Sensor calibration method and device, computer equipment and storage medium
By acquiring and monitoring the vibration data of the calibration device during the sensor calibration process, data is collected only when the vibration is less than the threshold to determine the calibration parameters, the data error problem caused by vibration interference is solved and the calibration accuracy is improved.
Patent Information
- Application Number
- CN202311770548.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-20
- Publication Date
- 2025-06-20
AI Technical Summary
Vibration interference causes large data errors during sensor calibration, affecting measurement accuracy.
By acquiring the vibration data of the calibration device, the data to be calibrated are collected to determine the calibration parameters of the sensor only when the vibration data is less than or equal to the preset threshold.
It effectively reduces the deviation introduced by vibration and improves the accuracy of sensor calibration.
Smart Images
Figure CN120176718A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of sensors, and in particular, to a calibration method, device, computer device, and storage medium for a sensor. Background Art
[0002] For a sensor, calibration is an important step for determining the error and calibration parameters of the sensor to improve the measurement accuracy. For example, for an IMU (Inertial Measurement Unit) sensor, an IMU sensor usually includes an accelerometer and a gyroscope, and sometimes also includes a magnetometer. The main objective of IMU calibration is to eliminate sensor errors and align the sensor coordinate system to ensure accurate measurement of the attitude, position, and motion of an object. The calibration of an IMU sensor is to collect the raw data from the IMU sensor, including the measurement values of the accelerometer and the gyroscope. Vibration can have a negative impact on the calibration result of the sensor because vibration will introduce additional interference, resulting in inaccuracy of the calibration parameters, and further affecting the measurement accuracy of the IMU sensor. Therefore, how to reduce the deviation in the sensor calibration process caused by vibration and thus improve the sensor calibration accuracy has become an urgent technical problem to be solved. Summary of the Invention
[0003] The present application provides a calibration method, device, computer device, and storage medium for a sensor, which can reduce the deviation in the sensor calibration process caused by vibration and thus improve the sensor calibration accuracy.
[0004] In a first aspect, the present application provides a calibration method for a sensor, the method comprising:
[0005] Obtaining vibration data of a calibration device;
[0006] When the vibration data is less than or equal to a preset vibration data threshold, collecting calibration data through a sensor to be calibrated, and determining calibration parameters of the sensor to be calibrated based on the calibration data.
[0007] In a second aspect, the present application further provides a calibration device for a sensor, the device comprising:
[0008] A vibration data acquisition module, configured to obtain vibration data of a calibration device;
[0009] A calibration parameter determination module, configured to collect calibration data through a sensor to be calibrated and determine calibration parameters of the sensor to be calibrated based on the calibration data when the vibration data is less than or equal to a preset vibration data threshold.
[0010] In a third aspect, the present application also provides a computer device, which includes a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and implement the calibration method of the sensor as described above when executing the computer program.
[0011] In a fourth aspect, the present application also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the processor is caused to implement the calibration method of the sensor as described above.
[0012] The present application discloses a calibration method, device, computer device and storage medium for a sensor. The calibration method of the sensor includes obtaining vibration data of a calibration device; when the vibration data is less than or equal to a preset vibration data threshold, collecting calibration data through a sensor to be calibrated, and determining calibration parameters of the sensor to be calibrated based on the calibration data. By the above method, when the present application obtains vibration data and the vibration data is less than or equal to the preset vibration data threshold, it obtains calibration data through the sensor to be calibrated, and then determines the calibration parameters of the sensor to be calibrated according to the calibration data to complete the calibration process of the sensor to be calibrated, avoiding the phenomenon of large data acquisition errors during the calibration process of the sensor to be calibrated due to the vibration of the calibration device, and improving the calibration accuracy of the sensor. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
[0014] Figure 1 is a schematic flowchart of a calibration method for a sensor provided by the first embodiment of the present application;
[0015] Figure 2 is a schematic flowchart of a calibration method for a sensor provided by the second embodiment of the present application;
[0016] Figure 3 is a schematic block diagram of a calibration device for a sensor provided by an embodiment of the present application;
[0017] Figure 4 is a schematic block diagram of the structure of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0018] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
[0019] The flowchart shown in the accompanying drawings is only an example, and does not necessarily include all the contents and operations / steps, nor does it necessarily need to be executed in the described order. For example, some operations / steps can be decomposed, combined or partially merged, so the actual execution order may be changed according to the actual situation.
