calibration feedback information indicates that the number of calibration failures of the gyroscope reaches a set threshold.

[0119] It should be noted that there are no excessive restrictions on the method of obtaining the calibration feedback information. For example, the deviation between the calibrated current acquisition data and the reference value of the current acquisition data can be obtained. If the deviation is greater than the set threshold, calibration feedback information is generated to indicate that the gyroscope calibration has failed. Conversely, if the deviation is less than or equal to the set threshold, calibration feedback information is generated to indicate that the gyroscope calibration has been successful.

[0120] Based on any of the above embodiments, Figure 3 As shown, the objective function relationship is updated, including the following steps.

[0121] S301, in response to a terminal device being in a static state continuously within a third time period.

[0122] S302: Update the sample data set based on sample temperatures and sample collection data at multiple moments in a fourth time period, wherein the fourth time period is later than the third time period.

[0123] It should be noted that the third time period can be any time period after obtaining the objective function relationship, and there are no excessive restrictions on the length of the third time period and the fourth time period. For example, the length of the third time period is 3 seconds and the length of the fourth time period is 6 seconds.

[0124] In one implementation, based on the sample temperatures and sample collection data at multiple moments in the fourth time period, updating the sample data set may include the following possible implementations:

[0125] Method 1: Based on the sample temperature and sample collection data at the same time in the fourth time period, the newly added sample data are added to the sample data set.

[0126] Therefore, in this method, the re-collected sample temperature and sample collection data can be directly added to the sample data set as newly added sample data to expand the sample data set.

[0127] Method 2: Identify that the sample temperature at the first moment in the fourth time period is less than the first sample temperature and greater than the second sample temperature, wherein the first sample temperature and the second sample temperature are the sample temperatures in the sample data set, and add the sample temperature and sample collection data at the first moment as newly added sample data to the sample data set, and the newly added sample data is sorted in the sample data set between the sample data corresponding to the first sample temperature and the second sample temperature.

[0128] It should be noted that the multiple sample data in the sample data set in methods 2 to 4 are sorted from small to large according to the sample temperature.

[0129] In some examples, the process further includes deleting the sample data corresponding to the maximum sample temperature in the sample data set from the sample data set, that is, deleting the last sample data in the sorting order from the sample data set.

[0130] For example, the maximum number of sample data in the sample data set is 6, and the sample data set is shown in Table 1.

[0131] Table 1 Sample dataset

[0132]

[0133] If the sample temperature t7 at the first moment in the fourth time period is less than t3 and greater than t2, that is, t3 is the first sample temperature and t2 is the second sample temperature, the sample temperature t7 at the first moment, the sample acquisition data biasx7 of the gyroscope x-axis, and the sample acquisition data biasy7 of the gyroscope y-axis are added to the sample data set as sample data 7 (that is, sample data 7 is the newly added sample data), and the order of sample data 7 in the sample data set is between the sample data corresponding to t2 and t3, that is, the order of sample data 7 in the sample data set is between sample data 2 and 3, and sample data 6 is deleted from the sample data set. The updated sample data set is shown in Table 2.

[0134] Table 2 Updated sample dataset

[0135]

[0136] Method 3: Identify that the sample temperature at the second moment in the fourth time period is less than the minimum sample temperature in the sample data set, add the sample temperature and sample collection data at the second moment as new sample data to the sample data set, and the new sample data is sorted first in the sample data set.

[0137] In some examples, the process further includes deleting the sample data corresponding to the maximum sample temperature in the sample data set from the sample data set, that is, deleting the last sample data in the sorting order from the sample data set.

[0138] For example, the maximum number of sample data in the sample data set is 6, and the sample data set is shown in Table 1.

[0139] If the sample temperature t8 at the second moment in the fourth time period is less than t1, that is, t1 is the minimum sample temperature, the sample temperature t8 at the second moment, the sample acquisition data biasx8 of the gyroscope x-axis, and the sample acquisition data biasy8 of the gyroscope y-axis are added to the sample data set as sample data 8 (that is, sample data 8 is the newly added sample data), and the sample data 8 is sorted in the sample data set as the front sort, and the sample data 6 is deleted from the sample data set. The updated sample data set is shown in Table 3.

