Inclination angle resolving method and measuring equipment based on accelerometer in vibration scene

Abstract

The invention discloses an inclination angle calculation method and measurement equipment based on an accelerometer in a vibration scene, and belongs to the technical field of inclination angle measurement. The method comprises the steps of collecting original acceleration data; performing moving average filtering processing on the original acceleration data to obtain acceleration data after moving average filtering; obtaining a moving average filtering data difference value; judging whether the moving average filtering data difference value is in a set motion interval threshold value or not, and judging and distinguishing a motion state or a static state of the detected object; and according to the fact that the measured object is in a moving state or a static state, different acceleration data are adopted to carry out dip angle calculation. According to the method, the motion state and the static state of the measured object are distinguished by judging the characteristics of the accelerometer signal, and different angle resolving strategies are adopted in different states, so that the effects that the angle is quickly responded in the motion state and the angle is stable in the static state and is not influenced by vibration are achieved.

Description

Technical Field

[0001] The present application belongs to the technical field of inclination measurement, and in particular to an inclination calculation method and measurement equipment based on an accelerometer in a vibration scenario. Background Art

[0002] In the algorithm of conventional inclination sensors, the acceleration signal measured by the accelerometer is generally used to calculate the angle. When the accelerometer is stationary, this method can accurately obtain the angle. However, once the accelerometer is in a vibrating or moving state, the angle obtained by this method is inaccurate.

[0003] The reason is that the acceleration signal measured by the accelerometer contains gravity acceleration, linear acceleration, centripetal acceleration, etc. When the accelerometer is in a static state, only gravity acceleration exists in the acceleration signal, so the accurate angle can be obtained. Once the accelerometer is in a vibrating or moving state, the acceleration signal contains not only gravity acceleration, but also linear acceleration or centripetal acceleration, etc. If the angle is still directly calculated in this case, the wrong angle will be obtained.

[0004] In order to solve this problem, the existing technology generally uses strong filtering to filter out the vibration signal, hoping to leave only the gravity acceleration signal. Although this measure solves the problem of inaccurate angle calculation under the influence of vibration, it brings the problem of large delay, that is, the angle of the object being measured has changed physically, but the angle calculated by the accelerometer needs to be displayed after a large delay before the accurate angle is displayed. Such signal output is difficult to use in scenarios where accurate angle signals need to be measured and the angle calculation delay is small. For example, similar to crawler crane arms and crawler crane bodies, gantry mobile structures, etc., not only need to measure accurate angle signals, but also need to calculate angles with small delays. Summary of the invention

[0005] In order to solve the problems existing in the above-mentioned prior art, the present application provides a tilt angle solution method based on an accelerometer in a vibration scenario, which distinguishes the motion state and static state of the object under test by judging the characteristics of the accelerometer signal, and adopts different angle solution strategies according to different states, so as to achieve the effect of rapid angle response in the motion state and stable angle in the static state that is not affected by vibration.

[0006] The technical solution is as follows:

[0007] On the one hand, a method for calculating the inclination angle based on an accelerometer in a vibration scenario is provided, comprising:

[0008] Collecting raw acceleration data, and preprocessing the raw acceleration data to obtain preprocessed acceleration data; performing sliding average filtering on the raw acceleration data to obtain sliding average filtered acceleration data; comparing the difference between the sliding average filtered acceleration data at the current moment and the previous moment to obtain the sliding average filtered data difference;

[0009] Determine whether the sliding average filter data difference is within the set motion interval threshold, and distinguish whether the object under test is in motion or stationary state;

[0010] According to whether the object being measured is in a moving state or a stationary state, different acceleration data are used to calculate the inclination angle.

[0011] Furthermore, the motion state and the static state of the object under test are judged and distinguished, including:

[0012] If the sliding average filter data difference is in the motion threshold interval and lasts for a certain period of time, it is confirmed that the object under test is in motion, and then the motion solution state is entered;

[0013] If the moving average filter data difference is in the static threshold interval and the last motion solution state has lasted for at least a period of time, it is confirmed that the object under test is in a static state, and then enters the static solution state.

[0014] Furthermore, the motion interval threshold and the stationary threshold interval are set according to actual application scenarios.

[0015] Furthermore, according to whether the object under test is in a moving state or a stationary state, different acceleration data are used to calculate the inclination angle, including:

[0016] If the object under test is in motion, the pre-processed acceleration data is used or the pre-processed acceleration data is de-noised using an acceptable low-order filter before entering the angle solution;

[0017] If the object under test is in a stationary state, the acceleration data after sliding average filtering is used or the pre-processed accelerometer data is denoised using an acceptable high-order filter before entering the angle solution.

[0018] Furthermore, the filtering parameters of the low-order filter and the high-order filter are adjusted according to the actual application scenario.

[0019] Furthermore, preprocessing includes data calibration and noise filtering.

[0020] Furthermore, the window size of the sliding average filter processing is adjusted according to the actual application scenario.