[0020] It should be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification of the present application and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms.
[0021] It should also be understood that the term "and / or" used in the specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.
[0022] The embodiments of the present application provide a calibration method, device, computer device and storage medium for a sensor. Among them, the calibration method of the sensor can be applied to a smart wearable device. When vibration data is obtained and the vibration data is less than or equal to a preset vibration data threshold, calibration data is obtained through the sensor to be calibrated, and then calibration parameters of the sensor to be calibrated are determined according to the calibration data to complete the calibration process of the sensor to be calibrated, avoiding the phenomenon of large data acquisition errors during the calibration process of the sensor to be calibrated due to the vibration of the calibration device, and improving the calibration accuracy of the sensor. Among them, the sensor to be calibrated can be built into the smart wearable device or connected to the smart wearable device as an external device.
[0023] In addition, the sensor to be calibrated in each embodiment of the present application takes the IMU sensor as an example. Correspondingly, the calibration data takes the data of the sensor to be calibrated and the data of the gyroscope to be calibrated as an example. It should be understood that the protection scope of the present application is not limited to the IMU sensor, and the present application is only described by taking this as an example.
[0024] Next, some embodiments of the present application will be described in detail in conjunction with the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.
[0025] Please refer to Figure 1 ,Figure 1 FIG. 1 is a schematic flow chart of a calibration method for a sensor provided by the first embodiment of the present application. The calibration method of the sensor can be applied to an intelligent wearable device. By using the sensor to be calibrated to obtain the data to be calibrated, and then determining the calibration parameters of the sensor to be calibrated according to the data to be calibrated, the calibration process of the sensor to be calibrated is completed, avoiding the phenomenon of large data acquisition errors during the calibration process of the sensor to be calibrated due to the vibration of the calibration device, and improving the calibration accuracy of the sensor.
[0026] As Figure 1 shown, the calibration method of the sensor specifically includes steps S10 to S20.
[0027] Step S10: Obtain the vibration data of the calibration device;
[0028] In one embodiment, the vibration data can be collected by a standard sensor. It can be understood that the standard sensor is a calibrated sensor, that is, a sensor whose accuracy is detected by using a standard measuring instrument and meets the accuracy requirements. In this embodiment, the vibration data can be collected by a calibrated sensor with the functions of collecting acceleration data and gyroscope data.
[0029] In one embodiment, during the calibration process of the sensor to be calibrated, the external vibration will first be transmitted to the calibration device, so that the sensor to be calibrated installed on the calibration device will follow the vibration. Therefore, the calibration device can be placed on a shock-absorbing workbench to block the transmission of external vibration to the calibration device.
[0030] In one embodiment, in this embodiment, the sensor to be calibrated is taken as an IMU sensor (generally referring to a sensor with the functions of an accelerometer and a gyroscope). Correspondingly, the data to be calibrated includes the data of the accelerometer to be calibrated and the data of the gyroscope to be calibrated. The calibration process of the IMU sensor requires collecting the vibration data of the accelerometer and gyroscope when the calibration device is in different poses, and calculating the calibration parameters of the accelerometer and gyroscope through these vibration data. When collecting the data of the accelerometer to be calibrated and the gyroscope to be calibrated for calibration, the vibration in the external environment will be transmitted to the IMU sensor through the calibration device, causing the sensor data collected at this time to deviate, thereby affecting the calibration accuracy and calibration success rate. The calibration device in this embodiment is an intelligent wearable device, such as smart glasses, smart helmets, etc. The sensor to be calibrated is a sensor used to detect and measure acceleration and rotational motion, providing functions such as gravity sensing, attitude recognition, and motion tracking for the intelligent wearable device.
[0031] The IMU sensor mainly consists of an accelerometer with three axes and a gyroscope with three axes. The accelerometer is used to obtain acceleration data, and the gyroscope is used to obtain angular velocity data.
