Space attitude angle calculation method and device, electronic equipment and storage medium

Abstract

The invention discloses a space attitude angle calculation method and device, electronic equipment and a storage medium. The method comprises the following steps: periodically acquiring system attitude information of a target mobile device; and reference state information and reference error information of the current period are determined, the reference state information is used for representing the spatial attitude of the target mobile device at the beginning of the period, and the reference error information is used for representing the error of the reference state information at the beginning of the period. And calculating target state information and target error information of the current period according to the system attitude information, the reference state information and the reference error information. And determining a space attitude angle of the target mobile device in the current period according to the target state information. According to the embodiment of the invention, the space attitude angle can be periodically detected in real time through a simple calculation process, and the reference state information and the reference error information are introduced in the detection process of each period to assist calculation, so that the precision of a calculation result is improved under the condition that the accuracy of the system attitude information is relatively low.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technologies, and in particular, to a method, apparatus, electronic device, and storage medium for calculating spatial attitude angles. Background Art

[0002] With the development of technology, surgical robots are currently widely used in the field of medical treatment. Since surgical robots usually need to ensure the level of the base during use, and due to the deformation of the rods, the attitude of each link of the robotic arm is affected to a certain extent. Therefore, since the change in the spatial attitude of the surgical robot will affect the surgical process, it is necessary to detect the spatial attitudes of each link and the base of the surgical robot in real time during the surgical process, so as to perform corresponding compensation through dynamic methods to achieve good control effects. The detection of surgical robots in related technologies usually requires sensors with high precision and high cost, and the production and later maintenance costs of the entire detection system are very high. Summary of the Invention

[0003] The present disclosure is committed to solving the deficiencies of the prior art and improving the accuracy of the detection results of spatial attitudes.

[0004] According to a first aspect of the present disclosure, there is provided a method for calculating spatial attitude angles, the method including: Periodically obtaining system attitude information of a target mobile device, the system attitude information including acceleration data and angular velocity data; Determining reference state information and reference error information of the current period, the reference state information being used to characterize the spatial attitude of the target mobile device at the beginning of the current period, and the reference error information being used to characterize the error of the reference state information at the beginning of the current period; Calculating target state information and target error information of the current period according to the system attitude information, the reference state information, and the reference error information; Determining the spatial attitude angles of the target mobile device in the current period according to the target state information.

[0005] In a possible implementation manner, the determining reference state information and reference error information of the current period includes: In response to the current period being the first period, determining the reference state information of the current period according to the acceleration data collected in the current period; Determining preset initial error information as the reference error information of the current period.

[0006] In a possible implementation manner, the determining reference state information and reference error information of the current period includes: In response to the current cycle not being the first cycle, determine the target state information determined in the previous cycle as the reference state information for the current cycle; Determine the target error information determined in the previous cycle as the reference error information for the current cycle.

[0007] In a possible implementation, the calculating the target state information and the target error information for the current cycle according to the system attitude information, the reference state information, and the reference error information includes: Calculate the target error information for the current cycle according to the angular velocity data, the reference state information, and the reference error information; Determine the system measurement equation for the current cycle according to the acceleration data and the reference state information; Calculate the target state information for the current cycle according to the system attitude information, the reference state information, the target error information, and the system measurement equation.

[0008] In a possible implementation, the calculating the target error information for the current cycle according to the angular velocity data, the reference state information, and the reference error information includes: Calculate the intermediate state parameter according to the angular velocity data and the reference state information; Calculate the target error information for the current cycle according to the reference error information and the intermediate state parameter.

[0009] In a possible implementation, the calculating the target state information for the current cycle according to the system attitude information, the reference state information, the target error information, and the system measurement equation includes: Calculate the corresponding Kalman gain matrix value according to the reference state information, the target error information, and the system measurement equation; Calculate the target state information for the current cycle according to the system attitude information, the Kalman gain matrix value, the reference state information, and the system measurement equation.

