Inertial Measurement Unit Range Adaptive Adjustment Method and System

Abstract

This invention belongs to the field of inertial measurement technology, specifically relating to an adaptive range adjustment method and system for an inertial measurement unit. The adaptive range adjustment method for an inertial measurement unit includes: real-time acquisition of inertial measurement data, and obtaining the vector sum of each inertial test data based on the inertial measurement data; setting a threshold for the vector sum of each inertial test data; comparing the vector sum of each inertial test data with the corresponding threshold, and performing a corresponding range switching operation based on the comparison result.

Description

Technical Field

[0001] This invention belongs to the field of inertial measurement technology, specifically relating to an adaptive range adjustment method and system for an inertial measurement unit. Background Technology

[0002] In the automotive field, the calibration of Inertial Measurement Units (IMUs) ensures the high accuracy of their output attitude, acceleration, and angular velocity data, which is crucial for systems such as Electronic Stability Control (ESC), autonomous driving, and navigation. However, vehicles frequently experience nonlinear motions such as rapid acceleration, braking, and cornering during driving, posing multiple challenges to IMU calibration.

[0003] The existing method for inertial measurement unit (IMU) calibration involves: acquiring target motion data measured by the IMU to be evaluated; inputting the target motion data into a pre-constructed IMU evaluation model to obtain target error parameters; using the IMU evaluation model to determine the corresponding motion state of the IMU based on the motion data and outputting the corresponding error parameters under different motion states; and then calibrating the IMU based on the target error parameters. This method enables rapid and accurate error correction of the IMU under different dynamic motion scenarios, thereby improving the measurement accuracy after error correction.

[0004] However, existing technical solutions mostly perform error correction on IMUs, and are mostly single-range or fixed dual-range, designed only for specific acceleration or angular velocity ranges. They are not suitable for scenarios with frequent range switching, such as when a vehicle is driving on complex road conditions, making sharp turns, changing lanes, or braking suddenly, or when there are nonlinear changes caused by sideslip.

[0005] Therefore, existing IMU calibration techniques have the technical problem that they cannot be applied to calibration scenarios with frequent range switching due to their single range or fixed dual range. Summary of the Invention

[0006] The purpose of this invention is to provide an adaptive range adjustment method and system for inertial measurement units.

[0007] To address the aforementioned technical problems, this invention provides a method for adaptive range adjustment of an inertial measurement unit, comprising:

[0008] Real-time acquisition of inertial measurement data, and obtaining the vector sum of each inertial test data based on the inertial measurement data;

[0009] Set the threshold for the vector sum of each inertial test data; and

[0010] The vector sum of each inertial test data is compared with the corresponding threshold, and the corresponding range switching operation is performed based on the comparison result.

[0011] In another aspect, the present invention also provides a method for adaptive adjustment of the range of an inertial measurement unit when a vehicle is driving smoothly, comprising:

[0012] Real-time collection of acceleration and angular velocity data during smooth vehicle movement, and obtaining the acceleration vector sum and angular velocity vector sum based on the acceleration and angular velocity data;

[0013] Set thresholds for the sum of acceleration vectors and the sum of angular velocity vectors; and

[0014] The sum of acceleration vectors and the sum of angular velocity vectors are compared with the corresponding thresholds, and the corresponding range switching operation is performed based on the comparison results.

[0015] Thirdly, the present invention also provides a method for adaptive adjustment of the range of an inertial measurement unit during rapid vehicle acceleration, comprising:

[0016] Real-time acquisition of acceleration and angular velocity data during rapid vehicle acceleration, and obtaining the acceleration vector sum and angular velocity vector sum based on the acceleration and angular velocity data;

[0017] Set thresholds for the sum of acceleration vectors and the sum of angular velocity vectors; and

[0018] The sum of acceleration vectors and the sum of angular velocity vectors are compared with the corresponding thresholds, and the corresponding range switching operation is performed based on the comparison results.