[0032] The accelerometer and the gyroscope respectively correspond to a three-dimensional coordinate system (i.e., a three-axis coordinate system). For the convenience of representation and calculation, the three axes of the accelerometer and the gyroscope are now set to coincide, that is, the three axes respectively correspond to the X-axis, the Y-axis, and the Z-axis. The acceleration data in the three-axis directions obtained by the accelerometer are respectively a x , a y , a z , and the angular velocity data in the three-axis directions obtained by the gyroscope are ω x , ω y , ω z .
[0033] Step S20: When the vibration data is less than or equal to the preset vibration data threshold, collect the data to be calibrated through the sensor to be calibrated, and determine the calibration parameters of the sensor to be calibrated based on the data to be calibrated.
[0034] In one embodiment, the preset vibration data threshold is a preset vibration data threshold, including an accelerometer data threshold and a gyroscope data threshold. The preset vibration data threshold can be set by the experience of those skilled in the art in combination with the actual application scenario of the calibration device. It should be noted that the sensor to be calibrated is not limited to the IMU sensor, and it can also be other sensors. When the sensor to be calibrated is other sensors, the data to be calibrated will also change with the type of the sensor to be calibrated, which will not be specifically elaborated here.
[0035] Compare the vibration data collected by the standard sensor with the preset vibration data threshold. When the vibration data is greater than the preset vibration data threshold, it indicates that the vibration has a large interference on the current collection process, and the calibration parameters cannot be determined through this data; on the contrary, if the vibration data is less than or equal to the preset vibration data threshold, the calibration parameters of the sensor to be calibrated are further determined through the data to be calibrated, and the calibration process ends.
[0036] The calibration of the IMU sensor is divided into accelerometer calibration and gyroscope calibration, and the methods are as follows:
[0037] 1. Accelerometer parameter calibration:
[0038] The parameter calibration of the accelerometer mainly includes: zero bias error, scale error, and cross-axis coupling error, etc. Commonly used calibration methods include static calibration and dynamic calibration. Static calibration determines the parameter error of the accelerometer by placing the sensor to be calibrated in a stationary state and measuring the data output by the accelerometer. Dynamic calibration is performed through the acceleration data during the movement process.
[0039] 2. Gyroscope parameter calibration:
[0040] The parameter calibration of the gyroscope mainly includes: zero bias error, scale error, and cross-axis coupling error, etc. Common calibration methods include zero bias calibration and scale factor calibration. Zero bias calibration eliminates the zero bias error of the gyroscope by keeping the sensor to be calibrated stationary. Scale factor calibration determines the scale factor error of the gyroscope by rotating the sensor to be calibrated and measuring the angular velocity data output by the gyroscope.
[0041] In one embodiment, the calibration parameters of the IMU sensor can be determined by the data of the accelerometer to be calibrated, the data of the gyroscope to be calibrated, and the calibration algorithm. The calibration algorithm is a commonly used algorithm in the art and will not be elaborated here.
[0042] This embodiment discloses a calibration method, device, computer device, and storage medium for a sensor. The calibration method for the sensor includes obtaining vibration data of a calibration device; when the vibration data is less than or equal to a preset vibration data threshold, collecting data to be calibrated through the sensor to be calibrated, and determining the calibration parameters of the sensor to be calibrated based on the data to be calibrated. By the above method, when the present application obtains vibration data and when the vibration data is less than or equal to the preset vibration data threshold, it obtains the data to be calibrated through the sensor to be calibrated, and then determines the calibration parameters of the sensor to be calibrated according to the data to be calibrated to complete the calibration process of the sensor to be calibrated, avoiding the phenomenon of large data acquisition errors during the calibration process of the sensor to be calibrated due to the vibration of the calibration device, and improving the calibration accuracy of the sensor.
[0043] Based on the above embodiment, in this embodiment, when the vibration data is less than or equal to the preset vibration data threshold, collecting data to be calibrated through the sensor to be calibrated, and determining the calibration parameters of the sensor to be calibrated based on the data to be calibrated includes:
[0044] When the accelerometer data is less than or equal to the accelerometer data threshold and the gyroscope data is less than or equal to the gyroscope data threshold, it is determined that the vibration data is less than or equal to the preset vibration data threshold.