[0010] In a possible implementation, the target state information includes a quaternion for characterizing the spatial attitude of the target mobile device; The determining the spatial attitude angle of the target mobile device in the current cycle according to the target state information includes: Determine the first attitude cosine matrix according to the quaternion in the target state information; Calculate the second attitude cosine matrix according to the first attitude cosine matrix and a preset calibration error matrix; Solve for the Euler angles according to the second attitude cosine matrix to obtain the spatial attitude angle of the target mobile device in the current cycle.

[0011] According to a second aspect of the present disclosure, a spatial attitude angle calculation device is provided, and the device includes: An information acquisition module, configured to periodically acquire system attitude information of a target mobile device, where the system attitude information includes acceleration data and angular velocity data; An information determination module, configured to determine reference state information and reference error information of the current period, where the reference state information is used to characterize the spatial attitude of the target mobile device at the start of the current period, and the reference error information is used to characterize the error of the reference state information at the start of the current period; An information calculation module, configured to calculate target state information and target error information of the current period according to the system attitude information, the reference state information, and the reference error information; An attitude calculation module, configured to determine the spatial attitude angle of the target mobile device in the current period according to the target state information.

[0012] In a possible implementation manner, the information determination module is further configured to: In response to the current period being the first period, determine the reference state information of the current period according to the acceleration data acquired in the current period; Determine the preset initial error information as the reference error information of the current period.

[0013] In a possible implementation manner, the information determination module is further configured to: In response to the current period not being the first period, determine the target state information determined in the previous period as the reference state information of the current period; Determine the target error information determined in the previous period as the reference error information of the current period.

[0014] In a possible implementation manner, the information calculation module is further configured to: calculate the target error information according to the angular velocity data, the reference state information, and the reference error information; Determine a system measurement equation of the current period according to the acceleration data and the reference state information; Calculate the target state information of the current period according to the system attitude information, the reference state information, the target error information, and the system measurement equation.

[0015] In a possible implementation manner, the information calculation module is further configured to: calculate an intermediate state parameter according to the angular velocity data and the reference state information; Calculate the target error information of the current period according to the reference error information and the intermediate state parameter.

[0016] In a possible implementation, the information calculation module is further configured to: Calculate a corresponding Kalman gain matrix value according to the reference state information, the target error information, and the system measurement equation; Calculate the target state information of the current period according to the system attitude information, the Kalman gain matrix value, the reference state information, and the system measurement equation.

[0017] In a possible implementation, the target state information includes a quaternion for characterizing the spatial attitude of the target mobile device; The attitude calculation module is further configured to: Determine a first attitude cosine matrix according to the quaternion in the target state information; Calculate a second attitude cosine matrix according to the first attitude cosine matrix and a preset calibration error matrix; Solve for Euler angles according to the second attitude cosine matrix to obtain the spatial attitude angles of the target mobile device in the current period.

[0018] According to a third aspect of the present disclosure, there is provided an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein, the processor is configured to implement the above method when executing the instructions stored in the memory.

[0019] According to a fourth aspect of the present disclosure, there is provided a non-volatile computer-readable storage medium, on which computer program instructions are stored, wherein the computer program instructions implement the above method when executed by a processor.

[0020] According to a fifth aspect of the present disclosure, there is provided a computer program product, including computer-readable code, or a non-volatile computer-readable storage medium carrying the computer-readable code, when the computer-readable code runs in a processor of an electronic device, the processor in the electronic device executes the above method.

[0021] In the embodiments of the present disclosure, the spatial attitude angles can be periodically and real-time detected through a simple calculation process, and the reference state information and reference error information are introduced to assist the calculation during the detection process of each period, so as to improve the accuracy of the calculation result in the case of low accuracy of the system attitude information.

