IMU sensor attitude calibration system and method and storage medium

Abstract

The invention provides an IMU (Inertial Measurement Unit) sensor attitude calibration system, which comprises an IMU sensor worn on an arm of an operator and used for collecting attitude data of the arm; the VR head display equipment is arranged on the head of an operator and is used for providing reference attitude data of a preset attitude and an initial quaternion parameter; and a processing module which is in communication connection with the IMU sensor and the VR head display device and is used for receiving data of the VR head display device and IMU sensor parameters of an operator in different postures, calculating a deviation value of the parameters of the IMU sensor in a first posture according to a preset algorithm, and calibrating the parameters of the IMU sensor in a second posture by adopting the deviation value, and after the calibrated parameters are verified to meet the preset rotation angle standard, calibration data of the IMU sensor are obtained. The invention further discloses a corresponding method and a storage medium. By implementing the invention, the complexity and the cost of calibration operation can be reduced, and the accuracy and the stability of applications such as remote control and the like are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of attitude calibration of inertial measurement units (IMUs), and particularly to an IMU sensor attitude calibration system, method and storage medium for remote control applications. Background Art

[0002] An inertial measurement unit (IMU) integrates multiple sensors such as accelerometers, gyroscopes, magnetometers, etc. Due to its advantages of high precision, fast response, low cost, etc., it has been widely used in various fields such as aerospace, automotive, robotics, etc. However, the IMU also faces some challenges during use, and the bias problem is a factor that cannot be ignored. The bias will cause the measurement data to change over time, thus affecting the accuracy of the data.

[0003] To solve this problem, the calibration of the IMU is particularly important. The calibration process aims to eliminate or reduce the deviation values caused by factors such as installation accuracy, temperature, etc., that is, the bias. Traditional IMU calibration methods usually rely on a specific instrument turntable. During the calibration process, the IMU is fixed on the turntable, the readings of the turntable are used as the true values, and the readings of the IMU are used as the measured values. Multiple equations are constructed through error equations to solve for the deviation values.

[0004] For the gyroscope sensor in the IMU, the instrument turntable is mainly used to measure its true angle and solve for the bias by comparing it with the IMU readings. For the accelerometer, its six faces are usually placed on the horizontal plane respectively, and six equations are constructed using the influence of gravity g to solve for the deviation values.

[0005] However, at present, most of the gyroscope sensors in IMUs still need to be calibrated through a professional instrument turntable. This method not only has a high cost, but also has complex operation steps. After obtaining the true values, multiple equations still need to be constructed to solve for the deviation values, and the whole process is both time-consuming and laborious. For consumers, the IMU devices worn on the body are obviously not suitable for this traditional calibration method because it is not convenient to use external instruments for calibration. In addition, purchasing additional calibration instruments will also increase the additional cost burden.

[0006] Content of the application

[0007] The technical problem to be solved by the present invention is to provide an IMU sensor attitude calibration system, method and storage medium, which can quickly calibrate the attitude of the IMU sensor worn on the operator's body without relying on external instruments, reduce the complexity and cost of the calibration operation, and improve the accuracy and stability of applications such as remote control.

[0008] To solve the above technical problems, as one aspect of the present invention, there is provided an IMU sensor attitude calibration system, which includes:

[0009] An IMU sensor, worn on the operator's arm, for collecting the attitude data of the arm;

[0010] A VR headset device, arranged on the operator's head, for providing reference attitude data and initial quaternion parameters of a preset attitude;

[0011] A processing module, communicatively connected to the IMU sensor and the VR headset device, for receiving the data of the VR headset device and the IMU sensor parameters of the operator in different attitudes, calculating the deviation value of the parameters of the IMU sensor in the first attitude according to a preset algorithm, calibrating the parameters of the IMU sensor in the second attitude by using the deviation value, and obtaining the calibration data of the IMU sensor after verifying that the calibrated parameters meet the preset rotation angle standard.

[0012] Wherein, the processing module further includes:

[0013] An instruction unit, for sending instructions to the operator to complete the first attitude operation and the second attitude operation;

[0014] A data acquisition unit, for acquiring the quaternion parameters of the VR headset device, and the quaternion parameters of the IMU sensor in the first attitude and the quaternion parameters of the IMU sensor in the second attitude;

[0015] A deviation value calculation unit, for calculating according to the quaternion parameters of the VR headset device and the quaternion parameters in the first attitude by using a deviation equation to obtain the quaternion deviation value q bias ;

[0016] A calibration unit, for calibrating the quaternion parameters in the second attitude by using the quaternion deviation value to obtain the calibrated quaternion parameters in the second attitude;

[0017] An attitude verification unit, for verifying whether the calibrated quaternion parameters meet the preset rotation angle standard;

[0018] A calibration output unit, for outputting the calibrated quaternion parameters after the attitude verification unit verifies successfully.