[0140] Table 3 Updated sample dataset

[0141]

[0142] Method 4: Identify that the sample temperature at the third moment in the fourth time period is greater than the maximum sample temperature in the sample data set, add the sample temperature and sample collection data at the third moment as new sample data to the sample data set, and the new sample data is sorted last in the sample data set.

[0143] In some examples, the process further includes deleting sample data corresponding to the minimum sample temperature in the sample data set from the sample data set, that is, deleting the sample data at the front of the sorting order from the sample data set.

[0144] For example, the maximum number of sample data in the sample data set is 6, and the sample data set is shown in Table 1.

[0145] If the sample temperature t9 at the third moment in the fourth time period is greater than t6, that is, t6 is the maximum sample temperature, the sample temperature t9 at the third moment, the sample acquisition data biasx9 of the gyroscope x-axis, and the sample acquisition data biasy9 of the gyroscope y-axis are added to the sample data set as sample data 9 (that is, sample data 9 is the newly added sample data), and the order of sample data 9 in the sample data set is the last order, and sample data 1 is deleted from the sample data set. The updated sample data set is shown in Table 4.

[0146] Table 4 Updated sample dataset

[0147]

[0148]

[0149] In one embodiment, before adding the newly added sample data to the sample data set, it also includes identifying that the number of sample data in the sample data set is less than a set number, wherein the set number is the maximum number of sample data in the sample data set. Thus, in the method, when the number of sample data in the sample data set is small, the newly added sample data can be directly added to the sample data set.

[0150] In one embodiment, before adding the newly added sample data to the sample data set, it also includes identifying that the number of sample data in the sample data set is equal to the maximum number of sample data, deleting the target sample data from the sample data set, and updating the order of the remaining sample data in the sample data set. Therefore, in this method, when the number of sample data in the sample data set is large, some sample data can be deleted from the sample data set first, and the order of the remaining sample data can be updated so that the newly added sample data can be added to the sample data set later.

[0151] In one embodiment, the method further includes determining a target sample temperature from the sample data set based on the distribution of sample temperatures in the sample data set, deleting sample data corresponding to the target sample temperature from the sample data set, and updating the order of the remaining sample data in the sample data set. Thus, in the method, the sample data to be deleted can be determined based on the distribution of sample temperatures to update the sample data set.

[0152] In some examples, based on the distribution of sample temperatures in the sample data set, determining the target sample temperature from the sample data set includes obtaining the variance between a plurality of sample temperatures that are sequentially ordered, and if the variance is greater than a set threshold, deleting sample data corresponding to the plurality of sample temperatures from the sample data set, and / or deleting sample data corresponding to the plurality of sample temperatures with the largest variance from the sample data set. Thus, in this method, sample data corresponding to a plurality of sample temperatures with a large variance can be deleted from the sample data set, that is, a plurality of sample data with a high degree of discreteness can be deleted from the sample data set, which helps to reduce the degree of discreteness of the plurality of sample data in the sample data set.

[0153] S303: Update the objective function relationship based on the updated sample data set.

[0154] For the relevant contents of step S303, reference may be made to the relevant contents of step S202 in the above embodiment, which will not be repeated here.

[0155] Therefore, in this method, the sample data set is updated based on the sample temperature and sample collection data at multiple times in a fourth time period, wherein the fourth time period is later than the third time period, and the objective function relationship is updated based on the updated sample data set to achieve the update of the objective function relationship.

[0156] In order to make those skilled in the art understand the present disclosure more clearly, Figure 4 is a flow chart of a method for calibrating gyroscope data according to another exemplary embodiment. Figure 4 As shown, the calibration method of the gyroscope data of the embodiment of the present disclosure includes the following steps.

[0157] S401, in response to a terminal device being in a stationary state for a first time period.

[0158] S402, generating a sample data set based on sample temperatures and sample collection data at multiple moments in a second time period, wherein the second time period is later than the first time period.

[0159] S403, based on the sample temperature and the sample acquisition data at the same time in the sample data, determine a sample point in a two-dimensional coordinate system corresponding to the sample data.

[0160] S404, performing linear fitting on sample points corresponding to a plurality of sample data in the sample data set to obtain a target straight line.

[0161] S405, determining the linear function relationship corresponding to the target straight line as the target function relationship.

[0162] S406, obtaining the current temperature of the terminal device.