[0045] In one embodiment, the vibration data includes accelerometer data and gyroscope data, and the preset vibration data threshold includes an accelerometer data threshold and a gyroscope data threshold.
[0046] In one embodiment, the accelerometer is used to measure the acceleration in three axis directions, which can be respectively represented as the X axis, the Y axis, and the Z axis. The acceleration data a x , a y , a z obtained by the accelerometer in the three axis directions, and through a x , a y , a zThe calculated acceleration magnitude |a|. Among them, the acceleration magnitude is Correspondingly, the accelerometer data threshold includes a single-direction acceleration threshold A and an acceleration magnitude |A|.
[0047] In one embodiment, the gyroscope is used to measure the angular velocities in three-axis directions, that is, the X-axis, Y-axis, and Z-axis mentioned in the above embodiment. The angular velocities obtained by the gyroscope in the three-axis directions are ω x , ω y , ω z , and the calculated angular velocity magnitude |ω| through ω x , ω y , ω z . Among them, the angular velocity magnitude is Correspondingly, the gyroscope data threshold includes a preset single-direction angular velocity threshold ω and a preset angular velocity magnitude threshold |ω|.
[0048] In the case where any value in the accelerometer data is less than or equal to the corresponding accelerometer data threshold or in the case where any value in the gyroscope data is less than or equal to the corresponding gyroscope data threshold, it is determined that the vibration data is less than or equal to the preset vibration data threshold. At this time, the vibration has less interference on the calibration process of the sensor to be calibrated, and the calibration result of the sensor to be calibrated is more accurate.
[0049] Please refer to Figure 2 , Figure 2 is a schematic flowchart of a method for calibrating a sensor provided by the second embodiment of the present application. This method for calibrating a sensor can be applied to a smart wearable device. When it is obtained that the vibration data of the calibration device is greater than the preset vibration data threshold, a signal is sent to prompt the user that the current calibration process is greatly affected by vibration. At this time, the accuracy of the data to be calibrated obtained by the sensor to be calibrated is not high, and the calibration parameters calculated through the data to be calibrated are inaccurate, avoiding calibrating the sensor to be calibrated in the case of relatively serious vibration interference.
[0050] Based on Figure 1 the embodiment shown, in this embodiment, as Figure 2 shown, after step S10, it further includes step S11.
[0051] Step S11: When the vibration data is greater than the preset vibration data threshold, send a prompt signal to re-collect the vibration data of the calibration device.
[0052] In one embodiment, the acceleration data in three-axis directions a x , a y , a zCompare them with the acceleration threshold A respectively, and compare the acceleration magnitude |a| with the acceleration magnitude threshold |A| to determine the magnitude relationship between the vibration data and the preset vibration data threshold.
[0053] When a x , a y and / or a z is greater than A, and / or, when |a| is greater than |A|, it is determined that the accelerometer data is greater than the preset vibration data threshold, which means that during the calibration process at this time, the vibration has a relatively serious interference on the calibration environment, and the accelerometer data to be calibrated obtained at this time cannot be used as the data for calculating the calibration parameters.
[0054] This embodiment discloses a calibration method, device, computer device and storage medium for a sensor. The calibration method for the sensor includes sending a prompt signal when the vibration data is greater than the preset vibration data threshold to re-collect the vibration data of the calibration device. In the above manner, when the application obtains that the vibration data of the calibration device is greater than the preset vibration data threshold, a signal is sent to prompt the user that the current calibration process is greatly affected by vibration. At this time, the accuracy of the data to be calibrated obtained by the sensor to be calibrated is not high, and the calibration parameters calculated from the data to be calibrated are inaccurate, avoiding calibrating the sensor to be calibrated under the condition of relatively serious vibration interference.
[0055] Based on Figure 2 the embodiment shown, in this embodiment, step S11 includes:
[0056] When the current acceleration value is greater than the preset single-direction acceleration threshold and / or the acceleration magnitude is greater than the preset acceleration magnitude threshold, it is determined that the vibration data is greater than the preset vibration data threshold;
[0057] Wherein, the current acceleration value includes at least one of the first-direction acceleration value, the second-direction acceleration value or the third-direction acceleration value.