[0019] Wherein, the deviation value calculation unit calculates to obtain the quaternion deviation value q in the first attitude by using the following formula bias :

[0020] q bias =q 1 -1 ·qi

[0021] Among them, q 1 is the quaternion parameter of the IMU sensor, and qi is the initial quaternion parameter of the VR headset device.

[0022] Among them, the calibration unit calculates the quaternion parameter in the calibrated second posture by using the following formula:

[0023] q ca lib ra t e d = q2·qbi as

[0024] Among them, q 2 is the quaternion parameter of the IMU sensor in the second posture, and q bias is the deviation value calculated by the deviation value calculation unit.

[0025] Among them, the first posture is that the operator's two arms hang naturally, the second posture is that the operator's two hands stretch forward horizontally, and the preset rotation angle is 90 degrees;

[0026] In the posture verification unit, by comparing the calibrated quaternion parameter with the initial quaternion parameter in the first posture, it is judged whether the two conform to a rotation angle of 90 degrees; if they conform, it is determined that the verification is successful.

[0027] Correspondingly, as another aspect of the present invention, there is also provided an IMU sensor attitude calibration method, which includes the following steps:

[0028] Instruct the operator to complete the first posture operation and the second posture operation. An IMU sensor is worn on the operator's arm, and a VR headset device is set on the operator's head;

[0029] Collect the quaternion parameter of the VR headset device, and the quaternion parameter of the IMU sensor in the first posture and the quaternion parameter in the second posture;

[0030] According to the quaternion parameter of the VR headset device and the quaternion parameter in the first posture, use the deviation equation to calculate to obtain the quaternion deviation value in the first posture;

[0031] Use the quaternion deviation value to calibrate the quaternion parameter in the second posture to obtain the calibrated quaternion parameter in the second posture;

[0032] Verify whether the calibrated quaternion parameter conforms to the preset rotation angle standard;

[0033] After the posture verification unit verifies successfully, output the calibrated quaternion parameter.

[0034] Among them, according to the quaternion parameters of the VR headset device and the quaternion parameters in the first posture, a deviation equation is used for calculation to obtain the quaternion deviation value in the first posture. Specifically:

[0035] The quaternion deviation value q in the first posture is calculated using the following formula bias :

[0036] q bias = q 1 -1 · qi

[0037] Among them, q 1 is the quaternion parameter of the IMU sensor, and qi is the initial quaternion parameter of the VR headset device.

[0038] Among them, the quaternion parameters in the second posture are calibrated using the quaternion deviation value to obtain the calibrated quaternion parameters in the second posture. Specifically:

[0039] The calibrated quaternion parameters in the second posture are calculated using the following formula:

[0040] q ca lib ra t e d = q2 · qbi as

[0041] Among them, q 2 is the quaternion parameter of the IMU sensor in the second posture, qbias is the deviation value calculated by the deviation.

[0042] Among them, the first posture is that the operator's two arms hang naturally, the second posture is that the operator's two hands extend horizontally forward, and the preset rotation angle is 90 degrees;

[0043] Verifying whether the calibrated quaternion parameters meet the preset rotation angle standard specifically: comparing the calibrated quaternion parameters with the initial quaternion parameters in the first posture to determine whether the two meet the rotation angle of 90 degrees; if they meet, it is determined that the verification is successful.

[0044] Correspondingly, as another aspect of the present invention, a computer-readable storage medium is further provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the IMU sensor attitude calibration method as described above are implemented.

[0045] Implementing this embodiment has the following beneficial effects:

[0046] The present invention provides an IMU sensor attitude calibration system, method, and storage medium. This method does not require the use of an external professional instrument turntable. Only the operator needs to wear the IMU sensor and complete two specified actions to complete the calibration, solving the problems of high cost and complex operation in traditional calibration methods. It greatly reduces the complexity and cost of calibration. While ensuring precise control, it ensures the consistency between the robotic arm's shape and the human arm's shape, thus realizing the function of avoiding obstacles when remotely controlling the robotic arm.