[0163] S407, obtaining current calibration data of the gyroscope based on the relationship between the current temperature and the target function.

[0164] S408, obtaining the difference between the current collected data and the current calibration data of the gyroscope, and updating the current collected data to the difference.

[0165] For the relevant contents of steps S401 - S408 , please refer to the above embodiment and will not be described again here.

[0166] Figure 5 is a block diagram of a gyroscope data calibration device according to an exemplary embodiment. Figure 5 The gyroscope data calibration device 100 of the embodiment of the present disclosure includes: an acquisition module 110 and a calibration module 120.

[0167] The acquisition module 110 is configured to execute the objective function relationship between the temperature of the electronic device and the collected data of the gyroscope, wherein the gyroscope is arranged on the electronic device;

[0168] The calibration module 120 is configured to calibrate the current collected data of the gyroscope based on the objective function relationship.

[0169] In one embodiment of the present disclosure, the acquisition module 110 is further configured to execute: acquiring a sample data set, wherein each sample data in the sample data set includes a sample temperature of the electronic device and sample acquisition data of the gyroscope at the same moment; and obtaining the objective function relationship based on the sample data set.

[0170] In one embodiment of the present disclosure, the acquisition module 110 is further configured to execute: determining a sample point in a two-dimensional coordinate system corresponding to the sample data based on the sample temperature and the sample acquisition data at the same time in the sample data; performing linear fitting on the sample points corresponding to multiple sample data in the sample data set to obtain a target straight line; and determining a linear function relationship corresponding to the target straight line as the target function relationship.

[0171] In one embodiment of the present disclosure, the acquisition module 110 is further configured to execute: in response to the electronic device being in a stationary state for a long time period, generating the sample data set based on the sample temperature and the sample collection data at multiple moments in a second time period, wherein the second time period is later than the first time period.

[0172] In one embodiment of the present disclosure, the acquisition module 110 is further configured to execute: in response to the electronic device being in a stationary state for a third time period; updating the objective function relationship.

[0173] In one embodiment of the present disclosure, the acquisition module 110 is further configured to perform: updating the sample data set based on the sample temperature and the sample collection data at multiple moments in a fourth time period, wherein the fourth time period is later than the third time period; and updating the objective function relationship based on the updated sample data set.

[0174] In one embodiment of the present disclosure, the plurality of sample data in the sample data set are sorted from small to large according to the sample temperature;

[0175] The acquisition module 110 is further configured to perform: identifying that the sample temperature at the first moment in the fourth time period is less than the first sample temperature and greater than the second sample temperature, wherein the first sample temperature and the second sample temperature are the sample temperatures in the sample data set; adding the sample temperature at the first moment and the sample collection data as newly added sample data to the sample data set, and the order of the newly added sample data in the sample data set is between the sample data corresponding to the first sample temperature and the second sample temperature.

[0176] In one embodiment of the present disclosure, the plurality of sample data in the sample data set are sorted from small to large according to the sample temperature;

[0177] The acquisition module 110 is further configured to perform: identifying that the sample temperature at the second moment in the fourth time period is less than the minimum sample temperature in the sample data set; adding the sample temperature at the second moment and the sample collection data as newly added sample data to the sample data set, and the newly added sample data is sorted first in the sample data set.

[0178] In one embodiment of the present disclosure, the plurality of sample data in the sample data set are sorted from small to large according to the sample temperature;

[0179] The acquisition module 110 is further configured to perform: identifying that the sample temperature at the third moment in the fourth time period is greater than the maximum sample temperature in the sample data set; adding the sample temperature at the third moment and the sample collection data as newly added sample data to the sample data set, and the newly added sample data is sorted last in the sample data set.

[0180] In one embodiment of the present disclosure, the acquisition module 110 is further configured to perform: determining a target sample temperature from the sample data set based on the distribution of the sample temperatures in the sample data set; deleting sample data corresponding to the target sample temperature from the sample data set; and updating the sorting of the remaining sample data in the sample data set.

[0181] In one embodiment of the present disclosure, the calibration module 120 is further configured to execute: obtaining the current temperature of the electronic device; obtaining current calibration data of the gyroscope based on the relationship between the current temperature and the objective function; and calibrating the current collected data based on the current calibration data.