[0022] According to the following detailed description of the exemplary embodiments with reference to the accompanying drawings, other features and aspects of the present disclosure will become clear. Description of the Drawings

[0023] This specification sets forth a complete and illuminating disclosure of the present application for those skilled in the art, including its best mode, and this specification refers to the accompanying drawings, in which: Figure 1 A flowchart of a spatial attitude angle calculation method provided by an embodiment of the present disclosure; Figure 2 A schematic diagram of a spatial attitude angle calculation device provided by an embodiment of the present disclosure; Figure 3 A schematic diagram of an electronic device provided by an embodiment of the present disclosure. Detailed implementation manners

[0024] Now, reference will be made in detail to the embodiments of the present application, and one or more examples of the embodiments of the present application will be illustrated in the drawings. Each example is provided for the purpose of explaining the present application, rather than limiting the present application. In fact, those skilled in the art will clearly understand that various modifications and variations can be made to the present application without departing from the scope or spirit of the present application. For example, features described or illustrated as part of one embodiment can be used with another embodiment to produce yet another embodiment. As used in this specification, the terms "first", "second", etc. can be used interchangeably to distinguish one component from another without intending to indicate the position or importance of each component. As used in the specification, unless the context clearly indicates otherwise, the terms "a", "an", "the" and "said" are intended to mean the presence of one or more elements. The terms "comprising", "comprises" and "having" are intended to be inclusive and mean that there may be other elements in addition to the listed elements.

[0025] Now, referring to the accompanying drawings, in which the same numerals represent the same elements in all the drawings, the present disclosure will be further explained and described below in conjunction with specific implementation manners.

[0026] In a possible implementation manner, the spatial attitude angle calculation method of the embodiment of the present disclosure can be executed by an electronic device such as a processor, a terminal device or a server. Among them, the terminal device can be a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc., a fixed or mobile terminal. The server can be a single server or a server cluster composed of multiple servers. The electronic device can implement the spatial attitude angle calculation method of the embodiment of the present disclosure by the processor calling computer-readable instructions stored in the memory.

[0027] Figure 1 A flowchart of a spatial attitude angle calculation method provided by an embodiment of the present disclosure. As Figure 1 shown, the spatial attitude angle calculation method of the embodiment of the present disclosure can include the following steps S10-S40.

[0028] Step S10: Periodically obtain the system attitude information of the target mobile device.

[0029] In a possible implementation, the target mobile device can be any device that needs to detect the attitude and can move in any form, such as a mobile trolley, a robotic arm, or a robot, etc. During the operation of the target mobile device, the electronic device can periodically obtain its corresponding system attitude information, which can include acceleration data and angular velocity data, and is used to characterize the motion attitude of the target mobile device at the data acquisition moment.

[0030] Optionally, the system attitude information can be obtained by collecting the angular velocity data and acceleration data at specific positions in the target mobile device. Among them, the specific position can be a moving mechanism such as a wheel set or a robotic arm for movement, or other structures that need to detect the attitude and are driven passively by the moving mechanism. Further, the angular velocity data and acceleration data can be detected by sensors installed at specific positions. Exemplarily, when the target mobile device is a surgical robot, the sensor chips installed on the robot base and the robotic arm rods can collect the angular velocity data and acceleration data, and then determine the system attitude information.

[0031] Further, the period of collecting the system attitude information can be preset according to the actual application scenario to ensure the timeliness of the attitude angle calculation process.

[0032] Step S20: Determine the reference state information and reference error information of the current period.

[0033] In a possible implementation, after determining the system attitude information in each period, the electronic device determines the reference state information and reference error information of the current period, which are used to assist the system attitude information in calculating the spatial attitude angle of the target mobile device. Among them, the reference state information is used to characterize the spatial attitude of the target mobile device at the beginning of this period, and the reference error information is used to characterize the error of the reference state information at the beginning of this period.

