A method, device, equipment and medium for calibrating an attitude angle

Abstract

The embodiment of the present invention discloses a method, device, equipment and medium for calibrating an attitude angle, which is applicable to the field of data processing. The method includes: obtaining an attitude angle curve, a target calibration time and a calibration matrix, wherein the attitude angle curve represents the correlation between the historical attitude angle to be calibrated and time within a set time period, and the calibration matrix is ​​determined based on the Taylor expansion of the historical attitude angle in the attitude angle curve; determining a candidate attitude angle according to the attitude angle curve and the target calibration time; determining a target attitude angle corresponding to the target calibration time according to the candidate attitude angle and the calibration matrix. Through the technical solution of the present application, the attitude angle at the target calibration time can be calibrated to improve the accuracy of attitude angle calibration.

Description

Technical Field

[0001] The present invention relates to the field of data processing, and in particular to a method, device, equipment and medium for calibrating an attitude angle. Background Art

[0002] Laser gyro inertial navigation technology is widely used in the field of navigation to collect and measure the attitude angle of ships. However, since the measured attitude angle itself has systematic errors or delays, the measured attitude angle itself is not accurate and has large errors.

[0003] The current attitude angle calibration method mainly collects multiple attitude angles at the same time and then compensates each other to reduce the relative error. However, the current calibration method has large errors and low accuracy. Summary of the invention

[0004] The present invention provides a method, device, equipment and medium for calibrating an attitude angle. Through the technical solution of the present application, the accuracy of attitude angle calibration can be improved.

[0005] In a first aspect, an embodiment of the present invention provides a method for calibrating an attitude angle, comprising:

[0006] Acquire an attitude angle curve, a target calibration time and a calibration matrix, wherein the attitude angle curve represents the correlation between the historical attitude angles to be calibrated and time within a set time period, and the calibration matrix is ​​determined based on the Taylor expansion of the historical attitude angles in the attitude angle curve;

[0007] Determining a candidate attitude angle according to the attitude angle curve and the target calibration time;

[0008] A target attitude angle corresponding to the target calibration moment is determined according to the candidate attitude angles and the calibration matrix.

[0009] In a second aspect, an embodiment of the present invention provides a device for calibrating an attitude angle, comprising:

[0010] An acquisition module, used to acquire an attitude angle curve, a target calibration time and a calibration matrix, wherein the attitude angle curve represents the correlation between the historical attitude angle to be calibrated and the time within a set time period, and the calibration matrix is ​​determined based on the Taylor expansion of the historical attitude angle in the attitude angle curve;

[0011] A candidate attitude angle determination module, used to determine a candidate attitude angle according to the attitude angle curve and the target calibration time;

[0012] The calibration module is used to determine the target attitude angle corresponding to the target calibration moment according to the candidate attitude angle and the calibration matrix.

[0013] In a third aspect, an embodiment of the present invention provides an electronic device, the electronic device comprising:

[0014] at least one processor; and,

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the attitude angle calibration method described in any one of the embodiments of the present invention.

[0017] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the attitude angle calibration method described in any one of the embodiments of the present invention when executed.

[0018] The embodiment of the present invention provides a method, device, equipment and medium for calibrating an attitude angle, the method includes obtaining an attitude angle curve, a target calibration time and a calibration matrix, wherein the attitude angle curve represents the correlation between the historical attitude angle to be calibrated and time within a set time period, and the calibration matrix is ​​determined based on the Taylor expansion of the historical attitude angle in the attitude angle curve; the candidate attitude angle is determined according to the attitude angle curve and the target calibration time; the target attitude angle corresponding to the target calibration time is determined according to the candidate attitude angle and the calibration matrix. Specifically, the calibration matrix is ​​determined by Taylor expansion of the historical attitude angle, which can represent the neighborhood features of the historical attitude angle, and the attitude angle of the neighborhood of the target calibration time can be determined through the neighborhood features of the historical attitude angle and the candidate attitude angle, thereby completing the calibration of the attitude angle at the target calibration time. Through the technical solution of the present application, the attitude angle can be accurately calibrated to improve the accuracy of attitude angle calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 A flowchart of a method for calibrating an attitude angle provided in Embodiment 1 of the present invention;

[0021] Figure 2 A flowchart of a method for calibrating an attitude angle provided in Embodiment 2 of the present invention;

[0022] Figure 3 A schematic diagram of the structure of a device for calibrating an attitude angle provided in a third embodiment of the present invention;

[0023] Figure 4 A schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention 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 invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] It should be noted that the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved in the technical solution of the present disclosure are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0027] Embodiment 1

[0028] Figure 1 A flowchart of a method for calibrating an attitude angle provided in Embodiment 1 of the present invention is applicable to the calibration of the attitude angle of a machine-shake laser gyro inertial navigation system. The method can be executed by a device for calibrating an attitude angle, which can be composed of software and / or hardware and configured in a computer or server.