[0182] In one embodiment of the present disclosure, the calibration module 120 is further configured to execute: performing optical image stabilization processing on the image captured by the camera module of the electronic device based on the calibrated current captured data.

[0183] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0184] The gyroscope data calibration device provided by the embodiment of the present disclosure obtains the target function relationship between the temperature of the terminal device and the collected data of the gyroscope, wherein the gyroscope is set on the terminal device, and the current collected data of the gyroscope is calibrated based on the target function relationship. Therefore, the target function relationship between the temperature of the terminal device and the collected data of the gyroscope can be taken into account to calibrate the current collected data of the gyroscope, which can effectively avoid the influence of temperature interference on the gyroscope data, help to improve the accuracy of the gyroscope data, and is suitable for the application scenario of optical image stabilization of the camera module of the electronic device.

[0185] Figure 6 is a block diagram of an electronic device 200 according to an exemplary embodiment.

[0186] like Figure 6 As shown, the electronic device 200 includes:

[0187] The memory 210 and the processor 220, a bus 230 connecting different components (including the memory 210 and the processor 220), the memory 210 stores a computer program, and when the processor 220 executes the program, the calibration method of the gyroscope data described in the embodiment of the present disclosure is implemented.

[0188] Bus 230 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0189] The electronic device 200 typically includes a variety of electronic device readable media. These media can be any available media that can be accessed by the electronic device 200, including volatile and non-volatile media, removable and non-removable media.

[0190] The memory 210 may also include computer system readable media in the form of volatile memory, such as random access memory (RAM) 240 and / or cache memory 250. The electronic device 200 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 260 may be used to read and write non-removable, non-volatile magnetic media ( Figure 6 not shown, usually called a "hard drive"). Although Figure 6Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 230 via one or more data medium interfaces. The memory 210 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present disclosure.

[0191] A program / utility 280 having a set (at least one) of program modules 270 may be stored, for example, in the memory 210, such program modules 270 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 270 generally perform the functions and / or methods of the embodiments described in the present disclosure.

[0192] The electronic device 200 may also communicate with one or more external devices 290 (e.g., keyboards, pointing devices, displays 291, etc.), one or more devices that enable a user to interact with the electronic device 200, and / or any device that enables the electronic device 200 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed through an input / output (I / O) interface 292. Furthermore, the electronic device 200 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter 293. Figure 6 As shown, the network adapter 293 communicates with other modules of the electronic device 200 via the bus 230. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0193] The processor 220 executes various functional applications and data processing by running the programs stored in the memory 210 .

[0194] It should be noted that the implementation process and technical principles of the electronic device of this embodiment refer to the aforementioned explanation of the gyroscope data calibration method of the embodiment of the present disclosure, which will not be repeated here.

[0195] The electronic device provided by the embodiment of the present disclosure can execute the calibration method of the gyroscope data as described above, obtain the target function relationship between the temperature of the terminal device and the collected data of the gyroscope, wherein the gyroscope is set on the terminal device, and the current collected data of the gyroscope is calibrated based on the target function relationship. Therefore, the target function relationship between the temperature of the terminal device and the collected data of the gyroscope can be taken into account to calibrate the current collected data of the gyroscope, which can effectively avoid the influence of temperature interference on the gyroscope data, help to improve the accuracy of the gyroscope data, and is suitable for the application scenario of optical image stabilization of the camera module of the electronic device.

[0196] In order to implement the above embodiments, the present disclosure further proposes a computer-readable storage medium on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the gyroscope data calibration method provided by the present disclosure are implemented.

[0197] Alternatively, the computer readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, or the like.

[0198] In order to implement the above embodiments, the present disclosure further provides a computer program product, including a computer program, characterized in that when the computer program is executed by a processor of an electronic device, the gyroscope data calibration method as described above is implemented.

[0199] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0200] It should be understood that the present disclosure is not limited to the exact 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 disclosure is limited only by the appended claims.

Claims

1. A method for calibrating gyroscope data, It is characterized in that include: Acquire an objective function relationship between the temperature of the electronic device and the collected data of the gyroscope, wherein the gyroscope is arranged on the electronic device; Based on the objective function relationship, the current collected data of the gyroscope is calibrated.

2. The method according to claim 1, It is characterized in that The objective function relationship between the temperature of the electronic device and the collected data of the gyroscope is obtained, including: Acquire a sample data set, wherein each sample data in the sample data set includes a sample temperature of the electronic device and sample acquisition data of the gyroscope at the same time; Based on the sample data set, the objective function relationship is obtained.

