A method for calibrating a gyroscope of a smart wearable device

Abstract

The present invention discloses a method for calibrating a gyroscope of a smart wearable device. The method relates to the technical field of gyroscope calibration, and comprises the following steps: collecting and analyzing gyroscope calibration data, comprehensively analyzing to obtain an accuracy assessment value of the gyroscope calibration data, and optimizing and adjusting. The present invention collects and processes gyroscope calibration data, analyzes gyroscope calibration, obtains a gyroscope calibration data quality assessment value and a gyroscope calibration data synchronization assessment value, comprehensively analyzes and optimizes and adjusts, thereby improving the accuracy of the gyroscope calibration method and solving the problem of insufficient accuracy of the gyroscope calibration method in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of gyroscope calibration, and in particular to a method for calibrating a gyroscope of an intelligent wearable device. Background Art

[0002] With the continuous expansion of the functions of smart wearable devices such as smart watches, smart bracelets, and smart glasses, users have higher and higher requirements for device accuracy. As one of the core sensors, the gyroscope is mainly used to detect angular velocity and support functions such as posture detection, motion recognition, and games. However, due to manufacturing errors, drift caused by long-term use, and changes in the external environment, gyroscope data may deviate, affecting the use effect. Therefore, gyroscope calibration technology is particularly important. This paper proposes an effective gyroscope calibration method for smart wearable devices to improve the device's motion recognition, game playing, direction perception, and other capabilities.

[0003] The existing gyroscope calibration method uses a Kalman filter to perform a calibration procedure through a MEMS gyroscope self-calibration method, and estimates the bias error, scale factor error and non-orthogonal error of the gyroscope; calculates the gyroscope output after calibration coefficient correction through a gyroscope real-time self-calibration system and method, and uses the mean of these output data as an estimate of the gyroscope random error, which is subtracted in real time to obtain a higher-precision attitude angle.

[0004] For example, a method for calibrating the zero drift of a gyroscope is disclosed in the invention patent with the publication number CN108195404B, which includes: in step 1, after the robot is started, the angular velocity of the gyroscope is read once at a time interval, and in the process of reading the angular velocity, the angular velocity is integrated to obtain the gyroscope angle, and then the process proceeds to step 2; in step 2, the zero drift value is determined according to the angular velocity read under the condition of stationary state of the gyroscope, and then the process proceeds to step 3; in step 3, in the reading process, the zero drift value is subtracted from the gyroscope angle to obtain the calibrated gyroscope angle.

[0005] For example, the gyroscope sensor calibration device and calibration method disclosed in the invention patent with announcement number CN103017785B include a CAN bus, a fixed platform, a calibration circuit board, a rotating frame capable of fixing multiple sensor boards, a motor for driving the rotating frame to rotate, and a human-machine interactive display panel. The fixed platform is composed of a base plate and side panels symmetrically arranged on both sides of the base plate. The calibration circuit board is placed on the base plate. Both ends of the rotating shaft of the rotating frame are respectively mounted on the side panels located on both sides of the base plate. The rotating frame is provided with a sensor slot device for powering and communicating the sensor board. The sensor slot device is connected to the CAN bus. The motor is mounted on the side of the side panel and connected to the rotating shaft of the rotating frame. The side panel is also provided with a photoelectric limit switch for controlling the operation of the motor and detecting the position of the rotating frame. The calibration circuit board and the human-machine interactive display panel are both connected to the CAN bus.

[0006] However, in the process of implementing the technical solution of the invention in the embodiments of the present application, the present application found that the above technology has at least the following technical problems:

[0007] This method is used in hiking application scenarios, but there is a problem of insufficient accuracy assessment of the gyroscope calibration method. During the hiking process, due to temperature fluctuations and changes in vibration amplitude, smart wearable devices drift and errors occur during use, and there is a problem of unreliable data quality. Due to magnetic field interference, there is a delay in processing real-time gyroscope calibration data, resulting in the inability to adjust the gyroscope measurement error in time. There is a problem of insufficient accuracy of the gyroscope calibration method. Summary of the invention

[0008] The embodiment of the present application solves the problem of insufficient accuracy of the gyroscope calibration method in the prior art by providing a method for calibrating a gyroscope of a smart wearable device, thereby improving the accuracy of the gyroscope calibration method.

[0009] The embodiment of the present application provides a method for calibrating a gyroscope of a smart wearable device, comprising the following steps: collecting and processing gyroscope calibration data; analyzing the gyroscope calibration to obtain a gyroscope calibration data quality assessment value and a gyroscope calibration data synchronization assessment value; comprehensively analyzing to obtain a gyroscope calibration data accuracy assessment value; comparing and analyzing the gyroscope calibration data quality assessment value with a first threshold of the gyroscope calibration data quality assessment value, and optimizing the gyroscope calibration data quality method; comparing and analyzing the gyroscope calibration data synchronization assessment value with a second threshold of the gyroscope calibration data synchronization assessment value, and optimizing the gyroscope calibration data synchronization method; comparing and analyzing the gyroscope calibration data accuracy assessment value with a comprehensive threshold of the gyroscope calibration data accuracy assessment value, and optimizing and adjusting the gyroscope calibration data accuracy method.

[0010] Furthermore, the specific steps of collecting and processing the gyroscope calibration data are: collecting the gyroscope calibration raw data through the sensor device; cleaning and denoising the gyroscope calibration raw data to obtain the gyroscope calibration data.

[0011] Furthermore, the acquisition and processing of gyroscope calibration data also includes: the gyroscope calibration data includes gyroscope calibration data quality data and gyroscope calibration data synchronization data; obtaining a preset gyroscope calibration data noise threshold, a zero drift rate threshold, a temperature difference standard value, a gyroscope amplitude deviation standard value, a magnetic field strength standard value, a gyroscope maximum angular velocity standard value, a gyroscope maximum angular velocity deviation standard value, a gyroscope minimum angular velocity standard value, a gyroscope minimum angular velocity deviation standard value, a gyroscope signal maximum amplitude standard deviation, a gyroscope signal minimum amplitude standard deviation, a time drift rate standard value, a timestamp standard value, and a timestamp error standard value from a gyroscope calibration database.

[0012] Furthermore, the specific steps of obtaining the gyroscope calibration data quality evaluation value are: obtaining the temperature of a preset gyroscope calibration data quality time detection point through a temperature sensor; obtaining the gyroscope maximum positive amplitude at a preset gyroscope calibration data quality time detection point through a vibration test bench; obtaining the gyroscope maximum negative amplitude at a preset gyroscope calibration data quality time detection point through a vibration test bench; obtaining the magnetic field strength at a preset gyroscope calibration data quality time detection point through a magnetic field sensor; obtaining the gyroscope calibration data noise at a preset gyroscope calibration data quality time detection point through a data acquisition system; obtaining the gyroscope calibration data noise at a preset gyroscope calibration data quality time detection point through an electronic device The invention discloses a method for obtaining a zero-point drift rate of a preset gyroscope calibration data quality time detection point; obtaining a gyroscope maximum angular velocity of a preset gyroscope calibration data quality time detection point through a signal analyzer; obtaining a gyroscope minimum angular velocity of a preset gyroscope calibration data quality time detection point through a signal analyzer; the gyroscope calibration data quality data includes temperature, gyroscope maximum positive amplitude, gyroscope maximum negative amplitude, magnetic field strength, gyroscope calibration data noise, zero-point drift rate, gyroscope maximum angular velocity and gyroscope minimum angular velocity; and obtaining a gyroscope calibration data quality evaluation value according to gyroscope calibration data quality data analysis.