[0034] During different time periods, the reference state information and the reference error information are determined in different ways. Among them, since the reference state information and the reference error information are respectively used to characterize the spatial attitude of the target mobile device and the error of the reference state information at the beginning of the current period. And after each period ends, the target state information characterizing the spatial attitude of the target mobile device at the end of the current period and the target error information characterizing the error of the target state information at the end of the current period are calculated. When there are other periods before the current period, that is, when the current period is not the first period, the target state information and the target error information of the previous period can be directly used as the reference state information and the reference error information of the current period. That is to say, in response to the current period not being the first period, the target state information determined in the previous period is determined as the reference state information. The target error information determined in the previous period is determined as the reference error information.

[0035] Optionally, when the current period is the first period, since the target state information and the target error information of the previous period have not been calculated yet, the reference state information and the reference error information of this period can be determined by other preset methods. Exemplarily, in response to the current period being the first period, the reference state information is determined according to the acceleration data collected in the current period, and then the preset initial error information is determined as the reference error information.

[0036] In one possible implementation, the reference state information can be expressed as , which includes the quaternion used to characterize the spatial attitude of the target mobile device at the start moment of the current period , and the errors of the angular velocity data calculated by the system in the x, y, and z axis directions When the current period is the first period, the quaternion in the reference state information is the quaternion determined according to the acceleration data in the system attitude information obtained in the current period, and the angular velocity error is an initially set initial error value. Alternatively, the quaternion can also be calculated based on the acceleration data and the geomagnetic field intensity data together. The method of calculating the quaternion can be a preset calculation method in the prior art, which is not limited here.

[0037] Step S30: Calculate the target state information and the target error information of the current period according to the system attitude information, the reference state information, and the reference error information.

[0038] In one possible implementation, after the electronic device determines the system attitude information, the reference state information, and the reference error information of the current period, it can perform calculations based on the obtained data to obtain the target state information and the target error information of the current period. Among them, the target state information characterizes the target state information of the spatial attitude of the target mobile device at the end of the current period. The target error information characterizes the error situation of the target state information at the end of the current period.

[0039] Optionally, the target error information can be calculated based on the angular velocity data in the system attitude information obtained in the current period, as well as the reference state information and the reference error information. The target state information can be calculated based on the system attitude information, the reference state information, and the target error information. Among them, the system measurement equation for the current period can be determined first according to the acceleration data and the reference state information, and then the target state information can be calculated according to the system attitude information, the reference state information, the target error information, and the system measurement equation.

[0040] Further, the calculation method of the target error information can be to first calculate the intermediate state parameters according to the angular velocity data and the reference state information. The target error information is calculated according to the reference error information and the intermediate state parameters. Among them, the calculation method of the intermediate state parameters can be to first establish a system state equation based on the system attitude information using the first-order Runge-Kutta method, and the intermediate state parameters are obtained by taking the partial derivative of the system state equation with respect to the reference state information. Exemplarily, when the reference state information is the system state equation can be .

[0041] Further, the Jacobian matrix F can be obtained by taking the partial derivative of the system state equation f with respect to the reference state information as the intermediate state parameter: , so as to further calculate the target error information according to the reference error information and the intermediate state parameters. Among them, Q is a preset matrix parameter, for example, it can be a 7×7 diagonal matrix, which is used as the process excitation noise covariance matrix to characterize the relationship of noise in the update process of the system attitude information, and the values in the matrix can be 10 to the negative seventh power or 10 to the negative eighth power.

[0042] Optionally, the system measurement equation can be expressed as , where represents the acceleration estimated value. The determination process of the system measurement equation h can be to obtain the attitude cosine matrix from the quaternion in the reference state information, and then according to the attitude cosine matrix , the acceleration estimated value is obtained through the following formula to obtain the simplified system measurement equation (i.e., a part intercepted from the complete system measurement equation) , where represents the quaternion in the reference state information, N is the inertial reference frame, B is the carrier coordinate system, the first digit of the subscript n represents the row position in the matrix C, and the second digit represents the column position in the matrix C. For example, n13 represents the element in the first row and the third column of the C matrix, h is a column vector, and 1-3 represents its vector elements 1 to 3. The Jacobian matrix H of the above simplified system measurement equation can be expressed as: 。