3. The method according to claim 2, It is characterized in that The obtaining the objective function relationship based on the sample data set includes: Based on the sample temperature and the sample acquisition data at the same time in the sample data, determining a sample point in a two-dimensional coordinate system corresponding to the sample data; Performing linear fitting on sample points corresponding to a plurality of sample data in the sample data set to obtain a target straight line; The linear function relationship corresponding to the target straight line is determined as the target function relationship.

4. The method according to claim 2, It is characterized in that The obtaining of the sample data set comprises: In response to the electronic device being in a stationary state continuously within a first time period; The sample data set is generated based on the sample temperature and the sample collection data at multiple moments in a second time period, wherein the second time period is later than the first time period.

5. The method according to claim 2, It is characterized in that The method further comprises: In response to the electronic device being in a stationary state for a third time period; The objective function relationship is updated.

6. The method according to claim 5, It is characterized in that The updating of the objective function relationship comprises: updating the sample data set based on the sample temperature and the sample collection data at multiple moments in a fourth time period, wherein the fourth time period is later than the third time period; Based on the updated sample data set, the objective function relationship is updated.

7. The method according to claim 6, It is characterized in that The plurality of sample data in the sample data set are sorted in ascending order according to the sample temperatures; The updating of the sample data set based on the sample temperature and the sample collection data at multiple moments in the fourth time period includes: Identify that the sample temperature at a first moment in the fourth time period is less than a first sample temperature and greater than a second sample temperature, wherein the first sample temperature and the second sample temperature are the sample temperatures in the sample data set; The sample temperature and the sample collection data at the first moment are added as newly added sample data to the sample data set, and the newly added sample data is sorted in the sample data set between the sample data corresponding to the first sample temperature and the sample data corresponding to the second sample temperature.

8. The method according to claim 6, It is characterized in that The plurality of sample data in the sample data set are sorted in ascending order according to the sample temperatures; The updating of the sample data set based on the sample temperature and the sample collection data at multiple moments in the fourth time period further includes: Identify that the sample temperature at a second time in the fourth time period is less than a minimum sample temperature in the sample data set; The sample temperature and the sample collection data at the second moment are added as newly added sample data to the sample data set, and the newly added sample data is sorted in the front in the sample data set.

9. The method according to claim 6, It is characterized in that The plurality of sample data in the sample data set are sorted in ascending order according to the sample temperatures; The updating of the sample data set based on the sample temperature and the sample collection data at multiple moments in the fourth time period further includes: Identify that the sample temperature at a third moment in the fourth time period is greater than a maximum sample temperature in the sample data set; The sample temperature and the sample collection data at the third moment are added as newly added sample data to the sample data set, and the newly added sample data is sorted last in the sample data set.

10. The method according to any one of claims 7 to 9, It is characterized in that The method further comprises: determining a target sample temperature from the sample data set based on a distribution of the sample temperatures in the sample data set; Deleting the sample data corresponding to the target sample temperature from the sample data set; The order of the remaining sample data in the sample data set is updated.

11. The method according to any one of claims 1 to 9, It is characterized in that The calibrating the current collected data of the gyroscope based on the objective function relationship includes: Acquire the current temperature of the electronic device; Based on the current temperature and the objective function relationship, obtaining current calibration data of the gyroscope; The current acquisition data is calibrated based on the current calibration data.

12. The method according to any one of claims 1 to 9, It is characterized in that The method further comprises: Based on the calibrated current acquisition data, optical image stabilization processing is performed on the image acquired by the camera module of the electronic device.

13. A gyroscope data calibration device, It is characterized in that include: An acquisition module is configured to execute acquisition of an objective function relationship between a temperature of an electronic device and data collected by a gyroscope, wherein the gyroscope is provided on the electronic device; The calibration module is configured to calibrate the current collected data of the gyroscope based on the objective function relationship.

14. An electronic device, It is characterized in that include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: Implement the steps of the method according to any one of claims 1 to 12.

15. A computer readable storage medium having computer program instructions stored thereon, It is characterized in that When the program instructions are executed by a processor, the steps of the method described in any one of claims 1 to 12 are implemented.

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