[0029] like Figure 1 Including:

[0030] Step 110, obtaining an attitude angle curve, a target calibration time and a calibration matrix, wherein the attitude angle curve represents the correlation between the historical attitude angle to be calibrated and time within a set time period, and the calibration matrix is ​​determined based on the Taylor expansion of the historical attitude angle in the attitude angle curve.

[0031] Among them, the attitude angle curve is a time series curve that represents the correlation between the historical attitude angle to be calibrated and time within a set time period. It can be generated by the attitude angle collected by the acquisition device. Further, due to the existence of acquisition transmission delay, the historical attitude angle in the attitude angle curve is the attitude angle to be calibrated with errors. Furthermore, the target calibration time is the time required for calibration in this calibration task, and the target calibration time is the time within the set time period in the attitude angle curve.

[0032] Among them, the attitude angle curve includes the roll angle curve, pitch angle curve and heading angle curve:

[0033] Get attitude angle curve and target calibration time, including:

[0034] generating a roll angle curve according to the roll angle within a set time period, and obtaining a target calibration time on the roll angle curve;

[0035] generating a pitch angle curve according to the pitch angle within a set time period, and obtaining a target calibration time on the pitch angle curve;

[0036] A heading angle curve is generated according to the heading angle within a set time period, and a target calibration time on the heading angle curve is obtained.

[0037] Specifically, due to the bumping of the ship on the water, shaking will occur in the lateral, longitudinal and vertical directions. The roll angle, pitch angle and heading angle are respectively the attitude angles in different shaking directions caused by the bumping of the ship on the water. The roll angle curve, pitch angle curve and heading angle curve are respectively the change curves corresponding to the roll angle, pitch angle and heading angle.

[0038] Specifically, the elements of the calibration matrix are determined by the Taylor expansion of the historical attitude angles in the attitude angle curve. Since the Taylor expansion of the function / curve can characterize the neighborhood characteristics of the function / curve at a certain point, the neighborhood characteristics of the historical attitude angles can be determined by Taylor expansion and the calibration matrix can be formed. The attitude angles in the neighborhood of the target calibration moment can be determined by the calibration matrix that characterizes the neighborhood characteristics of the historical attitude angles. Furthermore, the attitude angles in the neighborhood characterize the attitude angles at the time close to the target calibration moment. In this way, the error caused by the delay can be neutralized, that is, the calibration of the attitude angles at the target calibration moment can be completed.

[0039] For example, if the target calibration time is 10s, the acquisition error may have a delay of 0.01s, so the acquired attitude angle is actually the attitude angle at 9.99 seconds. Therefore, the attitude angle of the neighborhood of 0.01s, such as the attitude angle of 9.9995s, can be determined, thereby reducing the delay error of 0.0005s and completing the calibration. It should be noted that the attitude angle of 9.9995s needs to be determined by the method of the embodiment of the present invention, which is not elaborated here. At the same time, this example is only for the convenience of understanding the examples listed. The specific delay values ​​and the values ​​represented by the neighborhood are all assumptions, and the specific values ​​can be determined through actual working conditions.

[0040] Specifically, since the calibration method of the embodiment of the present application is to calibrate the target calibration moment by means of the historical attitude angle corresponding to the historical moment of the target calibration moment and relying on the calibration matrix.

[0041] Step 120: Determine a candidate attitude angle according to the attitude angle curve and the target calibration time.

[0042] Among them, the candidate attitude angle is the historical attitude angle required to participate in this calibration task.

[0043] Optionally, step 120 includes:

[0044] Based on the target calibration time, a plurality of historical attitude angles on the attitude angle curve are obtained at preset time intervals as candidate attitude angles.

[0045] For example, if the target calibration time is the 10th second and the preset time interval is 0.1 second, the historical attitude angles of 9.5, 9.6, 9.7, 9.8, 9.9 and 10 seconds can be used as candidate attitude angles.

[0046] Step 130: Determine the target attitude angle corresponding to the target calibration moment according to the candidate attitude angle and the calibration matrix.

[0047] Specifically, the target attitude angle corresponding to the target calibration moment can be determined by calculating the candidate attitude angle data and the calibration matrix representing the neighborhood features of the historical attitude angles.