[0013] Furthermore, the specific steps of obtaining the synchronization evaluation value of the gyroscope calibration data are as follows: obtaining the temperature of the preset gyroscope calibration data synchronization time detection point through a temperature sensor; obtaining the maximum positive amplitude of the gyroscope at the preset gyroscope calibration data synchronization time detection point through a vibration test bench; obtaining the maximum negative amplitude of the gyroscope at the preset gyroscope calibration data synchronization time detection point through a vibration test bench; obtaining the magnetic field strength of the preset gyroscope calibration data synchronization time detection point through a magnetic field sensor; obtaining the zero-point drift rate of the preset gyroscope calibration data synchronization time detection point through a data acquisition system; obtaining the maximum amplitude of the gyroscope input signal at the preset gyroscope calibration data synchronization time detection point through a signal analyzer; obtaining the maximum amplitude of the gyroscope output ... The signal analyzer obtains the minimum amplitude of the gyroscope input signal at the preset gyroscope calibration data synchronization time detection point; the signal analyzer obtains the minimum amplitude of the gyroscope output signal at the preset gyroscope calibration data synchronization time detection point; the GPS receiver obtains the timestamp of the preset gyroscope calibration data synchronization time detection point; the high-precision clock source obtains the clock drift rate of the preset gyroscope calibration data synchronization time detection point; the gyroscope calibration data synchronization data includes temperature, gyroscope maximum positive amplitude, gyroscope maximum negative amplitude, magnetic field strength, zero drift rate, gyroscope input signal maximum amplitude, gyroscope output signal maximum amplitude, gyroscope input signal minimum amplitude, gyroscope output signal minimum amplitude, timestamp and clock drift rate; the gyroscope calibration data synchronization evaluation value is obtained according to the gyroscope calibration data synchronization data analysis.

[0014] Furthermore, the specific steps of comprehensively analyzing and obtaining the gyroscope calibration data accuracy evaluation value are: obtaining the gyroscope calibration data transmission delay of a preset gyroscope calibration data accuracy time detection point through an atomic clock; and obtaining the gyroscope calibration data accuracy evaluation value through comprehensive analysis of the gyroscope calibration data synchronization evaluation value, the gyroscope calibration data quality evaluation value and the gyroscope calibration data transmission delay.

[0015] Furthermore, the specific steps of the method for optimizing the gyroscope calibration data quality are as follows: if the gyroscope calibration data quality assessment value is lower than or equal to the first threshold value of the gyroscope calibration data quality assessment value, there is no need to optimize the gyroscope calibration data quality method; if the gyroscope calibration data quality assessment value is greater than the first threshold value of the gyroscope calibration data quality assessment value, then the difference between the gyroscope calibration data quality assessment value and the first threshold value of the gyroscope calibration data quality assessment value is used to match the corresponding adjustment plan in the gyroscope calibration database.

[0016] Furthermore, the specific steps of the method for optimizing the synchronization of gyroscope calibration data are as follows: if the gyroscope calibration data synchronization evaluation value is greater than or equal to the second threshold value of the gyroscope calibration data synchronization evaluation value, there is no need to optimize the gyroscope calibration data synchronization method; if the gyroscope calibration data synchronization evaluation value is lower than the second threshold value of the gyroscope calibration data synchronization evaluation value, then the difference between the gyroscope calibration data synchronization evaluation value and the second threshold value of the gyroscope calibration data synchronization evaluation value is used to match the corresponding adjustment plan in the gyroscope calibration database.

[0017] Furthermore, the specific steps of the method for optimizing and adjusting the accuracy of gyroscope calibration data are: extracting a comprehensive threshold of a gyroscope calibration data accuracy assessment value from a gyroscope calibration database, and comparing the gyroscope calibration data accuracy assessment value with the comprehensive threshold of the gyroscope calibration data accuracy assessment value; if the gyroscope calibration data accuracy assessment value is greater than or equal to the comprehensive threshold of the gyroscope calibration data accuracy assessment value, there is no need to optimize and adjust the method for optimizing and adjusting the gyroscope calibration data accuracy.

[0018] Furthermore, the method for optimizing and adjusting the accuracy of gyroscope calibration data also includes: if the gyroscope calibration data accuracy assessment value is lower than the gyroscope calibration data accuracy assessment value comprehensive threshold, then matching the corresponding adjustment scheme in the gyroscope calibration database through the difference between the gyroscope calibration data accuracy assessment value and the gyroscope calibration data accuracy assessment value comprehensive threshold.

[0019] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0020] 1. By collecting and processing gyroscope calibration data, analyzing the gyroscope calibration, obtaining the gyroscope calibration data quality assessment value and the gyroscope calibration data synchronization assessment value, comprehensive analysis and optimization adjustment are carried out to improve the accuracy of the gyroscope calibration method and solve the problem of insufficient accuracy of the gyroscope calibration method in the prior art.

[0021] 2. By collecting and processing gyroscope calibration data, the gyroscope calibration is analyzed to obtain the gyroscope calibration data quality assessment value and the gyroscope calibration data synchronization assessment value. High-quality gyroscope data can provide more accurate motion tracking, thereby improving the user experience. By analyzing the calibration data, errors can be identified and corrected, thereby improving the measurement accuracy of the gyroscope.

[0022] 3. Through comprehensive analysis and optimization adjustment, the accuracy of the gyroscope in the process of motion data collection can be improved, drift and error can be reduced, and the response accuracy of smart wearable devices in scenarios such as motion tracking, game control, and gesture recognition can be improved, making user operations smoother and more natural. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A flow chart of a method for calibrating a gyroscope of a smart wearable device provided in an embodiment of the present application;

[0024] Figure 2 A schematic diagram of a gyroscope calibration data accuracy evaluation value function provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The embodiment of the present application solves the problem of insufficient accuracy of the gyroscope calibration method in the prior art by providing a method for calibrating a gyroscope of a smart wearable device. By collecting and processing gyroscope calibration data, analyzing the gyroscope calibration, obtaining a gyroscope calibration data quality assessment value and a gyroscope calibration data synchronization assessment value, comprehensive analysis and optimization adjustment are performed, thereby improving the accuracy of the gyroscope calibration method.

[0026] The technical solution in the embodiment of the present application is to solve the above-mentioned problem that the method for gyroscope calibration is not accurate enough. The overall idea is as follows:

[0027] By collecting and processing gyroscope calibration data, analyzing the gyroscope calibration, obtaining the gyroscope calibration data quality assessment value and the gyroscope calibration data synchronization assessment value, comprehensive analysis and optimization adjustment, the accuracy of the gyroscope calibration method is improved.

[0028] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0029] like Figure 1 As shown, it is a flow chart of a method for calibrating a gyroscope of a smart wearable device provided by an embodiment of the present application, and the method includes the following steps: collecting and processing gyroscope calibration data; analyzing the gyroscope calibration to obtain a gyroscope calibration data quality assessment value and a gyroscope calibration data synchronization assessment value; comprehensively analyzing to obtain a gyroscope calibration data accuracy assessment value; comparing and analyzing the gyroscope calibration data quality assessment value with a first threshold of the gyroscope calibration data quality assessment value, and optimizing the gyroscope calibration data quality method; comparing and analyzing the gyroscope calibration data synchronization assessment value with a second threshold of the gyroscope calibration data synchronization assessment value, and optimizing the gyroscope calibration data synchronization method; comparing and analyzing the gyroscope calibration data accuracy assessment value with a comprehensive threshold of the gyroscope calibration data accuracy assessment value, and optimizing and adjusting the gyroscope calibration data accuracy method.