[0047] Through the calibration method provided by the present invention, the IMU coordinate system is aligned with the VR device coordinate system, effectively correcting the deviation caused by the unfixed wearing position, improving the accuracy of IMU data, and providing more reliable attitude and motion information for applications such as remote control. At the same time, the calibration method provided by the present invention is simple and convenient, suitable for use by the general consumers, and improves the user experience.

[0048] Implementing the method provided by the present invention can ensure the normal operation of remote control through calibration even if the wearing position of the IMU is different each time, improving the stability and reliability of the system, and thus further ensuring the stability of remote control. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, obtaining other drawings without creative efforts still belongs to the scope of the present invention.

[0050] Figure 1 FIG. is a schematic structural diagram of an embodiment of an IMU sensor attitude calibration system provided by the present invention;

[0051] Figure 2 For Figure 1 the structural diagram of the processing module in;

[0052] Figure 3 FIG. is a schematic main flow diagram of an embodiment of an IMU sensor attitude calibration method provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0053] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the drawings.

[0054] As Figure 1 shown, it shows a schematic structural diagram of an embodiment of an IMU sensor attitude calibration system provided by the present invention, and together with Figure 2As shown in the figure. In this embodiment, the IMU sensor attitude calibration system includes:

[0055] An IMU sensor 1, worn on the operator's arm, for collecting the attitude data of the arm;

[0056] A VR headset device 2, arranged on the operator's head, for providing reference attitude data and initial quaternion parameters of a preset attitude;

[0057] A processing module 3, communicatively connected to the IMU sensor and the VR headset device, for receiving the data of the VR headset device and the IMU sensor parameters of the operator in different attitudes, calculating the deviation value of the IMU sensor parameters in the first attitude according to a preset algorithm, calibrating the IMU sensor parameters in the second attitude by using the deviation value, and obtaining the calibration data of the IMU sensor after verifying that the calibrated parameters meet the preset rotation angle standard.

[0058] More specifically, as Figure 2 shown, in a specific example, the processing module 3 further includes:

[0059] An instruction unit 30, for sending instructions to the operator to complete the first attitude operation and the second attitude operation; wherein, the first attitude is that the operator's two arms hang naturally, and the second attitude is that the operator's two hands stretch horizontally forward;

[0060] A data acquisition unit 31, for acquiring the quaternion parameters of the VR headset device, and the quaternion parameters of the IMU sensor in the first attitude and the quaternion parameters in the second attitude; it can be understood that in the first attitude, the y-axis points downward, and under the action of gravity, the y-axis of the accelerometer of the IMU is 1, which can be used to judge whether the posture is completed at this time. This posture is relatively simple compared to other postures and is easy for the operator to complete; at this time, record the quaternion of the VR headset and the quaternion parameter q1 of the IMU at this moment; wherein, the observed value of the IMU refers to the reading of the actual sensor; the quaternion is used to represent rotation and can uniquely determine a rotation in a three-dimensional space;

[0061] A deviation value calculation unit 32, for calculating according to the quaternion parameters of the VR headset device and the quaternion parameters in the first attitude by using a deviation equation to obtain the quaternion deviation value qbias in the first attitude;

[0062] It can be understood that the quaternion deviation value q bias is set as the factor that causes the observed value of the IMU to be different from the initial value during wearing, mainly caused by irregular muscles when worn on the arm. Taking the VR coordinate system as the world coordinate system, assuming the initial quaternion in the natural hanging state (posture one)

[0063]

[0064] The observed value of the IMU quaternion in the first attitude is q 1 , then the deviation value qbias can be calculated according to the following formula: q 1 = q bias ·qi;

[0065] After conversion, that is, the deviation value calculation unit 32 calculates the quaternion deviation value q in the first attitude by using the following formula bias :

[0066] q bias = q 1 -1 ·qi

[0067] where q 1 is the quaternion parameter of the IMU sensor, and qi is the initial quaternion parameter of the VR headset device.

[0068] The calibration unit 33 is used to calibrate the quaternion parameter in the second attitude by using the quaternion deviation value, and obtain the calibrated quaternion parameter in the second attitude;

[0069] In a specific example, the calibration unit 33 calculates the calibrated quaternion parameter in the second attitude by using the following formula:

[0070] q ca lib ra t e d = q2·qbi as

[0071] where q 2 is the quaternion parameter of the IMU sensor in the second posture, and q bias is the deviation value calculated by the deviation value calculation unit. The calibration unit 33 can be used to calibrate the accuracy of the calibration in the previous steps before the detection. If it does not conform to the theoretical value or the difference is too large, it proves that the calibration fails and the specified actions (the first attitude and the second attitude) need to be completed again.