[0058] In one embodiment, the acceleration data a x , a y , a z in the three-axis directions respectively correspond to the first-direction acceleration value, the second-direction acceleration value and the third-direction acceleration value in this embodiment. The preset single-direction acceleration threshold corresponds to A, and the preset acceleration magnitude threshold corresponds to |A|. When the acceleration data in at least one direction in the three-axis directions is greater than the preset single-direction acceleration threshold or the acceleration magnitude is greater than the preset acceleration magnitude threshold, it is determined that due to the interference of vibration, the vibration data is greater than the preset vibration data threshold, and the calibration parameters cannot be determined by using the accelerometer data to be calibrated collected in this calibration environment.
[0059] Based on Figure 2 the illustrated embodiment, in this embodiment, step S11 includes:
[0060] When the current value of the angular velocity is greater than the preset unidirectional angular velocity threshold and / or the magnitude of the angular velocity is greater than the preset angular velocity magnitude threshold, it is determined that the gyroscope data is greater than the preset vibration data threshold;
[0061] Wherein, the current value of the angular velocity includes at least one of the first-direction angular velocity, the second-direction angular velocity, and / or the third-direction angular velocity.
[0062] In one embodiment, the angular velocities ω x , ω y , ω z in the three-axis directions as described above respectively correspond to the first-direction angular velocity, the second-direction angular velocity, and the third-direction angular velocity in this embodiment. The preset unidirectional angular velocity threshold corresponds to ω, and the preset angular velocity magnitude threshold corresponds to |ω|.
[0063] Corresponding to the above embodiment, when ω x , ω y , ω z Any one of them is greater than the set unidirectional angular velocity threshold or the magnitude of the angular velocity threshold is greater than |ω|, it is determined that the current calibration process is greatly affected by vibration and needs to be recalibrated, thereby improving the accuracy of sensor calibration.
[0064] Based on Figure 1 the illustrated embodiment, in this embodiment, step S10 includes:
[0065] Vibration monitoring of the calibration device is performed by a preset standard sensor, and the vibration data of the calibration device is collected.
[0066] In one embodiment, the preset standard sensor in this embodiment is a sensor with an accelerometer and gyroscope functions and has been calibrated. In this embodiment, an IMU sensor with a calibrated accuracy within the allowable range is taken as an example.
[0067] In a specific embodiment, the preset standard sensor is located at a preset position of the calibration device, and the vibration data includes accelerometer data and gyroscope data.
[0068] In one embodiment, the calibration device can be various smart wearable devices, and the preset standard sensor can be installed at a fixed position (a non-movable position) of the calibration device, that is, the preset position in this embodiment.
[0069] Please refer to Figure 3 , Figure 3FIG. 0 is a schematic block diagram of a calibration device for a sensor provided by an embodiment of the present application. The calibration device for the sensor is used to execute the aforementioned calibration method for the sensor. Among them, the calibration device for the sensor can be configured in a server.
[0070] As Figure 3 shown, the calibration device for the sensor includes:
[0071] A vibration data acquisition module 410, configured to acquire vibration data of a calibration device;
[0072] A calibration parameter determination module 420, configured to, when the vibration data is less than or equal to a preset vibration data threshold, collect calibration data through a sensor to be calibrated, and determine calibration parameters of the sensor to be calibrated based on the calibration data.
[0073] Further, the calibration parameter determination module 420 includes:
[0074] A first comparison unit, configured to determine that the vibration data is less than or equal to the preset vibration data threshold when the accelerometer data is less than or equal to the accelerometer data threshold and the gyroscope data is less than or equal to the gyroscope data threshold.
[0075] Further, the calibration device for the sensor includes:
[0076] A prompt module, configured to, when the vibration data is greater than the preset vibration data threshold, send a prompt signal to re-acquire the vibration data of the calibration device.
[0077] Further, the prompt module includes:
[0078] An acceleration comparison unit, configured to determine that the vibration data is greater than the preset vibration data threshold when a current acceleration value is greater than the preset single-direction acceleration threshold and / or an acceleration modulus value is greater than the preset acceleration modulus threshold;
[0079] Wherein, the current acceleration value includes at least one of a first-direction acceleration value, a second-direction acceleration value, or a third-direction acceleration value.