[0030] Furthermore, the specific steps of collecting and processing the gyroscope calibration data are: collecting the gyroscope calibration raw data through the sensor device; cleaning and denoising the gyroscope calibration raw data to obtain the gyroscope calibration data.

[0031] Furthermore, collecting and processing gyroscope calibration data also includes: the gyroscope calibration data includes gyroscope calibration data quality data and gyroscope calibration data synchronization data; obtaining a preset gyroscope calibration data noise threshold, a zero drift rate threshold, a temperature difference standard value, a gyroscope amplitude deviation standard value, a magnetic field strength standard value, a gyroscope maximum angular velocity standard value, a gyroscope maximum angular velocity deviation standard value, a gyroscope minimum angular velocity standard value, a gyroscope minimum angular velocity deviation standard value, a gyroscope signal maximum amplitude standard deviation, a gyroscope signal minimum amplitude standard deviation, a time drift rate standard value, a timestamp standard value and a timestamp error standard value from a gyroscope calibration database.

[0032] Furthermore, the specific steps of obtaining the gyroscope calibration data quality evaluation value are as follows: obtaining the temperature of a preset gyroscope calibration data quality time detection point through a temperature sensor; obtaining the gyroscope maximum positive amplitude at a preset gyroscope calibration data quality time detection point through a vibration test bench; obtaining the gyroscope maximum negative amplitude at a preset gyroscope calibration data quality time detection point through a vibration test bench; obtaining the magnetic field strength at a preset gyroscope calibration data quality time detection point through a magnetic field sensor; obtaining the gyroscope calibration data noise at a preset gyroscope calibration data quality time detection point through a data acquisition system; obtaining the gyroscope calibration data noise at a preset gyroscope calibration data quality time detection point through an electronic device The zero-point drift rate of a preset gyroscope calibration data quality time detection point is obtained; the maximum angular velocity of the gyroscope at the preset gyroscope calibration data quality time detection point is obtained through a signal analyzer; the minimum angular velocity of the gyroscope at the preset gyroscope calibration data quality time detection point is obtained through a signal analyzer; the gyroscope calibration data quality data includes temperature, maximum positive amplitude of the gyroscope, maximum negative amplitude of the gyroscope, magnetic field strength, gyroscope calibration data noise, zero-point drift rate, maximum angular velocity of the gyroscope and minimum angular velocity of the gyroscope; and a gyroscope calibration data quality evaluation value is obtained according to the gyroscope calibration data quality data analysis.

[0033] In this embodiment, the specific method for obtaining the gyroscope calibration data quality assessment value through analysis is as follows:

[0034]

[0035] The preset gyroscope calibration data quality time detection points are numbered in sequence, S0 represents the number of the gyroscope calibration data quality time detection point under the T0th gyroscope calibration data quality detection segment, S0=1,2,...,S, S represents the total number of gyroscope calibration data quality time detection points.

[0036] The preset gyroscope calibration data quality time is divided into gyroscope calibration data quality detection segments of the same time length, T0 represents the number of the gyroscope calibration data quality detection segment, T0=1,2,...,T, T represents the total number of gyroscope calibration data quality detection segments.

[0037] Represents the gyroscope calibration data quality assessment value at the S0th gyroscope calibration data quality time detection point.

[0038] Represents the temperature fluctuation influence coefficient at the S0th gyroscope calibration data quality time detection point.

[0039] Represents the influence coefficient of vibration amplitude change in the T0th gyroscope calibration data quality detection segment.

[0040] Represents the magnetic field strength influence coefficient at the S0th gyroscope calibration data quality time detection point.

[0041] represents the gyroscope calibration data noise at the S0th gyroscope calibration data quality time detection point.

[0042] Z1 represents the gyroscope calibration data noise threshold, which is a preset gyroscope calibration data noise threshold obtained from a gyroscope calibration database, and may be an average gyroscope calibration data noise value at a preset gyroscope calibration data quality time detection point from a historical database.

[0043] It represents the zero drift rate at the S0th gyroscope calibration data quality time detection point.

[0044] A1 represents a zero drift rate threshold, which is a preset zero drift rate threshold obtained from a gyroscope calibration database, and may be an average value of zero drift rates at a preset gyroscope calibration data quality time detection point from a historical database.

[0045] Indicates the gyroscope angular velocity dynamic range coefficient in the T0th gyroscope calibration data quality detection segment.

[0046] Indicates the temperature value at the S0+1th gyroscope calibration data quality time detection point.

[0047] Indicates the temperature value at the S0th gyroscope calibration data quality time detection point.

[0048] ΔW represents a temperature difference standard value, which is a preset temperature difference standard value obtained from a gyroscope calibration database, and may be an average temperature difference value at a preset gyroscope calibration data quality time detection point from a historical database.

[0049] Indicates the maximum positive amplitude of the gyroscope in the T0th gyroscope calibration data quality detection segment.

[0050] Indicates the maximum negative amplitude of the gyroscope in the T0th gyroscope calibration data quality detection segment.

[0051] ΔF represents the standard value of the gyroscope amplitude deviation, which is a preset gyroscope amplitude deviation standard value obtained from a gyroscope calibration database, and may be an average value of the gyroscope amplitude deviation at a preset gyroscope calibration data quality time detection point from a historical database.

[0052] Represents the magnetic field strength at the S0th gyroscope calibration data quality time detection point.

[0053] C1 represents the standard value of magnetic field strength, which is a preset standard value of magnetic field strength obtained from a gyroscope calibration database, and may be an average value of magnetic field strength at a preset gyroscope calibration data quality time detection point from a historical database.

[0054] Indicates the maximum angular velocity of the gyroscope in the T0th gyroscope calibration data quality detection segment. It represents the standard value of the maximum angular velocity of the gyroscope, which is the preset standard value of the maximum angular velocity of the gyroscope obtained from the gyroscope calibration database, and can be the average value of the maximum angular velocity of the gyroscope at the quality time detection point of the preset gyroscope calibration data from the historical database.

[0055] ΔD represents the standard value of the maximum angular velocity deviation of the gyroscope, which is a preset standard value of the maximum angular velocity deviation of the gyroscope obtained from the gyroscope calibration database, and can be an average value of the maximum angular velocity deviation of the gyroscope at a preset gyroscope calibration data quality time detection point from a historical database.

[0056] Indicates the minimum angular velocity of the gyroscope in the T0th gyroscope calibration data quality detection segment. It represents the standard value of the minimum angular velocity of the gyroscope, which is the preset standard value of the minimum angular velocity of the gyroscope obtained from the gyroscope calibration database, and can be the average value of the minimum angular velocity of the gyroscope at the quality time detection point of the preset gyroscope calibration data from the historical database.

[0057] ΔH represents the standard value of the minimum angular velocity deviation of the gyroscope, which is a preset standard value of the minimum angular velocity deviation of the gyroscope obtained from the gyroscope calibration database, and can be an average value of the minimum angular velocity deviation of the gyroscope at a preset gyroscope calibration data quality time detection point from a historical database.

[0058] is the noise impact weight factor of the preset gyroscope calibration data obtained from the gyroscope calibration database.

[0059] Weighting factor for the preset zero drift rate obtained from the gyroscope calibration database.

[0060] The weight factor is the preset gyroscope angular velocity dynamic range coefficient obtained from the gyroscope calibration database.

[0061] ρ1 is the preset temperature fluctuation influence factor obtained from the gyroscope calibration database.