[0072] The attitude verification unit 34 is used to verify whether the calibrated quaternion parameter meets the preset rotation angle standard;

[0073] It can be understood that the preset rotation angle is 90 degrees, that is, the angular difference between the first posture and the second posture. Then, in the posture verification unit 34, by comparing the calibrated quaternion parameters with the initial quaternion parameters in the first posture, it is determined whether the two conform to a rotation angle of 90 degrees; if they conform, it is determined that the verification is successful. It can be understood that, assuming in the first posture, the initial quaternion of the IMU is q1 (already calibrated). When the operator rotates the arm by 90°, theoretically, the quaternion of the IMU should change accordingly. By calculating the quaternion transformation corresponding to a 90° rotation (such as the quaternion for rotating 90° around a certain axis), and then comparing it with the calibrated quaternion obtained from actual measurement, it is checked whether they are consistent.

[0074] The calibration output unit 35 is used to output the calibrated quaternion parameters after the posture verification unit verifies successfully. After the posture verification unit verifies successfully, it is confirmed that the calibration process is error-free. At this time, the system may output the calibrated quaternion in the second posture (assumed to be q calibrated_pose2 ), because this quaternion has been calibrated and verified and can accurately reflect the posture of the IMU in the second posture. Or, the system may also output a comprehensive quaternion adjusted according to all calibration results (assumed to be q final_calibrated ), and this quaternion may be obtained through a certain algorithm (such as weighted average, least squares method, etc.) based on the quaternions calibrated in multiple postures to more accurately reflect the overall posture of the IMU.

[0075] It can be understood that the present invention provides a simple and convenient IMU deviation calibration system. Without the need to rely on external professional instruments, the operator only needs to wear the IMU and complete two specified actions to perform the calibration. In this system, by comparing the IMU observation values with the standard posture reference provided by the VR headset, the quaternion deviation value is calculated, and the IMU observation values are compensated for deviation, so as to obtain the calibrated quaternion. This method can ensure the normal operation of remote control even if the position of wearing the IMU is different each time, improving the accuracy and reliability of the data.

[0076] The present invention uses the posture information of the VR device to calibrate the IMU, aligns the IMU coordinate system with the VR device coordinate system, and corrects the deviation between the two. This method does not require a professional instrument turntable, greatly reducing the calibration cost and improving the convenience of calibration.

[0077] For calibration, the present invention designs two simple specified actions, and the operator only needs to wear the IMU and complete these two actions. This calibration method is easy to operate and is very suitable for consumers to use.

[0078] During the calibration process, the present invention compensates for the bias of the IMU observation values by calculating the quaternion bias value to obtain the calibrated quaternion. At the same time, a verification mechanism is also designed to detect the accuracy of the calibration by comparing the change in the quaternion after calibration with the quaternion in the initial attitude, ensuring the reliability of the calibration result.

[0079] The present invention is applicable to a remote control manipulator system based on inertial navigation and vision. In an embodiment, the attitude information of the VR device is used to calibrate the IMU, aligning the IMU coordinate system with the VR coordinate system. In this way, even if the wearing position of the IMU is different each time, the normal operation of the remote control can be ensured, improving the stability and practicability of the system.

[0080] As Figure 3 shown, a schematic diagram of the main process of an embodiment of an IMU sensor attitude calibration method provided by the present invention is shown. In this embodiment, the method includes the following steps:

[0081] Step S10, instruct the operator to complete the first attitude operation and the second attitude operation. An IMU sensor is worn on the operator's arm, and a VR headset device is set on the operator's head; wherein, the first attitude is that the operator's two arms hang naturally, and the second attitude is that the operator's two hands stretch forward horizontally;

[0082] Step S11, collect the quaternion parameters of the VR headset device, and the quaternion parameters of the IMU sensor in the first attitude and the second attitude;

[0083] Step S12, calculate according to the quaternion parameters of the VR headset device and the quaternion parameters in the first attitude using the deviation equation to obtain the quaternion deviation value in the first attitude;

[0084] In a specific example, this step can calculate the quaternion deviation value q in the first attitude using the following formula bias :

[0085] q bias = q 1 -1 ·qi

[0086] where q 1 is the quaternion parameter of the IMU sensor, and qi is the initial quaternion parameter of the VR headset device.