[0043] In a possible implementation, the calculation method of the target state information can be to first calculate the corresponding Kalman gain matrix value according to the reference state information, the target error information, and the system measurement equation. Then, calculate the target state information according to the system attitude information, the Kalman gain matrix value, the reference state information, and the system measurement equation. Among them, the system measurement equation can be h: , and the determination method of this system measurement equation can be to first establish a measurement equation, then convert the acceleration data and the geomagnetic field data to the sensor coordinate system, and then convert to the world coordinate system to obtain the system measurement equation. Among them, the system attitude information can be expressed as , where a and m are the acceleration data and the angular velocity data respectively, that is, the acceleration data can be expressed as , where 、 、 represent the components of the acceleration data at the current moment on the x, y, and z axes in the sensor chip coordinate system.

[0044] Furthermore, after establishing the system measurement equation h, the electronic device further calculates the corresponding Kalman gain matrix value according to the reference state information, the target error information, and the system measurement equation h. This process can first take the partial derivative of the system measurement equation h with respect to the reference state information to obtain the Jacobian matrix value of the system measurement equation h: . Then, obtain the Kalman gain matrix value according to the target error information P and the Jacobian matrix value H of the system measurement equation h.

[0045] Furthermore, after calculating the Kalman gain matrix value, the target state information can be calculated according to the system attitude information, the Kalman gain matrix value, the reference state information, and the system measurement equation , where X is the target state information, is the reference state information, Y is the system attitude information, h is the system measurement equation, and K is the Kalman gain matrix value.

[0046] Step S40: Determine the spatial attitude angle of the target mobile device in the current cycle according to the target state information.

[0047] In a possible implementation, after the electronic device determines the target state information in the current cycle, it can determine the first attitude cosine matrix according to the quaternion in the target state information. Then, calculate the second attitude cosine matrix according to the first attitude cosine matrix and the preset calibration error matrix. Finally, solve the Euler angles according to the second attitude cosine matrix to obtain the spatial attitude angle of the target mobile device in the current cycle. Among them, the calibration error matrix is a preset parameter and can be set in advance according to needs.

[0048] Further, to ensure the real-time calculation process of the spatial attitude angle, the electronic device can also cache the angular velocity data and acceleration data collected each time. At the same time, the target state information and target error information of the previous cycle are also cached for use in the spatial attitude angle calculation process of the current cycle.

[0049] Based on the above technical features, the spatial attitude angle calculation method of the embodiments of the present disclosure can periodically and real-time detect the spatial attitude angle through a simple calculation process, and introduce reference state information and reference error information to assist the calculation during each cycle of detection, so as to improve the accuracy of the calculation result when the accuracy of the system attitude information is low. This method has a low requirement for the accuracy of the system attitude information obtained by the sensor, enabling the target mobile device to ensure accurate solution of the spatial attitude angle without installing a high-precision sensor, reducing the production and maintenance costs of the product.

[0050] Figure 2 It is a schematic diagram of a spatial attitude angle calculation device provided by an embodiment of the present disclosure. As Figure 2 shown, the spatial attitude angle calculation device of the embodiments of the present disclosure may include: An information acquisition module 20, configured to periodically acquire the system attitude information of the target mobile device, where the system attitude information includes acceleration data and angular velocity data; An information determination module 21, configured to determine the reference state information and reference error information of the current cycle, where the reference state information is used to represent the spatial attitude of the target mobile device at the beginning of this cycle, and the reference error information is used to represent the error of the reference state information at the beginning of this cycle; An information calculation module 22, configured to calculate the target state information and target error information of the current cycle according to the system attitude information, the reference state information, and the reference error information; An attitude calculation module 23, configured to determine the spatial attitude angle of the target mobile device in the current cycle according to the target state information.