[0021] On the other hand, a device for measuring inclination angle based on an accelerometer in a vibration scenario is provided, and the device adopts the above-mentioned method for calculating inclination angle based on an accelerometer in a vibration scenario. The device is provided with a shell, which is arranged on a corresponding object to be measured, and a control module is arranged in the shell, and the control module includes:

[0022] The data acquisition unit is used to acquire raw acceleration data, and preprocess the raw acceleration data to obtain preprocessed acceleration data; perform sliding average filtering on the raw acceleration data to obtain sliding average filtered acceleration data; compare the difference between the sliding average filtered acceleration data at the current moment and the previous moment to obtain the sliding average filtered data difference;

[0023] A judgment unit, used to judge whether the sliding average filter data difference is within a set motion interval threshold, and judge whether the object under test is in a moving state or a stationary state;

[0024] The processing module is used to calculate the inclination angle by taking different acceleration data according to whether the object under test is in a moving state or a stationary state.

[0025] The technical solution includes at least the following technical effects:

[0026] By processing and judging the accelerometer signal, the motion and static states are distinguished, and different filtering methods are used for processing in the two states. In the motion state, the angle is kept low noise under vibration, and the high dynamic response is maintained under rotation. In the static state, the angle is stable and not affected by vibration. This solves the problem in the prior art that the accelerometer alone cannot accurately and quickly respond to the angle calculation in a vibrating environment.

[0027] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0029] Figure 1 A preferred embodiment of the present application provides a method for calculating the inclination angle based on an accelerometer in a vibration scenario;

[0030] Figure 2 A schematic diagram of the structure of a control module in an accelerometer-based inclination test device in a vibration scenario provided in a preferred embodiment of the present application. DETAILED DESCRIPTION

[0031] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0032] Example 1

[0033] The present application provides an inclination measurement device based on an accelerometer in a vibration scenario, wherein an accelerometer chip, a power chip, and a single-chip microcomputer are integrated on a single circuit board to form a control module, the control module is fixed in a housing that meets the installation dimensions of the device under test to form a finished product, and the finished product is installed on the device under test.

[0034] like Figure 2 As shown, the control module includes a data acquisition unit, a judgment unit and a processing unit.

[0035] The data acquisition unit is used to acquire raw acceleration data, and preprocess the raw acceleration data to obtain preprocessed acceleration data; perform sliding average filtering on the raw acceleration data to obtain sliding average filtered acceleration data; compare the difference between the sliding average filtered acceleration data at the current moment and the previous moment to obtain the sliding average filtered data difference;

[0036] A judgment unit, used to judge whether the sliding average filter data difference is within a set motion interval threshold, and judge whether the object under test is in a moving state or a stationary state;

[0037] The processing module is used to calculate the inclination angle by taking different acceleration data according to whether the object under test is in a moving state or a stationary state.

[0038] Example 2

[0039] The present application provides a method for calculating the inclination angle based on an accelerometer in a vibration scenario, which is applicable to situations where only an accelerometer is available and where both vibration resistance and rapid response to angle changes are required.

[0040] like Figure 1 As shown, the steps to implement the process are as follows:

[0041] Raw acceleration data is collected and preprocessed to obtain preprocessed acceleration data; optionally, the preprocessing includes data calibration and noise filtering.

[0042] The original acceleration data is subjected to sliding average filtering to obtain acceleration data after sliding average filtering. Optionally, the window size of the sliding average filtering is adjusted according to an actual application scenario.

[0043] Compare the acceleration data difference after sliding average filtering at the current moment and the previous moment to obtain the sliding average filtering data difference.

[0044] Different acceleration data are used to calculate the inclination angle according to whether the object is in motion or static state. The motion and static states are distinguished by processing and judging the accelerometer signal, and then the angle calculation strategy is adopted in the two states, so as to achieve the effect of maintaining low angle noise under vibration and high dynamic response under rotation.

[0045] Determine whether the sliding average filter data difference is within the set motion interval threshold;

[0046] If the sliding average filter data difference is in the motion threshold interval and lasts for a certain period of time, it is confirmed that the object under test is in motion, and then the motion solution state is entered.

[0047] If the moving average filter data difference is in the static threshold interval and the last motion solution state has lasted for at least a period of time, it is confirmed that the object under test is in a static state, and then enters the static solution state.

[0048] Optionally, the motion interval threshold and the stationary threshold interval are set according to actual application scenarios.

[0049] Acceleration data is used to calculate the inclination angle in different states;

[0050] If the object under test is in motion, the angle is calculated using the preprocessed acceleration data or by using an acceptable low-order filter to remove noise from the preprocessed acceleration data.

[0051] If the object under test is stationary, the angle is calculated using the acceleration data after sliding average filtering or by using an acceptable high-order filter to denoise the preprocessed acceleration data.

[0052] Optionally, the filtering parameters of the low-order filter and the high-order filter are adjusted according to the actual application scenario.