[0019] Fourthly, the present invention also provides a method for adaptive adjustment of the range of an inertial measurement unit during a vehicle's sharp turn, comprising:

[0020] Real-time acquisition of acceleration and angular velocity data during vehicle sharp turns, and obtaining the acceleration vector sum and angular velocity vector sum based on the acceleration and angular velocity data;

[0021] Set thresholds for the sum of acceleration vectors and the sum of angular velocity vectors; and

[0022] The sum of acceleration vectors and the sum of angular velocity vectors are compared with the corresponding thresholds, and the corresponding range switching operation is performed based on the comparison results.

[0023] Fifthly, the present invention also provides an adaptive range adjustment system for an inertial measurement unit, comprising: a computer device configured to include:

[0024] The acquisition module is configured to acquire inertial measurement data in real time and obtain the vector sum of each inertial test data based on the inertial measurement data;

[0025] The settings module is configured to set the threshold for the vector sum of each inertial test data; and

[0026] The switching module is configured to compare the vector sum of each inertial test data with the corresponding threshold and perform the corresponding range switching operation based on the comparison result.

[0027] In a sixth aspect, the present invention also provides a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implements the inertial measurement unit range adaptive adjustment method as described above.

[0028] In a seventh aspect, the present invention also provides an apparatus / system comprising: an inertial measurement unit configured to output inertial measurement data; and a control module configured to execute the inertial measurement unit range adaptive adjustment method as described above.

[0029] The beneficial effects of this invention are that the adaptive range adjustment method of the inertial measurement unit of this invention obtains the vector sum of acceleration and angular velocity in real time and realizes automatic range switching based on dynamic threshold, which meets the measurement needs under complex road conditions or nonlinear scenarios, that is, avoids data overflow or truncation, and improves the accuracy and stability of IMU data measurement.

[0030] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained through the structures particularly pointed out in the description and the drawings.

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0032] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 The diagram illustrates the steps of an adaptive range adjustment method for an inertial measurement unit according to some embodiments;

[0034] Figure 2 The illustrations show examples of methods for processing data using the moving average method, as illustrated in some embodiments.

[0035] Figure 3 A schematic block diagram of an inertial measurement unit range adaptive adjustment system according to some embodiments is shown;

[0036] Figure 4 A schematic block diagram of the device / system involved in some embodiments is shown. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Existing technical solutions mostly perform error correction on IMUs, and are mostly single-range or fixed dual-range, designed only for specific acceleration or angular velocity ranges. They are not suitable for scenarios with frequent range switching, such as when a vehicle is driving on a complex road, making sharp turns, changing lanes, or braking suddenly, or when there are nonlinear changes due to sideslip.

[0039] Existing IMU calibration techniques have a technical problem that they cannot be applied to calibration scenarios with frequent range switching due to their single range or fixed dual range.

[0040] Therefore, at least one embodiment provides an adaptive range adjustment method for an inertial measurement unit, comprising: acquiring inertial measurement data in real time, and obtaining the vector sum of each inertial test data based on the inertial measurement data; setting a threshold for the vector sum of each inertial test data; comparing the vector sum of each inertial test data with the corresponding threshold, and performing a corresponding range switching operation based on the comparison result.

[0041] Compared to fixed-range or dual-range solutions, the adaptive range adjustment method of the inertial measurement unit in this embodiment, through vector synthesis and dynamic threshold judgment, can adaptively adjust the appropriate range according to the actual motion state of the device under test, avoiding data overflow or truncation, and improving the accuracy and stability of IMU data measurement.

[0042] The various non-limiting embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings.

[0043] like Figure 1 As shown, this embodiment provides a method for adaptive adjustment of the range of an inertial measurement unit, including:

[0044] Step S101: Real-time acquisition of inertial measurement data, and obtaining the vector sum of each inertial test data based on the inertial measurement data;

[0045] Step S102: Set the threshold for the vector sum of each inertial test data; and

[0046] Step S103: Compare the vector sum of each inertial test data with the corresponding threshold, and perform the corresponding range switching operation based on the comparison result.