[0051] In a possible implementation manner, the information determination module 21 is further configured to: In response to the current cycle being the first cycle, determine the reference state information of the current cycle according to the acceleration data collected in the current cycle; Determine the preset initial error information as the reference error information of the current cycle.

[0052] In a possible implementation manner, the information determination module 21 is further configured to: In response to the current cycle not being the first cycle, determine the target state information determined in the previous cycle as the reference state information of the current cycle; Determine the target error information determined in the previous cycle as the reference error information for the current cycle.

[0053] In a possible implementation, the information calculation module 22 is further configured to: calculate the target error information according to the angular velocity data, the reference state information, and the reference error information; Determine the system measurement equation for the current cycle according to the acceleration data and the reference state information; Calculate the target state information for the current cycle according to the system attitude information, the reference state information, the target error information, and the system measurement equation.

[0054] In a possible implementation, the information calculation module 22 is further configured to: calculate an intermediate state parameter according to the angular velocity data and the reference state information; Calculate the target error information for the current cycle according to the reference error information and the intermediate state parameter.

[0055] In a possible implementation, the information calculation module 22 is further configured to: Calculate the corresponding Kalman gain matrix value according to the reference state information, the target error information, and the system measurement equation; Calculate the target state information for the current cycle according to the system attitude information, the Kalman gain matrix value, the reference state information, and the system measurement equation.

[0056] In a possible implementation, the target state information includes a quaternion for characterizing the spatial attitude of the target mobile device; The attitude calculation module 23 is further configured to: Determine a first attitude cosine matrix according to the quaternion in the target state information; Calculate a second attitude cosine matrix according to the first attitude cosine matrix and a preset calibration error matrix; Solve for the Euler angles according to the second attitude cosine matrix to obtain the spatial attitude angles of the target mobile device in the current cycle.

[0057] Figure 3 FIG. 800 shows a schematic diagram of an electronic device 800 according to an embodiment of the present disclosure. For example, the electronic device 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0058] Refer to Figure 3, the electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input / output (I / O) interface 812, a sensor component 814, and a communication component 816.

[0059] The processing component 802 generally controls the overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the above methods. In addition, the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

[0060] The memory 804 is configured to store various types of data to support the operation of the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phone book data, messages, pictures, videos, etc. The memory 804 may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disk.

[0061] The power component 806 provides power to the various components of the electronic device 800. The power component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 800.

[0062] The multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors can sense not only the boundaries of touch or swipe actions but also detect the duration and pressure associated with the touch or swipe operation. In some embodiments, the multimedia component 808 includes a front camera and / or a rear camera. When the electronic device 800 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each of the front camera and the rear camera can be a fixed optical lens system or have a focal length and optical zoom capabilities.

[0063] The audio component 810 is configured to output and / or input audio signals. For example, the audio component 810 includes a microphone (MIC) that is configured to receive external audio signals when the electronic device 800 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals can be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, the audio component 810 further includes a speaker for outputting audio signals.

[0064] The I / O interface 812 provides an interface between the processing component 802 and a peripheral interface module, and the peripheral interface module can be a keyboard, a click wheel, buttons, etc. These buttons can include but are not limited to: a home button, a volume button, a power button, and a lock button.

[0065] The sensor component 814 includes one or more sensors for providing a status assessment of various aspects of the electronic device 800. For example, the sensor component 814 can detect the on / off state of the electronic device 800, the relative positioning of components, such as the display and the keypad of the electronic device 800. The sensor component 814 can also detect a change in the position of the electronic device 800 or a component of the electronic device 800, the presence or absence of user contact with the electronic device 800, the orientation or acceleration / deceleration of the electronic device 800, and a change in the temperature of the electronic device 800. The sensor component 814 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor component 814 can also include a light sensor, such as a CMOS or a CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 814 can further include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0066] The communication component 816 is configured to facilitate communication between the electronic device 800 and other devices in a wired or wireless manner. The electronic device 800 can access a communication standard-based wireless network, such as WiFi, 2G, or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0067] In an exemplary embodiment, the electronic device 800 can be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above method.