[0053] Confirm the static solution state and perform angle solution:

[0054] The object to be measured is turned on and remains still. The measured surface vibrates due to the engine or other equipment such as the oil pump. The internal data acquisition unit of the finished product collects the original accelerometer signal X0 at intervals of 10ms, and preprocesses the acceleration data X0, which is recorded as the preprocessed acceleration data X1; the original acceleration data X0 is processed by sliding average filtering, which is recorded as the acceleration data X2 after sliding average filtering; the difference between the current acceleration data X2 value after sliding average filtering and the acceleration data X2 value after sliding average filtering of the previous 10ms is compared, which is recorded as the sliding average filtering data difference P1; since the equipment is stationary and there is vibration, the sliding average filtering data difference P1 is in the numerical range of -0.01 to 0.01, which is confirmed to be in the stationary threshold range, and the last motion solution state has lasted for at least a period of time T2, preferably, T2 is 500ms, then the stationary solution state is entered. In the static solution state, the acceleration data X2 after sliding average filtering is used, or the pre-processed acceleration data X1 is denoised using an acceptable high-order filter and then enters the angle solution to obtain a stable and accurate angle under the influence of vibration in the static state.

[0055] Confirm the motion solution status and perform angle solution:

[0056] The object under test leaves the static state and starts to rotate at an angle. The internal data acquisition unit of the finished product collects the original accelerometer signal X0, pre-processes the original acceleration data X0, and records it as the pre-processed acceleration data X1; performs sliding average filtering on the original acceleration data X0, and records it as the sliding average filtered acceleration data X2; compares the difference between the acceleration data X2 value after sliding average filtering at the current moment and the acceleration data X2 value after sliding average filtering of the previous 10ms, and records it as the sliding average filtered data difference P1; because the device starts the actual angular rotation movement, the sliding average filtered data difference P1>0.01 or P1<-0.01, it is confirmed to be in the motion threshold interval, and lasts for a certain time T1, preferably, T1 is 50ms, then enters the motion solution state. In the motion solution state, use the pre-processed acceleration data X1 or use an acceptable low-order filter to denoise the pre-processed acceleration data X1 and enter the angle solution to obtain a stable and accurate angle with low delay in the motion state.

[0057] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for calculating the inclination angle based on an accelerometer in a vibration scenario, characterized in that: include: Collecting original acceleration data, and preprocessing the original acceleration data to obtain preprocessed acceleration data; Performing sliding average filtering on the original acceleration data to obtain acceleration data after sliding average filtering; Compare the acceleration data difference after sliding average filtering at the current moment and the previous moment to obtain the sliding average filtering data difference; Determine whether the sliding average filter data difference is within the set motion interval threshold, and distinguish whether the object under test is in motion or stationary state; According to whether the object being measured is in a moving state or a stationary state, different acceleration data are used to calculate the inclination angle.

2. The method for calculating the inclination angle based on the accelerometer in a vibration scenario according to claim 1, characterized in that: The step of determining whether the object under test is in a moving state or a stationary state includes: If the sliding average filter data difference is in the motion threshold interval and lasts for a certain period of time, it is confirmed that the object under test is in motion, and then the motion solution state is entered; If the moving average filter data difference is in the static threshold interval and the last motion solution state has lasted for at least a period of time, it is confirmed that the object under test is in a static state, and then enters the static solution state.

3. The inclination angle calculation method based on accelerometer in vibration scenario according to claim 2, characterized in that: The motion interval threshold and the stationary threshold interval are set according to actual application scenarios.

4. The method for calculating the inclination angle based on the accelerometer in a vibration scenario according to claim 1, characterized in that: The method of using different acceleration data to calculate the inclination angle according to whether the object under test is in a moving state or a stationary state includes: If the object under test is in motion, the pre-processed acceleration data is used or the pre-processed acceleration data is de-noised using an acceptable low-order filter before entering the angle solution; If the object under test is in a stationary state, the acceleration data after sliding average filtering is used or the pre-processed accelerometer data is denoised using an acceptable high-order filter before entering the angle solution.

5. The method for calculating the inclination angle based on the accelerometer in a vibration scenario according to claim 4, characterized in that: The filtering parameters of the low-order filter and the high-order filter are adjusted according to the actual application scenario.

6. The method for calculating the inclination angle based on an accelerometer in a vibration scenario according to any one of claims 1 to 5, characterized in that: The preprocessing includes data calibration and noise filtering.

7. The method for calculating the inclination angle based on an accelerometer in a vibration scenario according to any one of claims 1 to 5, characterized in that: The window size of the sliding average filtering process is adjusted according to the actual application scenario.

8. An inclination angle measuring device based on an accelerometer in a vibration scenario, using the inclination angle calculation method based on an accelerometer in a vibration scenario according to any one of claims 1 to 7, characterized in that: The inclination measuring device is provided with a housing, the housing is provided on the corresponding object to be measured, a control module is provided in the housing, and the control module comprises: A data acquisition unit, used for acquiring raw acceleration data and preprocessing the raw acceleration data to obtain preprocessed acceleration data; Performing sliding average filtering on the original acceleration data to obtain acceleration data after sliding average filtering; Compare the difference between the current moment and the previous moment after sliding average filtering to obtain the sliding average filtering data difference; A judgment unit, used to judge whether the sliding average filter data difference is within a set motion interval threshold, and judge whether the object under test is in a moving state or a stationary state; The processing module is used to calculate the inclination angle by taking different acceleration data according to whether the object under test is in a moving state or a stationary state.

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