[0062] ρ2 is the preset vibration amplitude change influence factor obtained from the gyroscope calibration database.

[0063] ρ3 is the preset magnetic field strength influence factor obtained from the gyroscope calibration database.

[0064] The preset gyroscope calibration data noise influence weight factor, the preset zero drift rate influence weight factor and the preset gyroscope angular velocity dynamic range coefficient influence weight factor are obtained through mapping relationships. For example, a mapping set of gyroscope calibration data noise, zero drift rate and gyroscope angular velocity dynamic range coefficient and their corresponding weights are established respectively through the relationship between the gyroscope calibration data noise, zero drift rate and gyroscope angular velocity dynamic range coefficient in the historical data and the data update frequency. The preset gyroscope calibration data noise influence weight factor, the preset zero drift rate influence weight factor and the preset gyroscope angular velocity dynamic range coefficient influence weight factor corresponding to the mapping set are obtained by inputting the real-time gyroscope calibration data noise, zero drift rate and gyroscope angular velocity dynamic range coefficient.

[0065] The preset temperature fluctuation influence factor, the preset vibration amplitude change influence factor and the preset magnetic field strength influence factor are obtained through mapping relationships. For example, a mapping set of temperature fluctuation, vibration amplitude change and magnetic field strength and their corresponding weights is established respectively through the relationship between temperature fluctuation, vibration amplitude change and magnetic field strength in historical data and network delay. The corresponding preset temperature fluctuation influence factor, preset vibration amplitude change influence factor and preset magnetic field strength influence factor in the mapping set are obtained by inputting real-time temperature fluctuation, vibration amplitude change and magnetic field strength.

[0066] The greater the temperature difference, the greater the temperature fluctuation, which affects the performance of the internal components of the gyroscope, resulting in an increase in the zero drift rate and the noise of the gyroscope calibration data; the greater the magnetic field strength, the strong magnetic field may interfere with the normal operation of the gyroscope, resulting in abnormal amplitude, and the maximum positive amplitude and the maximum negative amplitude of the gyroscope increase; the greater the magnetic field strength, the more it affects the measurement accuracy of the gyroscope, and the maximum angular velocity and the minimum angular velocity of the gyroscope increase; the greater the magnetic field strength, the greater the zero drift and the zero drift rate.

[0067] There is a positive correlation between the temperature difference and the gyroscope calibration data quality assessment value, which causes the characteristics of the internal components of the gyroscope to change, thereby increasing the zero drift and noise. The larger the temperature difference, the larger the gyroscope calibration data quality assessment value; there is a positive correlation between the square of the difference between the maximum positive amplitude of the gyroscope and the maximum negative amplitude of the gyroscope and the gyroscope calibration data quality assessment value, which exceeds the linear working range of the gyroscope and may cause nonlinear errors. The larger the square of the difference between the maximum positive amplitude of the gyroscope and the maximum negative amplitude of the gyroscope, the larger the gyroscope calibration data quality assessment value; there is a positive correlation between the square of the difference between the magnetic field strength and the standard value of the magnetic field strength and the gyroscope calibration data quality assessment value, which interferes with the measurement of the gyroscope and causes an increase in error. The larger the square of the difference between the magnetic field strength and the standard value of the magnetic field strength, the larger the gyroscope calibration data quality assessment value; there is a positive correlation between the gyroscope calibration data noise and the gyroscope calibration data quality assessment value, which interferes with the real measurement signal. The greater the gyroscope calibration data noise, the greater the gyroscope calibration data quality assessment value; there is a positive correlation between the zero drift rate and the gyroscope calibration data quality assessment value. When there is no input signal, the greater the output deviation of the gyroscope, the greater the zero drift rate, and the greater the gyroscope calibration data quality assessment value; there is a positive correlation between the square of the difference between the gyroscope maximum angular velocity and the gyroscope maximum angular velocity standard value and the gyroscope calibration data quality assessment value. The gyroscope cannot accurately measure angular velocities beyond its capabilities, resulting in data distortion. The greater the square of the difference between the gyroscope maximum angular velocity and the gyroscope maximum angular velocity standard value, the greater the gyroscope calibration data quality assessment value; there is a positive correlation between the square of the difference between the gyroscope minimum angular velocity and the gyroscope minimum angular velocity standard value and the gyroscope calibration data quality assessment value, which will lose sensitivity, resulting in the inability to detect tiny motion changes. The greater the square of the difference between the gyroscope minimum angular velocity and the gyroscope minimum angular velocity standard value, the greater the gyroscope calibration data quality assessment value.

[0068] Furthermore, the specific steps for obtaining the synchronization evaluation value of the gyroscope calibration data are as follows: obtaining the temperature of the preset gyroscope calibration data synchronization time detection point through a temperature sensor; obtaining the maximum positive amplitude of the gyroscope at the preset gyroscope calibration data synchronization time detection point through a vibration test bench; obtaining the maximum negative amplitude of the gyroscope at the preset gyroscope calibration data synchronization time detection point through a vibration test bench; obtaining the magnetic field strength of the preset gyroscope calibration data synchronization time detection point through a magnetic field sensor; obtaining the zero-point drift rate of the preset gyroscope calibration data synchronization time detection point through a data acquisition system; obtaining the maximum amplitude of the gyroscope input signal at the preset gyroscope calibration data synchronization time detection point through a signal analyzer; obtaining the maximum amplitude of the gyroscope output ... The analyzer obtains the minimum amplitude of the gyroscope input signal at the preset gyroscope calibration data synchronization time detection point; the signal analyzer obtains the minimum amplitude of the gyroscope output signal at the preset gyroscope calibration data synchronization time detection point; the GPS receiver obtains the timestamp of the preset gyroscope calibration data synchronization time detection point; the high-precision clock source obtains the clock drift rate of the preset gyroscope calibration data synchronization time detection point; the gyroscope calibration data synchronization data includes temperature, gyroscope maximum positive amplitude, gyroscope maximum negative amplitude, magnetic field strength, zero drift rate, gyroscope input signal maximum amplitude, gyroscope output signal maximum amplitude, gyroscope input signal minimum amplitude, gyroscope output signal minimum amplitude, timestamp and clock drift rate; the gyroscope calibration data synchronization evaluation value is obtained according to the gyroscope calibration data synchronization data analysis.

[0069] In this embodiment, the specific method for analyzing and obtaining the synchronization evaluation value of the gyroscope calibration data is as follows:

[0070]

[0071] μ1+μ2+μ3=1; σ1+σ2+σ3=1;

[0072] The preset gyroscope calibration data synchronization time detection points are numbered in sequence, N0 represents the number of the gyroscope calibration data synchronization time detection point under the L0th gyroscope calibration data synchronization detection segment, N0=1, 2, ..., N, N represents the total number of gyroscope calibration data synchronization time detection points.

[0073] The preset gyroscope calibration data synchronization time is divided into gyroscope calibration data synchronization detection segments of the same time length, L0 represents the number of the gyroscope calibration data synchronization detection segment, L0=1, 2, ..., L, L represents the total number of the gyroscope calibration data synchronization detection segments.

[0074] Indicates the gyroscope calibration data synchronization evaluation value at the N0th gyroscope calibration data synchronization time detection point.

[0075] Indicates the temperature fluctuation correction coefficient at the N0th gyroscope calibration data synchronization time detection point.

[0076] Indicates the vibration amplitude change correction coefficient in the L0th gyroscope calibration data synchronization detection segment.

[0077] Indicates the magnetic field strength correction coefficient at the N0th gyroscope calibration data synchronization time detection point.