[0087] Step S13, calibrate the quaternion parameters in the second attitude using the quaternion deviation value to obtain the calibrated quaternion parameters in the second attitude;

[0088] In a specific example, this step can be calculated using the following formula to obtain the quaternion parameters in the calibrated second posture:

[0089] q ca lib ra t e d = q2·qbi as

[0090] Wherein, q 2 is the quaternion parameter of the IMU sensor in the second posture, and q bias is the calculated deviation value.

[0091] Step S14, verify whether the calibrated quaternion parameters meet the preset rotation angle standard;

[0092] In a specific example, the preset rotation angle is 90 degrees; this step is specifically: compare the calibrated quaternion parameters with the initial quaternion parameters in the first posture, and determine whether the two meet the rotation angle of 90 degrees; if they meet, it is determined that the verification is successful.

[0093] Step S15, after the verification is successful, output the calibrated quaternion parameters.

[0094] It can be understood that in the method provided by the present invention, after setting the world coordinate system, assuming that the quaternion of the IMU in the first posture under the VR coordinate system is Use the current reading (observation value) of the IMU to find the deviation between the current quaternion of the IMU and the quaternion when it is hanging naturally, and then continuously compensate for the deviation of the observation value of the IMU during use to ensure that the values used are all calibrated quaternions.

[0095] Therefore, even if the initial wearing position of the IMU is different, the quaternion is calibrated to the unified initial posture after each calibration, and a verification is performed after calibration. After testing that the arm rotates 90°, whether the corresponding calibrated quaternion produces the same numerical change.

[0096] It can be understood that in practical applications, the present invention calibrates the position of the IMU worn on the arm once. When the operator wears the IMU on the arm, it is impossible to ensure that the position and posture are fixed each time, and the posture deviation is likely to cause a deviation in the calculation of the initial arm type angle. Therefore, the IMU needs to be calibrated once before use after each wearing. The present invention enables the operator to calibrate the posture of the worn IMU to the standard posture in a simple method to make the result more accurate. Only two simple actions (the first posture and the second posture) need to be performed while wearing the IMU, which is simple and convenient, and does not require external instruments, reducing the use cost.

[0097] For more details, reference can be made to and combined with the foregoingFigures 1 to 2 The description thereof will not be elaborated herein.

[0098] As another aspect of the present invention, there is also provided a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps of the IMU sensor attitude calibration method as Figure 3 described. For more details, reference may be made to and combined with the foregoing description of Figure 3 The description thereof will not be elaborated herein.

[0099] Implementing this embodiment has the following beneficial effects:

[0100] The present invention provides an IMU sensor attitude calibration system, method and storage medium. This method does not require the aid of an external professional instrument turntable. Only the operator needs to wear the IMU sensor and complete two specified actions to complete the calibration, solving the problems of high cost and complex operation of the traditional calibration method. It greatly reduces the complexity and cost of calibration. While ensuring precise control, it ensures the consistency between the manipulator arm type and the human arm type, thus realizing the function of avoiding obstacles when remotely controlling the manipulator.

[0101] Through the calibration method provided by the present invention, the IMU coordinate system is aligned with the VR device coordinate system, effectively correcting the deviation caused by the non-fixed wearing position, improving the accuracy of IMU data, and can provide more reliable attitude and motion information for applications such as remote control. At the same time, the calibration method provided by the present invention is simple and convenient, suitable for use by the general consumers, and improves the user experience.

[0102] Implementing the method provided by the present invention can ensure the normal operation of remote control through calibration even if the wearing position of the IMU is different each time, improving the stability and reliability of the system, and thus further ensuring the stability of remote control.

[0103] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, apparatus, or computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can 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.

[0104] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows 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 the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing device generate means for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or means for implementing the functions specified in one block or multiple blocks.