[0048] Optionally, the calibrated attitude angular velocity corresponding to the target calibration moment is determined according to the target attitude angle corresponding to the target calibration moment.

[0049] Specifically, the target attitude angle may be differentiated to determine the corresponding attitude angular velocity.

[0050] An embodiment of the present invention provides a method for calibrating an attitude angle, the method comprising obtaining an attitude angle curve, a target calibration moment and a calibration matrix, wherein the attitude angle curve represents the correlation between the historical attitude angles to be calibrated and time within a set time period, and the calibration matrix is ​​determined based on the Taylor expansion of the historical attitude angles in the attitude angle curve; determining candidate attitude angles according to the attitude angle curve and the target calibration moment; and determining the target attitude angle corresponding to the target calibration moment according to the candidate attitude angles and the calibration matrix. Specifically, a calibration matrix that can represent the neighborhood features of the historical attitude angles can be determined by Taylor expansion of the historical attitude angles, and then the attitude angles of the neighborhood of the target calibration moment can be determined by the calibration matrix and the candidate attitude angles, thereby completing the calibration of the attitude angles at the target calibration moment. Through the technical solution of the present application, the attitude angle can be accurately calibrated, and the accuracy of attitude angle calibration can be improved.

[0051] Embodiment 2

[0052] Figure 2 This is a flow chart of a method for calibrating an attitude angle provided in the second embodiment of the present invention. This embodiment is based on the above embodiments and further limits the method for determining the target attitude angle.

[0053] like Figure 2 As shown, including:

[0054] Step 210: Acquire an attitude angle curve, a target calibration time and a calibration matrix, wherein the attitude angle curve represents the correlation between the historical attitude angles to be calibrated and time within a set time period, and the calibration matrix is ​​determined based on the Taylor expansion of the historical attitude angles in the attitude angle curve.

[0055] Step 220: Determine a candidate attitude angle according to the attitude angle curve and the target calibration time.

[0056] Step 230: construct a posture angle matrix according to the candidate posture angles, wherein the posture angle matrix has the same dimension as the calibration matrix.

[0057] Step 240: Determine the target attitude angle corresponding to the target calibration moment according to the attitude angle matrix and the calibration matrix.

[0058] Specifically, the order of the elements of the attitude angle matrix may be determined according to the time corresponding to the candidate attitude angles, thereby forming the attitude angle matrix.

[0059] Exemplarily, the target attitude angle may be determined by the following formula:

[0060] x=M*y, where x represents the target attitude angle, M is the calibration matrix, and y is the attitude angle matrix.

[0061] The dimension of the attitude angle matrix is ​​the same as that of the calibration matrix.

[0062] Optionally, the calibration matrix is ​​determined by:

[0063] Acquire a plurality of historical attitude angles on the attitude angle curve according to the preset time interval;

[0064] Performing Taylor expansion on the historical posture angle to determine a Taylor expansion corresponding to the historical posture angle, wherein the Taylor expansion includes expansion coefficients of a plurality of expansion terms;

[0065] The calibration matrix is ​​constructed according to the expansion coefficients corresponding to each historical attitude angle, wherein the dimension of the calibration matrix is ​​determined by the expansion order of the Taylor expansion.

[0066] Exemplarily, the calibration matrix may be determined by the following formula.

[0067] ;

[0068] ;

[0069] ;

[0070] ;

[0071] in, Aligning time to goal The historical attitude angle; Specifically, the expansion order in the above formula is 2nd order. for The expansion coefficient of for The expansion coefficient of .

[0072] Furthermore, the first matrix F can be determined according to the expansion coefficients corresponding to each historical attitude angle;

[0073]

[0074] Further according to Determine the calibration matrix M.

[0075] Specifically, since the calibration matrix M contains expansion coefficients corresponding to each historical attitude angle, the expansion coefficients themselves characterize the characteristics of each order expansion term of the historical attitude angle, and each order expansion term characterizes the change trend of different attitude angles in the neighborhood, the expansion coefficients can characterize the neighborhood change characteristics of the historical attitude angle at the expansion point (target calibration moment). Then, the target attitude angle can be determined by the neighborhood change characteristics, wherein the neighborhood and the attitude angle of the neighborhood described in the embodiment of the present invention can be obtained by and Characterized by.

[0076] Step 240: Determine the target attitude angle corresponding to the target calibration moment according to the attitude angle matrix and the calibration matrix.

[0077] Specifically, the attitude angle matrix can be:

[0078]

[0079] Furthermore, you can and Determine the solution matrix containing the target attitude angle , the specific solution method can be the least squares algorithm, which will not be described here.