[0078] Indicates the gyroscope bandwidth coefficient in the L0th gyroscope calibration data synchronization detection segment.

[0079] P1 represents a zero drift rate threshold, which is a preset zero drift rate threshold obtained from a gyroscope calibration database, and may be an average value of zero drift rates at a synchronization time detection point of preset gyroscope calibration data from a historical database.

[0080] Indicates the zero-point drift rate at the N0th gyroscope calibration data synchronization time detection point.

[0081] Indicates the gyroscope calibration data synchronization error coefficient at the N0th gyroscope calibration data synchronization time detection point.

[0082] Indicates the Nth 0+1 The temperature value at each gyroscope calibration data synchronization time detection point.

[0083] Indicates the temperature value at the N0th gyroscope calibration data synchronization time detection point.

[0084] ΔM represents a temperature difference standard value, which is a preset temperature difference standard value obtained from a gyroscope calibration database, and may be an average temperature difference value at a synchronization time detection point of a preset gyroscope calibration data from a historical database.

[0085] Indicates the maximum positive amplitude of the gyroscope in the L0th gyroscope calibration data synchronization detection segment.

[0086] Indicates the maximum negative amplitude of the gyroscope in the L0th gyroscope calibration data synchronization detection segment.

[0087] ΔB represents the standard value of the gyroscope amplitude deviation, which is a preset gyroscope amplitude deviation standard value obtained from a gyroscope calibration database, and may be an average value of the gyroscope amplitude deviation at a synchronization time detection point of preset gyroscope calibration data from a historical database.

[0088] Indicates the magnetic field strength at the N0th gyroscope calibration data synchronization time detection point.

[0089] X1 represents the standard value of magnetic field strength, which is a preset standard value of magnetic field strength obtained from the gyroscope calibration database, and can be the average value of magnetic field strength at a synchronization time detection point of preset gyroscope calibration data from a historical database.

[0090] Indicates the maximum amplitude of the gyroscope input signal in the L0th gyroscope calibration data synchronization detection segment.

[0091] Indicates the maximum amplitude of the gyroscope output signal in the L0th gyroscope calibration data synchronization detection segment.

[0092] ΔY represents the maximum amplitude standard deviation of the gyroscope signal, which is the preset maximum amplitude standard deviation of the gyroscope signal obtained from the gyroscope calibration database, and can be the maximum amplitude average value of the gyroscope signal at the synchronization time detection point of the preset gyroscope calibration data from the historical database.

[0093] Indicates the minimum amplitude of the gyroscope input signal in the L0th gyroscope calibration data synchronization detection segment.

[0094] Indicates the minimum amplitude of the gyroscope output signal in the L0th gyroscope calibration data synchronization detection segment.

[0095] Δι represents the minimum amplitude standard deviation of the gyroscope signal, which is the preset minimum amplitude standard deviation of the gyroscope signal obtained from the gyroscope calibration database, and can be the minimum amplitude average value of the gyroscope signal at the synchronization time detection point of the preset gyroscope calibration data from the historical database.

[0096] It represents the time drift rate at the N0th gyroscope calibration data synchronization time detection point.

[0097] ω1 represents a time drift rate standard value, which is a preset time drift rate standard value obtained from a gyroscope calibration database, and may be an average value of the time drift rate at a synchronization time detection point of preset gyroscope calibration data from a historical database.

[0098] Indicates the timestamp of the N0th gyroscope calibration data synchronization time detection point.

[0099] ψ1 represents a timestamp standard value, which is a preset timestamp standard value obtained from a gyroscope calibration database, and may be a timestamp average value at a preset gyroscope calibration data synchronization time detection point from a historical database.

[0100] Δψ represents a timestamp error standard value, which is a preset timestamp error standard value obtained from a gyroscope calibration database, and may be an average timestamp error value at a preset gyroscope calibration data synchronization time detection point from a historical database.

[0101] μ1 is the preset gyroscope bandwidth coefficient influence weight factor obtained from the gyroscope calibration database.

[0102] μ2 is the preset zero drift rate influence weight factor obtained from the gyroscope calibration database.

[0103] μ3 is a preset gyroscope calibration data synchronization error coefficient influence weight factor obtained from the gyroscope calibration database.

[0104] σ1 is the preset temperature fluctuation correction factor obtained from the gyroscope calibration database.

[0105] σ2 is the preset vibration amplitude change correction factor obtained from the gyroscope calibration database.

[0106] σ3 is the preset magnetic field strength correction factor obtained from the gyroscope calibration database.

[0107] The preset gyroscope bandwidth coefficient influence weight factor, the preset zero drift rate influence weight factor and the preset gyroscope calibration data synchronization error coefficient influence weight factor are obtained through mapping relationships. For example, a mapping set of gyroscope bandwidth coefficient, zero drift rate and gyroscope calibration data synchronization error coefficient and their corresponding weights are established respectively through the relationship between the gyroscope bandwidth coefficient, zero drift rate and gyroscope calibration data synchronization error coefficient in historical data and the data acquisition frequency. The preset gyroscope bandwidth coefficient influence weight factor, the preset zero drift rate influence weight factor and the preset gyroscope calibration data synchronization error coefficient influence weight factor corresponding to the mapping set are obtained by inputting the real-time gyroscope bandwidth coefficient, zero drift rate and gyroscope calibration data synchronization error coefficient.

[0108] The preset temperature fluctuation correction factor, the preset vibration amplitude change correction factor and the preset magnetic field strength correction factor are obtained through mapping relationships. For example, a mapping set of temperature fluctuation, vibration amplitude change and magnetic field strength and their corresponding weights is established respectively through the relationship between temperature fluctuation, vibration amplitude change and magnetic field strength in historical data and data transmission delay. The corresponding preset temperature fluctuation correction factor, preset vibration amplitude change correction factor and preset magnetic field strength correction factor in the mapping set are obtained by inputting real-time temperature fluctuation, vibration amplitude change and magnetic field strength.

[0109] Temperature fluctuations will affect the measurement accuracy of the gyroscope. Temperature fluctuations cause changes in the characteristics of the sensor elements, and the timestamp and clock drift rates increase. The greater the magnetic field strength, the more interference there is in the gyroscope's measurement, and the greater the maximum positive amplitude and the maximum negative amplitude of the gyroscope. The zero-point drift rate refers to the rate of change of the gyroscope's output signal when there is no rotational input. The greater the zero-point drift rate, the greater the maximum amplitude of the gyroscope's output signal, the minimum amplitude of the gyroscope's input signal, and the minimum amplitude of the gyroscope's output signal. The timestamp is used to record the time point of data collection. The larger the timestamp, the greater the clock drift rate.