[0105] The above disclosure is only a preferred embodiment of the present invention, and of course, it cannot be used to limit the scope of the rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. An IMU sensor attitude calibration system, characterized in that: include: IMU sensor, worn on the operator’s arm, to collect arm posture data; A VR head display device, which is arranged on the operator's head and is used to provide reference posture data and initial quaternion parameters of a preset posture; The processing module is communicatively connected with the IMU sensor and the VR head display device, and is used to receive data from the VR head display device and IMU sensor parameters of the operator in different postures, and calculate the deviation value of the parameters of the IMU sensor in a first posture according to a preset algorithm, use the deviation value to calibrate the parameters of the IMU sensor in a second posture, and obtain the calibration data of the IMU sensor after verifying that the calibrated parameters meet the preset rotation angle standard.

2. The system according to claim 1, characterized in that The processing module further comprises: An instruction unit, used to issue instructions to the operator to complete the first posture operation and the second posture operation; A data acquisition unit, used to acquire quaternion parameters of the VR head display device, and quaternion parameters of the IMU sensor in a first posture and a second posture; The deviation value calculation unit is used to calculate the quaternion parameter of the VR head display device and the quaternion parameter of the first posture using the deviation equation to obtain the quaternion deviation value q of the first posture. bias ; A calibration unit, configured to calibrate the quaternion parameters in the second posture by using the quaternion deviation value to obtain the calibrated quaternion parameters in the second posture; The attitude verification unit is used to verify whether the calibrated quaternion parameters meet the preset rotation angle standards; The calibration output unit is used to output the calibrated quaternion parameters after the attitude verification unit successfully verifies.

3. The system according to claim 2, characterized in that The deviation value calculation unit uses the following formula to calculate the quaternion deviation value q under the first posture bias : q bias =q1 -1 ·qi Among them, q1 is the quaternion parameter of the IMU sensor, and qi is the initial quaternion parameter of the VR headset device.

4. The system according to claim 3, characterized in that The calibration unit uses the following formula to calculate the quaternion parameters in the second posture after calibration: q calibrated =q2·q bias Among them, q2 is the quaternion parameter of the IMU sensor in the second posture, q bias The deviation value calculated by the deviation value calculation unit.

5. The system according to claim 4, characterized in that in: The first posture is that the operator's arms hang naturally, the second posture is that the operator's hands are stretched forward horizontally, and the preset rotation angle is 90 degrees; In the posture verification unit, the calibrated quaternion parameters are compared with the initial quaternion parameters in the first posture to determine whether the two meet the rotation angle of 90 degrees; if they meet, the verification is determined to be successful.

6. An IMU sensor attitude calibration method, characterized in that: The steps include: Instructing an operator to complete a first posture operation and a second posture operation, wherein the operator wears an IMU sensor on his arm and a VR head display device is arranged on his head; Collecting quaternion parameters of the VR head display device, as well as quaternion parameters of the IMU sensor in a first posture and a second posture; According to the quaternion parameters of the VR head display device and the quaternion parameters in the first posture, a deviation equation is used to calculate to obtain the quaternion deviation value in the first posture; Using the quaternion deviation value to calibrate the quaternion parameters in the second posture, to obtain the calibrated quaternion parameters in the second posture; Verify whether the calibrated quaternion parameters meet the preset rotation angle standards; After the attitude verification unit successfully verifies, the calibrated quaternion parameters are output.

7. The method according to claim 6, characterized in that The quaternion parameters of the VR head display device and the quaternion parameters in the first posture are calculated using the deviation equation to obtain the quaternion deviation value in the first posture, specifically: The quaternion deviation value q in the first posture is calculated using the following formula: bias : q bias =q1 -1 ·qi Among them, q1 is the quaternion parameter of the IMU sensor, and qi is the initial quaternion parameter of the VR headset device.

8. The method according to claim 7, characterized in that The quaternion parameters in the second posture are calibrated by using the quaternion deviation value to obtain the quaternion parameters in the second posture after calibration, specifically: The quaternion parameters of the second posture after calibration are calculated using the following formula: q calibrated =q2·q bias Among them, q2 is the quaternion parameter of the IMU sensor in the second posture, q bias is the calculated deviation value.

9. The method according to claim 8, characterized in that in: The first posture is that the operator's arms hang naturally, the second posture is that the operator's hands are stretched forward horizontally, and the preset rotation angle is 90 degrees; The verification of whether the calibrated quaternion parameters meet the preset rotation angle standard is specifically: comparing the calibrated quaternion parameters with the initial quaternion parameters in the first posture to determine whether the two meet the rotation angle of 90 degrees; if so, the verification is determined to be successful.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the IMU sensor attitude calibration method as described in any one of claims 6 to 9 are implemented.

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