[0080] Further, the prompt module includes:
[0081] An angular velocity comparison unit, configured to determine that the gyroscope data is greater than the preset vibration data threshold when a current angular velocity value is greater than the preset single-direction angular velocity threshold and / or an angular velocity modulus value is greater than the preset angular velocity modulus threshold;
[0082] Wherein, the current value of the angular velocity includes at least one of the angular velocity in the first direction, the angular velocity in the second direction, and / or the angular velocity in the third direction.
[0083] Further, the vibration data acquisition module 410 includes:
[0084] A vibration data acquisition unit, configured to perform vibration monitoring on the calibration device through a preset standard sensor, and collect the vibration data of the calibration device.
[0085] It should be noted that those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the above-described device and each module can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.
[0086] The above device can be implemented in the form of a computer program, and the computer program can run on a computer device as shown in Figure 4 the figure.
[0087] Please refer to Figure 4 , Figure 4 , which is a schematic block diagram of the structure of a computer device provided by an embodiment of the present application. The computer device can be a server.
[0088] Referring to Figure 4 , the computer device includes a processor, a memory, and a network interface connected through a system bus. Among them, the memory can include a non-volatile storage medium and an internal memory.
[0089] The non-volatile storage medium can store an operating system and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any sensor calibration method.
[0090] The processor is used to provide computing and control capabilities to support the operation of the entire computer device.
[0091] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can execute any sensor calibration method.
[0092] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art can understand that Figure 4 the structure shown in is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.
[0093] It should be understood that the processor can be a Central Processing Unit (CPU), and the processor can also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.
[0094] Among them, in one embodiment, the processor is used to run a computer program stored in a memory to implement the following steps:
[0095] Obtain vibration data of a calibration device;
[0096] When the vibration data is less than or equal to a preset vibration data threshold, collect calibration data through a sensor to be calibrated, and determine calibration parameters of the sensor to be calibrated based on the calibration data.
[0097] In one embodiment, the vibration data includes accelerometer data and gyroscope data, the preset vibration data threshold includes an accelerometer data threshold and a gyroscope data threshold, and when the vibration data is less than or equal to the preset vibration data threshold, collecting calibration data through a sensor to be calibrated and determining calibration parameters of the sensor to be calibrated based on the calibration data is used to implement:
[0098] When the accelerometer data is less than or equal to the accelerometer data threshold and the gyroscope data is less than or equal to the gyroscope data threshold, determine that the vibration data is less than or equal to the preset vibration data threshold.
[0099] In one embodiment, after obtaining the vibration data of the calibration device, it is also used to implement:
[0100] When the vibration data is greater than the preset vibration data threshold, send a prompt signal to re-collect the vibration data of the calibration device.
[0101] In one embodiment, the accelerometer data includes first-direction acceleration values, second-direction acceleration values, third-direction acceleration values, and an acceleration magnitude value. The accelerometer data threshold includes a preset single-direction acceleration threshold and a preset acceleration magnitude threshold. When the vibration data is greater than the preset vibration data threshold, a prompt signal is sent to re-collect the vibration data of the calibration device, for the purpose of:
[0102] When the current acceleration value is greater than the preset single-direction acceleration threshold and / or the acceleration magnitude is greater than the preset acceleration magnitude threshold, it is determined that the vibration data is greater than the preset vibration data threshold;
[0103] Wherein, the current acceleration value includes at least one of the first-direction acceleration value, the second-direction acceleration value, or the third-direction acceleration value.
[0104] In one embodiment, the gyroscope data includes first-direction angular velocities, second-direction angular velocities, third-direction angular velocities, and an angular velocity magnitude value. The gyroscope data threshold includes a preset single-direction angular velocity threshold and a preset angular velocity magnitude threshold. When the vibration data is greater than the preset vibration data threshold, a prompt signal is sent to re-collect the vibration data of the calibration device, for the purpose of:
[0105] When the current angular velocity value is greater than the preset single-direction angular velocity threshold and / or the angular velocity magnitude is greater than the preset angular velocity magnitude threshold, it is determined that the gyroscope data is greater than the preset vibration data threshold;
[0106] Wherein, the current angular velocity value includes at least one of the first-direction angular velocity, the second-direction angular velocity, and / or the third-direction angular velocity.