[0080] Further, solve the first element in the matrix x is the attitude angle of the neighborhood time of the target calibration time, which can be obtained by Find the limit and determine the target attitude angle.

[0081] Furthermore, the second element of the matrix x is solved to be the attitude angular velocity at the target calibration moment.

[0082] The embodiment of the present invention provides a method for calibrating an attitude angle. Specifically, a calibration matrix that can characterize the neighborhood characteristics of the historical attitude angle can be determined by Taylor expansion of the historical attitude angle, and then the attitude angle of the neighborhood at the target calibration moment is determined by the calibration matrix and the candidate attitude angle, so as to complete the calibration of the attitude angle at the target calibration moment. Through the technical solution of the present application, the attitude angle can be accurately calibrated, and the accuracy of attitude angle calibration can be improved.

[0083] Embodiment 3

[0084] Figure 3 This is a schematic diagram of the structure of a posture angle calibration device provided by Embodiment 3 of the present invention. Figure 3 As shown, the device is used to execute any attitude angle calibration method described in the embodiments of the present invention.

[0085] like Figure 3 As shown, including:

[0086] An acquisition module 310 is used to acquire an attitude angle curve, a target calibration time and a calibration matrix, wherein the attitude angle curve represents the correlation between the historical attitude angle to be calibrated and the time within a set time period, and the calibration matrix is ​​determined based on the Taylor expansion of the historical attitude angle in the attitude angle curve;

[0087] A candidate attitude angle determination module 320, configured to determine a candidate attitude angle according to the attitude angle curve and a target calibration time;

[0088] The calibration module 330 is used to determine the target attitude angle corresponding to the target calibration moment according to the candidate attitude angle and the calibration matrix.

[0089] An embodiment of the present invention provides a device for calibrating an attitude angle, which obtains an attitude angle curve, a target calibration time, and a calibration matrix, wherein the attitude angle curve represents the correlation between the historical attitude angles to be calibrated and time within a set time period, and the calibration matrix is ​​determined based on the Taylor expansion of the historical attitude angles in the attitude angle curve; a candidate attitude angle is determined according to the attitude angle curve and the target calibration time; and a target attitude angle corresponding to the target calibration time is determined according to the candidate attitude angle and the calibration matrix. Specifically, a calibration matrix that can represent the neighborhood features of the historical attitude angles can be determined by Taylor expansion of the historical attitude angles, and then the attitude angle of the neighborhood of the target calibration time can be determined by the calibration matrix and the candidate attitude angles, thereby completing the calibration of the attitude angle at the target calibration time. Through the technical solution of the present application, the attitude angle can be accurately calibrated to improve the accuracy of attitude angle calibration.

[0090] Optionally, the attitude angle calibration device further comprises: a calibration matrix determination module, used to determine elements in the calibration matrix;

[0091] The calibration matrix determination module includes:

[0092] A historical attitude angle acquisition unit, used for acquiring a plurality of historical attitude angles on the attitude angle curve according to the preset time interval;

[0093] An expansion unit, configured to perform Taylor expansion on the historical posture angle to determine a Taylor expansion corresponding to the historical posture angle, wherein the Taylor expansion includes expansion coefficients of a plurality of expansion terms;

[0094] The extraction unit is used to construct the calibration matrix according to the expansion coefficients corresponding to each historical attitude angle, wherein the dimension of the calibration matrix is ​​determined by the expansion order of the Taylor expansion.

[0095] Optionally, the attitude angle curve includes a roll angle curve, a pitch angle curve and a heading angle curve, and the acquisition module 310 includes:

[0096] The first unit is used to generate a roll angle curve according to the roll angle within a set time period, and obtain a target calibration time on the roll angle curve;

[0097] The second unit is used to generate a pitch angle curve according to the pitch angle within a set time period, and obtain a target calibration time on the pitch angle curve;

[0098] The third unit is used to generate a heading angle curve according to the heading angle within a set time period, and obtain the target calibration time on the heading angle curve.

[0099] Optionally, the candidate attitude angle determination module 320 is specifically used to: based on the target calibration time, obtain multiple historical attitude angles on the attitude angle curve at preset time intervals as candidate attitude angles.

[0100] Optionally, the calibration module 330 includes:

[0101] an attitude angle matrix determining unit, configured to construct an attitude angle matrix according to the candidate attitude angles, wherein the attitude angle matrix has the same dimension as the calibration matrix;

[0102] The calibration unit is used to determine the target attitude angle corresponding to the target calibration moment according to the attitude angle matrix and the calibration matrix.