[0068] In an exemplary embodiment, a non-volatile computer-readable storage medium is also provided, such as a memory 804 including computer program instructions, and the above computer program instructions can be executed by a processor 820 of the electronic device 800 to complete the above method.

[0069] The embodiments of the present disclosure have been described above. The above description is exemplary and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to technologies in the market, or to enable other ordinary skill in the art in the technical field to understand the disclosed embodiments.

Claims

1. A method for calculating a spatial attitude angle, characterized in that: include: Periodically acquiring system attitude information of the target mobile device, wherein the system attitude information includes acceleration data and angular velocity data; Determine reference state information and reference error information of the current cycle, wherein the reference state information is used to characterize the spatial posture of the target mobile device at the beginning of the current cycle, and the reference error information is used to characterize the error of the reference state information at the beginning of the current cycle; Calculating target state information and target error information of the current cycle according to the system posture information, the reference state information and the reference error information; The spatial attitude angle of the target mobile device in the current period is determined according to the target state information.

2. The method according to claim 1, characterized in that: The determining of the reference state information and reference error information of the current cycle includes: In response to the current cycle being the first cycle, determining reference state information of the current cycle according to acceleration data collected in the current cycle; The preset initial error information is determined as the reference error information of the current cycle.

3. The method according to claim 1, characterized in that The determining of the reference state information and reference error information of the current cycle includes: In response to the current cycle not being the first cycle, determining the target state information determined in the previous cycle as the reference state information of the current cycle; The target error information determined in the previous cycle is determined as the reference error information of the current cycle.

4. The method according to claim 1, characterized in that The calculating the target state information and the target error information of the current cycle according to the system posture information, the reference state information and the reference error information includes: Calculating target error information of a current cycle according to the angular velocity data, the reference state information and the reference error information; Determine a system measurement equation for a current cycle according to the acceleration data and the reference state information; The target state information of the current cycle is calculated according to the system posture information, the reference state information, the target error information and the system measurement equation.

5. The method according to claim 4, characterized in that The calculating target error information of the current cycle according to the angular velocity data, the reference state information and the reference error information comprises: Calculating an intermediate state parameter according to the angular velocity data and the reference state information; Calculate target error information of the current cycle according to the reference error information and the intermediate state parameter.

6. The method according to claim 4, characterized in that The calculating the target state information of the current cycle according to the system attitude information, the reference state information, the target error information and the system measurement equation includes: Calculating a corresponding Kalman gain matrix value according to the reference state information, the target error information and the system measurement equation; The target state information of the current cycle is calculated according to the system attitude information, the Kalman gain matrix value, the reference state information and the system measurement equation.

7. The method according to claim 1, characterized in that The target state information includes a quaternion for representing the spatial posture of the target mobile device; The step of determining the spatial attitude angle of the target mobile device in the current period according to the target state information includes: Determine a first attitude cosine matrix according to the quaternion in the target state information; Calculating a second posture cosine matrix according to the first posture cosine matrix and a preset calibration error matrix; The Euler angle is solved according to the second attitude cosine matrix to obtain the spatial attitude angle of the target mobile device in the current period.

8. A spatial attitude angle calculation device, characterized in that: include: An information acquisition module, used for periodically acquiring system attitude information of the target mobile device, wherein the system attitude information includes acceleration data and angular velocity data; An information determination module, used to determine reference state information and reference error information of a current cycle, wherein the reference state information is used to characterize the spatial posture of the target mobile device at the beginning of the current cycle, and the reference error information is used to characterize the error of the reference state information at the beginning of the current cycle; An information calculation module, used to calculate the target state information and target error information of the current cycle according to the system posture information, the reference state information and the reference error information; The attitude calculation module is used to determine the spatial attitude angle of the target mobile device in the current period according to the target state information.

9. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to implement the method described in any one of claims 1 to 7 when executing the instructions stored in the memory.

10. A non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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