[0107] In one embodiment, the vibration data of the calibration device is obtained, for the purpose of:
[0108] The calibration device is vibration-monitored by a preset standard sensor, and the vibration data of the calibration device is collected.
[0109] An embodiment of the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. The computer program includes program instructions. The processor executes the program instructions to implement any one of the sensor calibration methods provided by the embodiments of the present application.
[0110] Among them, the computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiments, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a SmartMedia Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the computer device.
[0111] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims
1. A calibration method for a sensor, characterized in that, Including: Obtain the vibration data of the calibration device; When the vibration data is less than or equal to a preset vibration data threshold, collect the data to be calibrated through the sensor to be calibrated, and determine the calibration parameters of the sensor to be calibrated based on the data to be calibrated.
2. The calibration method for a sensor according to claim 1, characterized in that, The vibration data includes accelerometer data and gyroscope data, and the preset vibration data threshold includes an accelerometer data threshold and a gyroscope data threshold. When the vibration data is less than or equal to the preset vibration data threshold, collecting the data to be calibrated through the sensor to be calibrated and determining the calibration parameters of the sensor to be calibrated based on the data to be calibrated includes: When the accelerometer data is less than or equal to the accelerometer data threshold and the gyroscope data is less than or equal to the gyroscope data threshold, determine that the vibration data is less than or equal to the preset vibration data threshold.
3. The calibration method for a sensor according to claim 2, characterized in that, After obtaining the vibration data of the calibration device, it further includes: When the vibration data is greater than the preset vibration data threshold, send a prompt signal to re-collect the vibration data of the calibration device.
4. The calibration method for a sensor according to claim 3, characterized in that, The accelerometer data includes a first-direction acceleration value, a second-direction acceleration value, a third-direction acceleration value, and an acceleration modulus value. The accelerometer data threshold includes a preset single-direction acceleration threshold and a preset acceleration modulus threshold. When the vibration data is greater than the preset vibration data threshold, sending a prompt signal to re-collect the vibration data of the calibration device includes: When the current acceleration value is greater than the preset single-direction acceleration threshold and / or the acceleration modulus is greater than the preset acceleration modulus threshold, determine that the vibration data is greater than the preset vibration data threshold; Wherein, the current acceleration value includes at least one of the first-direction acceleration value, the second-direction acceleration value, or the third-direction acceleration value.
5. The calibration method for a sensor according to claim 3, characterized in that, The gyroscope data includes a first-direction angular velocity, a second-direction angular velocity, a third-direction angular velocity, and an angular velocity modulus value. The gyroscope data threshold includes a preset single-direction angular velocity threshold and a preset angular velocity modulus threshold. When the vibration data is greater than the preset vibration data threshold, sending a prompt signal to re-collect the vibration data of the calibration device includes: When the current angular velocity value is greater than the preset single-direction angular velocity threshold and / or the angular velocity modulus is greater than the preset angular velocity modulus threshold, determine that the gyroscope data is greater than the preset vibration data threshold; Wherein, the current angular velocity value includes at least one of the first-direction angular velocity, the second-direction angular velocity, and / or the third-direction angular velocity.
6. The calibration method for a sensor according to claim 1, characterized in that, Obtaining the vibration data of the calibration device includes: Vibration monitoring is performed on the calibration device through a preset standard sensor, and the vibration data of the calibration device is collected.
7. The calibration method for a sensor according to claim 6, characterized in that, The preset standard sensor is located at a preset position of the calibration device, and the vibration data includes accelerometer data and gyroscope data.
8. A calibration device for a sensor, characterized in that, Including: A vibration data acquisition module for obtaining the vibration data of the calibration device; A calibration parameter determination module, configured to collect calibration data through a sensor to be calibrated when the vibration data is less than or equal to a preset vibration data threshold, and determine calibration parameters of the sensor to be calibrated based on the calibration data.
9. A computer device, characterized in that, The computer device includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, implement the calibration method of the sensor according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the processor is caused to implement the calibration method of the sensor according to any one of claims 1 to 7.