[0103] Optionally, the attitude angle calibration device further includes: an angular velocity determination module, configured to determine a calibrated attitude angular velocity corresponding to the target calibration moment according to the target attitude angle corresponding to the target calibration moment.

[0104] The attitude angle calibration device provided in the embodiment of the present invention can execute the attitude angle calibration method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0105] Embodiment 4

[0106] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0107] like Figure 4As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0108] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0109] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for calibrating the attitude angle.

[0110] In some embodiments, the method for calibrating the attitude angle may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for calibrating the attitude angle described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the method for calibrating the attitude angle in any other appropriate manner (e.g., by means of firmware).

[0111] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0112] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0113] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0114] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0115] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0116] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0117] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0118] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for calibrating an attitude angle, characterized in that: include: Acquire an attitude angle curve, a target calibration time and a calibration matrix, wherein the attitude angle curve represents the correlation between the historical attitude angle to be calibrated and the time within a set time period, and the calibration matrix is ​​determined based on the Taylor expansion of the historical attitude angle in the attitude angle curve, wherein the Taylor expansion includes an expansion coefficient, and the expansion coefficient represents the neighborhood change characteristics of the historical attitude angle at the target calibration time; Determining a candidate attitude angle according to the attitude angle curve and the target calibration time; A target attitude angle corresponding to the target calibration moment is determined according to the candidate attitude angles and the calibration matrix.

2. The method according to claim 1, characterized in that The attitude angle curve includes a roll angle curve, a pitch angle curve and a heading angle curve; Obtaining the attitude angle curve and target calibration time includes: generating a roll angle curve according to the roll angle within a set time period, and obtaining a target calibration time on the roll angle curve; generating a pitch angle curve according to the pitch angle within a set time period, and obtaining a target calibration time on the pitch angle curve; A heading angle curve is generated according to the heading angle within a set time period, and a target calibration time on the heading angle curve is obtained.

3. The method according to claim 1, characterized in that The step of determining the candidate attitude angle according to the attitude angle curve and the target calibration time comprises: Based on the target calibration time, a plurality of historical attitude angles on the attitude angle curve are obtained at preset time intervals as candidate attitude angles.

4. The method according to claim 3, characterized in that The calibration matrix is ​​determined in a manner including: Acquire a plurality of historical attitude angles on the attitude angle curve according to the preset time interval; Performing Taylor expansion on the historical posture angle to determine a Taylor expansion corresponding to the historical posture angle, wherein the Taylor expansion includes expansion coefficients of a plurality of expansion terms; The calibration matrix is ​​constructed according to the expansion coefficients corresponding to each historical attitude angle, wherein the dimension of the calibration matrix is ​​determined by the expansion order of the Taylor expansion.

5. The method according to claim 1, characterized in that The step of determining the target attitude angle corresponding to the target calibration moment according to the candidate attitude angle and the calibration matrix includes: Constructing a posture angle matrix according to the candidate posture angles, wherein the posture angle matrix has the same dimension as the calibration matrix; The target attitude angle corresponding to the target calibration moment is determined according to the attitude angle matrix and the calibration matrix.

6. The method according to claim 1, characterized in that Also includes: The calibrated attitude angular velocity corresponding to the target calibration moment is determined according to the target attitude angle corresponding to the target calibration moment.

7. A device for calibrating an attitude angle, characterized in that: include: An acquisition module, used to acquire an attitude angle curve, a target calibration time and a calibration matrix, wherein the attitude angle curve represents the correlation between the historical attitude angle to be calibrated and the time within a set time period, and the calibration matrix is ​​determined based on the Taylor expansion of the historical attitude angle in the attitude angle curve, wherein the Taylor expansion includes an expansion coefficient, and the expansion coefficient represents the neighborhood change characteristics of the historical attitude angle at the target calibration time; A candidate attitude angle determination module, used to determine a candidate attitude angle according to the attitude angle curve and the target calibration time; The calibration module is used to determine the target attitude angle corresponding to the target calibration moment according to the candidate attitude angle and the calibration matrix.

8. The device according to claim 7, characterized in that The calibration module is specifically used for: Constructing a posture angle matrix according to the candidate posture angles, wherein the posture angle matrix has the same dimension as the calibration matrix; The target attitude angle corresponding to the target calibration moment is determined according to the attitude angle matrix and the calibration matrix.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the attitude angle calibration method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the attitude angle calibration method according to any one of claims 1 to 6 when executed.

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