[0110] There is a negative correlation between the temperature difference and the synchronization evaluation value of the gyroscope calibration data, which causes the characteristics of the internal components of the gyroscope to change. The larger the temperature difference, the smaller the synchronization evaluation value of the gyroscope calibration data; there is a negative correlation between the square of the difference between the maximum positive amplitude of the gyroscope and the maximum negative amplitude of the gyroscope and the synchronization evaluation value of the gyroscope calibration data, which causes the characteristics of the internal components of the gyroscope to change. The larger the square of the difference between the maximum positive amplitude of the gyroscope and the maximum negative amplitude of the gyroscope, the smaller the synchronization evaluation value of the gyroscope calibration data; there is a negative correlation between the square of the difference between the magnetic field strength and the standard value of the magnetic field strength and the synchronization evaluation value of the gyroscope calibration data, which interferes with the normal operation of the gyroscope. The larger the square of the difference between the magnetic field strength and the standard value of the magnetic field strength, the smaller the synchronization evaluation value of the gyroscope calibration data; there is a negative correlation between the zero drift rate and the synchronization evaluation value of the gyroscope calibration data, which means that the output signal of the gyroscope will change when there is no rotation input. The larger the zero drift rate, the smaller the synchronization evaluation value of the gyroscope calibration data; the maximum amplitude of the gyroscope input signal and the maximum amplitude of the gyroscope output signal There is a negative correlation between the square of the difference and the synchronization evaluation value of the gyroscope calibration data. The longer the response time of the sensor, the larger the square of the difference between the maximum amplitude of the gyroscope input signal and the maximum amplitude of the gyroscope output signal, and the smaller the synchronization evaluation value of the gyroscope calibration data; there is a negative correlation between the square of the difference between the minimum amplitude of the gyroscope input signal and the minimum amplitude of the gyroscope output signal and the synchronization evaluation value of the gyroscope calibration data. The longer the response time of the sensor, the larger the square of the difference between the minimum amplitude of the gyroscope input signal and the minimum amplitude of the gyroscope output signal, and the smaller the synchronization evaluation value of the gyroscope calibration data; there is a negative correlation between the square of the difference between the timestamp and the timestamp standard value and the synchronization evaluation value of the gyroscope calibration data. There is an error in data synchronization. The larger the square of the difference between the timestamp and the timestamp standard value, the smaller the synchronization evaluation value of the gyroscope calibration data; there is a negative correlation between the absolute value of the difference between the clock drift rate and the clock drift rate standard value and the synchronization evaluation value of the gyroscope calibration data, resulting in inaccurate timestamps. The larger the absolute value of the difference between the clock drift rate and the clock drift rate standard value, the smaller the synchronization evaluation value of the gyroscope calibration data.

[0111] Furthermore, the specific steps of comprehensively analyzing and obtaining the gyroscope calibration data accuracy evaluation value are as follows: obtaining the gyroscope calibration data transmission delay of a preset gyroscope calibration data accuracy time detection point through an atomic clock; and obtaining the gyroscope calibration data accuracy evaluation value through comprehensive analysis of the gyroscope calibration data synchronization evaluation value, the gyroscope calibration data quality evaluation value and the gyroscope calibration data transmission delay.

[0112] In this embodiment, the specific method for obtaining the accuracy evaluation value of the gyroscope calibration data by analysis is as follows:

[0113]

[0114] The preset gyroscope calibration data accuracy time detection points are numbered in sequence, K0 represents the number of the gyroscope calibration data accuracy time detection point, K0=1, 2, ..., K, K represents the total number of the gyroscope calibration data accuracy time detection points.

[0115] ξ represents the accuracy evaluation value of the gyroscope calibration data.

[0116] Indicates the gyroscope calibration data synchronization evaluation value at the N0th gyroscope calibration data synchronization time detection point.

[0117] Represents the gyroscope calibration data quality assessment value at the S0th gyroscope calibration data quality time detection point.

[0118] Represents the gyroscope calibration data transmission delay at the K0th gyroscope calibration data accuracy time detection point.

[0119] φ1 represents a gyroscope calibration data transmission delay threshold, which is a preset gyroscope calibration data transmission delay threshold obtained from a gyroscope calibration database, and may be an average value of the gyroscope calibration data transmission delay at a preset gyroscope calibration data accuracy time detection point from a historical database.

[0120] The weight factor affecting the synchronization evaluation value of the preset gyroscope calibration data obtained from the gyroscope calibration database.

[0121] The weight factor affecting the quality assessment value of the preset gyroscope calibration data obtained from the gyroscope calibration database.

[0122] Delay impact weighting factor for the preset gyroscope calibration data obtained from the gyroscope calibration database.

[0123] The preset gyroscope calibration data synchronization evaluation value influencing weight factor, the preset gyroscope calibration data quality evaluation value influencing weight factor and the preset gyroscope calibration data transmission delay influencing weight factor are obtained through mapping relationships. For example, a mapping set of gyroscope calibration data synchronization evaluation value, gyroscope calibration data quality evaluation value and gyroscope calibration data transmission delay and their corresponding weights are established respectively through the relationship between the gyroscope calibration data synchronization evaluation value, gyroscope calibration data quality evaluation value and gyroscope calibration data transmission delay in historical data and the gyroscope calibration data transmission frequency. The preset gyroscope calibration data synchronization evaluation value influencing weight factor, the preset gyroscope calibration data quality evaluation value influencing weight factor and the preset gyroscope calibration data transmission delay influencing weight factor corresponding to the mapping set are obtained by inputting the real-time gyroscope calibration data synchronization evaluation value, the gyroscope calibration data quality evaluation value and the gyroscope calibration data transmission delay.

[0124] Table 1 is an example table of gyroscope calibration data accuracy evaluation values. The example parameters in Table 1 only take the parameters under one gyroscope calibration data accuracy detection point for example. Set to 0.4, weight factor Set to 0.3, weight factor is set to 0.3, and the φ1 gyroscope calibration data transmission delay threshold is 2, as shown in Table 1.

[0125] Table 1 Example of gyroscope calibration data accuracy evaluation value

[0126]

[0127] The smaller the gyroscope calibration data transmission delay is, the gyroscope calibration data can reach the destination in a shorter time, and the larger the gyroscope calibration data synchronization evaluation value is; the larger the gyroscope calibration data synchronization evaluation value is, the more accurate and consistent the data collected during the calibration process will be, and the smaller the gyroscope calibration data quality evaluation value is; the gyroscope calibration data transmission delay affects the data quality, and a long transmission delay causes the data to be disturbed or lost during the transmission process. The larger the gyroscope calibration data transmission delay is, the smaller the gyroscope calibration data quality evaluation value is.

[0128] It can be seen from Table 1 that there is a positive correlation between the synchronization evaluation value of the gyroscope calibration data and the accuracy evaluation value of the gyroscope calibration data. The data collected by the gyroscope at different time points are consistent, and there is no time deviation, because time synchronization can avoid errors caused by time misalignment. The larger the synchronization evaluation value of the gyroscope calibration data, the larger the accuracy evaluation value of the gyroscope calibration data; there is a negative correlation between the quality evaluation value of the gyroscope calibration data and the accuracy evaluation value of the gyroscope calibration data. The data collected by the gyroscope has low precision and high noise. The larger the quality evaluation value of the gyroscope calibration data, the smaller the accuracy evaluation value of the gyroscope calibration data; there is a negative correlation between the gyroscope calibration data transmission delay and the gyroscope calibration data accuracy evaluation value, which causes the data to be outdated when it arrives. The larger the gyroscope calibration data transmission delay, the smaller the gyroscope calibration data accuracy evaluation value.

[0129] like Figure 2 As shown, it is a schematic diagram of the gyroscope calibration data accuracy evaluation value function provided in the embodiment of the present application; x is the positive semi-axis of the horizontal coordinate, y is the positive semi-axis of the vertical coordinate, and the weight factor Set to 0.4, weight factor Set to 0.3, weight factor Set to 0.3, the φ1 gyroscope calibration data transmission delay threshold is 2.

[0130] Curve a indicates that if the gyroscope calibration data quality assessment value is set to a fixed value of 1, the gyroscope calibration data transmission delay is set to a fixed value of 1, the gyroscope calibration data synchronization assessment value is set to x, and the gyroscope calibration data accuracy assessment value is set to y, the gyroscope calibration data accuracy assessment value increases as the gyroscope calibration data synchronization assessment value increases.

[0131] Furthermore, the specific steps of optimizing the gyroscope calibration data quality method are as follows: if the gyroscope calibration data quality assessment value is lower than or equal to the first threshold value of the gyroscope calibration data quality assessment value, there is no need to optimize the gyroscope calibration data quality method; if the gyroscope calibration data quality assessment value is greater than the first threshold value of the gyroscope calibration data quality assessment value, then the difference between the gyroscope calibration data quality assessment value and the first threshold value of the gyroscope calibration data quality assessment value is used to match the corresponding adjustment plan in the gyroscope calibration database.

[0132] In this embodiment, assuming that the gyroscope calibration data quality evaluation value is 4, the first threshold value of the gyroscope calibration data quality evaluation value obtained from the gyroscope calibration database is 2, and the corresponding difference value is 2, then the adjustment scheme corresponding to the difference between the gyroscope calibration data quality evaluation value and the first threshold value of the gyroscope calibration data quality evaluation value is 2 obtained by matching from the gyroscope calibration database. The adjustment scheme is: through the temperature compensation algorithm, the temperature of the gyroscope is monitored in real time, and during the gyroscope calibration process, a relationship curve between the temperature and the gyroscope offset is established, and the output is adjusted according to the current temperature and the curve, and the output data of the gyroscope is automatically adjusted to compensate for the offset caused by the temperature. For example, the current temperature is 40°C. According to the curve, the gyroscope has an offset of +0.2° / s at 40°C, and 0.2° / s is subtracted from the output data to obtain a more accurate measurement value; by applying a digital filter, a digital low-pass filter is used to reduce high-frequency vibration noise, and a suitable low-pass filter is selected, such as a first-order or second-order infinite impulse response (I IR) filter, set a suitable cutoff frequency according to the expected application and noise characteristics of the gyroscope, and process the output data of the gyroscope through a low-pass filter to filter out noise above the cutoff frequency. For example, in low-frequency operation, the cutoff frequency can be set to 20Hz. The original output data of the gyroscope is affected by high-frequency vibration noise and is displayed as 50° / s. After temperature compensation, the output data is adjusted to 49.8° / s (taking temperature offset into account). After processing by a low-pass filter, the final output data is stabilized at 49.5° / s, effectively reducing the impact of high-frequency noise; so as to reduce the quality assessment value of the gyroscope calibration data.

[0133] Furthermore, the specific steps of optimizing the gyroscope calibration data synchronization method are as follows: if the gyroscope calibration data synchronization evaluation value is greater than or equal to the second threshold value of the gyroscope calibration data synchronization evaluation value, there is no need to optimize the gyroscope calibration data synchronization method; if the gyroscope calibration data synchronization evaluation value is lower than the second threshold value of the gyroscope calibration data synchronization evaluation value, then the difference between the gyroscope calibration data synchronization evaluation value and the second threshold value of the gyroscope calibration data synchronization evaluation value is used to match the corresponding adjustment plan in the gyroscope calibration database.

[0134] In this embodiment, assuming that the synchronization evaluation value of the gyroscope calibration data is 3, the second threshold value of the synchronization evaluation value of the gyroscope calibration data obtained from the gyroscope calibration database is 6, and the corresponding difference is -3, then the adjustment scheme corresponding to the difference between the synchronization evaluation value of the gyroscope calibration data and the second threshold value of the synchronization evaluation value of the gyroscope calibration data matched from the gyroscope calibration database is -3 is obtained. The adjustment scheme is: by optimizing the signal processing algorithm, analyzing the current signal processing algorithm, identifying the bottleneck that causes the synchronization problem, for example, by reducing the computational complexity of the algorithm or optimizing the data processing flow to reduce processing delays; by applying filtering technology to reduce the impact of vibration on the data, for example, according to the noise characteristics of the gyroscope and application requirements, selecting a suitable filter to remove low-frequency drift and high-frequency vibration noise, a bandpass filter can be selected, the cutoff frequency of the filter can be determined, the low cutoff frequency is set to 0.5 Hz (to remove low-frequency drift), and the high cutoff frequency is set to 10 Hz (to remove high-frequency vibration noise), and the output data of the gyroscope is processed through a bandpass filter; so as to improve the synchronization evaluation value of the gyroscope calibration data.

[0135] Furthermore, the specific steps of optimizing and adjusting the method for the accuracy of gyroscope calibration data are as follows: extracting a comprehensive threshold of a gyroscope calibration data accuracy assessment value from a gyroscope calibration database, and comparing the gyroscope calibration data accuracy assessment value with the comprehensive threshold of the gyroscope calibration data accuracy assessment value; if the gyroscope calibration data accuracy assessment value is greater than or equal to the comprehensive threshold of the gyroscope calibration data accuracy assessment value, there is no need to optimize and adjust the method for the accuracy of gyroscope calibration data.

[0136] Furthermore, the method for optimizing and adjusting the accuracy of gyroscope calibration data also includes: if the gyroscope calibration data accuracy assessment value is lower than the gyroscope calibration data accuracy assessment value comprehensive threshold, then matching the corresponding adjustment plan in the gyroscope calibration database through the difference between the gyroscope calibration data accuracy assessment value and the gyroscope calibration data accuracy assessment value comprehensive threshold.

[0137] In this embodiment, assuming that the accuracy assessment value of the gyroscope calibration data is 3, the comprehensive threshold value of the gyroscope calibration data accuracy assessment value obtained from the gyroscope calibration database is 7, and the corresponding difference is -4, then the adjustment scheme corresponding to the difference between the gyroscope calibration data accuracy assessment value and the comprehensive threshold value of the gyroscope calibration data accuracy assessment value matched from the gyroscope calibration database is -4, and the adjustment scheme is: by using a high-precision clock source, for example, replacing the existing clock source with a higher-precision clock source, such as an atomic clock or a GPS synchronized clock, ensuring that all data acquisition devices are synchronized to the high-precision clock source to reduce time synchronization errors; by implementing data compression technology, for example, selecting a suitable Compression algorithms based on the characteristics of gyroscope data, such as Huffman coding or wavelet transform, compress the output data of the gyroscope to reduce the amount of data; by updating the sensor, for example, the original output data of the gyroscope shows that the data of the smart wearable device is stable, but due to the insufficient accuracy of the sensor, there is a zero-point offset of 0.1° / s in the data. By using a high-precision clock source to synchronize the data acquisition system, Huffman coding is implemented to compress the data, and the gyroscope sensor is upgraded to a higher-precision model. The final output data shows that the actual data of the smart wearable device is more accurate, the zero-point offset is reduced to below 0.01° / s, and the data transmission delay is also significantly reduced; so as to improve the accuracy evaluation value of the gyroscope calibration data.

[0138] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0139] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0140] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0141] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0142] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0143] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for calibrating a gyroscope of a smart wearable device, characterized in that: The following steps are involved: Collect and process gyroscope calibration data; Analyzing the gyroscope calibration to obtain a gyroscope calibration data quality assessment value and a gyroscope calibration data synchronization assessment value; Comprehensive analysis is performed to obtain the accuracy assessment value of the gyroscope calibration data; Comparing and analyzing the gyroscope calibration data quality assessment value with the gyroscope calibration data quality assessment value first threshold, and optimizing the gyroscope calibration data quality method; Comparing and analyzing the gyroscope calibration data synchronization evaluation value with the gyroscope calibration data synchronization evaluation value second threshold, and optimizing the gyroscope calibration data synchronization method; The gyroscope calibration data accuracy assessment value is compared and analyzed with the gyroscope calibration data accuracy assessment value comprehensive threshold, and the gyroscope calibration data accuracy method is optimized and adjusted.

2. A method for calibrating a gyroscope of a smart wearable device as claimed in claim 1, characterized in that: The specific steps of collecting and processing gyroscope calibration data are: Collect gyroscope calibration raw data through sensor equipment; The gyroscope calibration raw data is cleaned and denoised to obtain the gyroscope calibration data.

3. A method for calibrating a gyroscope of a smart wearable device as claimed in claim 1, characterized in that: The collecting and processing of gyroscope calibration data also includes: The gyroscope calibration data includes gyroscope calibration data quality data and gyroscope calibration data synchronization data; Get the preset gyroscope calibration data noise threshold, zero drift rate threshold, temperature difference standard value, gyroscope amplitude deviation standard value, magnetic field strength standard value, gyroscope maximum angular velocity standard value, gyroscope maximum angular velocity deviation standard value, gyroscope minimum angular velocity standard value, gyroscope minimum angular velocity deviation standard value, gyroscope signal maximum amplitude standard deviation, gyroscope signal minimum amplitude standard deviation, time drift rate standard value, timestamp standard value and timestamp error standard value from the gyroscope calibration database.

4. A method for calibrating a gyroscope of a smart wearable device as claimed in claim 1, characterized in that: The specific steps of obtaining the gyroscope calibration data quality assessment value are as follows: The temperature of a preset gyroscope calibration data quality time detection point is obtained through a temperature sensor; The maximum positive amplitude of the gyroscope at the preset gyroscope calibration data quality time detection point is obtained through the vibration test bench; The maximum negative amplitude of the gyroscope at the preset gyroscope calibration data quality time detection point is obtained through the vibration test bench; The magnetic field intensity of a preset gyroscope calibration data quality time detection point is obtained through a magnetic field sensor; Obtaining the gyroscope calibration data noise at a preset gyroscope calibration data quality time detection point through a data acquisition system; Obtaining the zero drift rate of a preset gyroscope calibration data quality time detection point by an electronic device; The maximum angular velocity of the gyroscope at the preset gyroscope calibration data quality time detection point is obtained by a signal analyzer; The minimum angular velocity of the gyroscope at the preset gyroscope calibration data quality time detection point is obtained by a signal analyzer; The gyroscope calibration data quality data includes temperature, maximum positive amplitude of the gyroscope, maximum negative amplitude of the gyroscope, magnetic field strength, gyroscope calibration data noise, zero drift rate, maximum angular velocity of the gyroscope and minimum angular velocity of the gyroscope; The gyroscope calibration data quality assessment value is obtained based on the gyroscope calibration data quality data analysis.

5. A method for calibrating a gyroscope of a smart wearable device as claimed in claim 1, characterized in that: The specific steps of obtaining the synchronization evaluation value of the gyroscope calibration data are as follows: The temperature of a preset gyroscope calibration data synchronization time detection point is obtained through a temperature sensor; The maximum positive amplitude of the gyroscope at the preset gyroscope calibration data synchronization time detection point is obtained through the vibration test bench; The maximum negative amplitude of the gyroscope at the preset gyroscope calibration data synchronization time detection point is obtained through the vibration test bench; The magnetic field intensity of the preset gyroscope calibration data synchronization time detection point is obtained through the magnetic field sensor; The zero-point drift rate of the preset gyroscope calibration data synchronization time detection point is obtained through the data acquisition system; The maximum amplitude of the gyroscope input signal at the preset gyroscope calibration data synchronization time detection point is obtained by a signal analyzer; The maximum amplitude of the gyroscope output signal at the preset gyroscope calibration data synchronization time detection point is obtained by a signal analyzer; The minimum amplitude of the gyroscope input signal at the preset gyroscope calibration data synchronization time detection point is obtained by a signal analyzer; The minimum amplitude of the gyroscope output signal at the preset gyroscope calibration data synchronization time detection point is obtained by a signal analyzer; Obtaining the timestamp of the preset gyroscope calibration data synchronization time detection point through the GPS receiver; The clock drift rate of the preset gyroscope calibration data synchronization time detection point is obtained through a high-precision clock source; The gyroscope calibration data synchronization data includes temperature, maximum positive amplitude of the gyroscope, maximum negative amplitude of the gyroscope, magnetic field strength, zero drift rate, maximum amplitude of the gyroscope input signal, maximum amplitude of the gyroscope output signal, minimum amplitude of the gyroscope input signal, minimum amplitude of the gyroscope output signal, timestamp and clock drift rate; The gyroscope calibration data synchronization evaluation value is obtained according to the gyroscope calibration data synchronization data analysis.

6. A method for calibrating a gyroscope of a smart wearable device as claimed in claim 1, characterized in that: The specific steps of obtaining the accuracy evaluation value of the gyroscope calibration data through comprehensive analysis are as follows: Obtaining the gyroscope calibration data transmission delay at a preset gyroscope calibration data accuracy time detection point through an atomic clock; The gyroscope calibration data accuracy assessment value is obtained through comprehensive analysis of the gyroscope calibration data synchronization assessment value, the gyroscope calibration data quality assessment value and the gyroscope calibration data transmission delay.

7. A method for calibrating a gyroscope of a smart wearable device as claimed in claim 1, characterized in that: The specific steps of the method for optimizing the gyroscope calibration data quality are: If the gyroscope calibration data quality assessment value is lower than or equal to the gyroscope calibration data quality assessment value first threshold, there is no need to optimize the gyroscope calibration data quality method; If the gyroscope calibration data quality assessment value is greater than the first gyroscope calibration data quality assessment value threshold, a corresponding adjustment scheme in the gyroscope calibration database is matched through the difference between the gyroscope calibration data quality assessment value and the first gyroscope calibration data quality assessment value threshold.

8. A method for calibrating a gyroscope of a smart wearable device as claimed in claim 1, characterized in that: The specific steps of the method for optimizing the synchronization of gyroscope calibration data are as follows: If the gyroscope calibration data synchronization evaluation value is greater than or equal to the gyroscope calibration data synchronization evaluation value second threshold value, there is no need to optimize the gyroscope calibration data synchronization method; If the gyroscope calibration data synchronization evaluation value is lower than the gyroscope calibration data synchronization evaluation value second threshold, a corresponding adjustment scheme in the gyroscope calibration database is matched through the difference between the gyroscope calibration data synchronization evaluation value and the gyroscope calibration data synchronization evaluation value second threshold.

9. A method for calibrating a gyroscope of a smart wearable device as claimed in claim 1, characterized in that: The specific steps of the method for optimizing and adjusting the accuracy of gyroscope calibration data are as follows: Extracting a comprehensive threshold of the gyroscope calibration data accuracy assessment value from a gyroscope calibration database, and comparing the gyroscope calibration data accuracy assessment value with the comprehensive threshold of the gyroscope calibration data accuracy assessment value; If the gyroscope calibration data accuracy assessment value is greater than or equal to the gyroscope calibration data accuracy assessment value comprehensive threshold, there is no need to optimize and adjust the gyroscope calibration data accuracy method.

10. A method for calibrating a gyroscope of a smart wearable device as claimed in claim 1, characterized in that: The method for optimizing and adjusting the accuracy of gyroscope calibration data further includes: If the gyroscope calibration data accuracy assessment value is lower than the gyroscope calibration data accuracy assessment value comprehensive threshold, a corresponding adjustment scheme in the gyroscope calibration database is matched through the difference between the gyroscope calibration data accuracy assessment value and the gyroscope calibration data accuracy assessment value comprehensive threshold.

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