[0047] In some embodiments, the method for acquiring inertial measurement data in real time and obtaining the vector sum of each inertial test data based on the inertial measurement data includes:

[0048] Real-time acquisition of triaxial acceleration data (α) output by the inertial measurement unit x ,α y ,α z ) and triaxial angular velocity data (ω x ,ω y ,ω z );

[0049] Obtain the acceleration vector and α total and angular velocity vector and ω total The calculation formulas are as follows:

[0050] acceleration vector sum

[0051] Angular velocity vector sum

[0052] Specifically, by obtaining the triaxial acceleration vector and a total and angular velocity vector and ω total It can comprehensively evaluate the motion state of the device under test, avoid misjudgment caused by sudden increases in a single axis, and improve the accuracy and stability of the measurement.

[0053] In some embodiments, the method for setting a threshold for the vector sum of each inertial test data includes: dynamically setting a corresponding threshold based on the vector sum of each inertial test data and the current range, i.e.

[0054] Take 85%-95% of the maximum value of the acceleration vector sum as the upper threshold a of the acceleration vector sum. thres hold_high The lower threshold α of the acceleration vector sum is set as 65%-75% of the maximum value of the current range. thres hold_low ;as well as

[0055] Take 85%-95% of the maximum value of the angular velocity vector sum as the upper threshold ω of the angular velocity vector sum. thres hold_high The lower threshold ω of the sum of the angular velocity vectors is set as 65%-75% of the maximum value of the current range. thres hold_low .

[0056] Specifically, the corresponding thresholds are dynamically set based on the vector sum of each inertial test data and the current range. To prevent data overflow, the upper limit of the threshold for the corresponding vector sum is set to 85%-95% of the maximum value of the current range. To prevent data truncation, the lower limit of the threshold for the corresponding vector sum is set to 65%-75% of the maximum value of the current range. The threshold ratios in this embodiment can ensure both a safety margin and the stability of the calibration.

[0057] In the following case, the upper threshold α of the acceleration vector sum is taken as 90% of the maximum value of the current range. thres hold_high The lower threshold α of the acceleration vector sum is taken as 70% of the maximum value of the current range. thres hold_low ; and take 90% of the maximum value of the current range's angular velocity vector sum as the upper threshold ω of the angular velocity vector sum. thres hold_high The lower threshold ω of the sum of the angular velocity vectors is set as 70% of the maximum value of the current range. thres hold_low .

[0058] The method of comparing the vector sum of each inertial test data with a corresponding threshold and performing a corresponding range switching operation based on the comparison result includes:

[0059] When α total >α thres hold_high or ω total >ω thres hold_hig h When switching, the current measurement range will be switched to a higher range. If the current range is already the highest range at the time of switching, the highest range will remain unchanged.

[0060] When α total <α thres hold_low And ω total <ω thres hold_low When switching, the current range will be switched to a lower range. If the current range is already the lowest range when switching, the lowest range will be maintained and no switching will be performed.

[0061] The following are detailed examples illustrating the method of comparing the vector sum of each inertial test data with the corresponding threshold and performing the appropriate range switching operation based on the comparison result:

[0062] Assume that the acceleration vector sum has two ranges, ±2g and ±6g, with the current range being ±2g. The angular velocity vector sum also has two ranges, ±100° / s and ±250° / s, with the current range being ±100° / s.

[0063] The threshold values ​​are set as follows:

[0064]

[0065]

[0066] Scenario 1: When driving smoothly

[0067] The obtained acceleration vector sum is 0.5-1.2g;

[0068] The obtained angular velocity vector sum is 10-30° / s;

[0069] The acceleration vector and angular velocity vector are then compared with their respective thresholds. The range switching operation performed based on the comparison results is to maintain the corresponding low range and not switch.

[0070] Scenario 2: During rapid acceleration

[0071] The obtained acceleration vector is 2.5g;

[0072] The obtained angular velocity vector is 20° / s;

[0073] The acceleration vector and angular velocity vector sum are then compared with their respective thresholds. The range switching operation performed based on the comparison results is to switch the acceleration vector sum to the high range ±6g.

[0074] Scenario 3: During a sharp turn

[0075] The obtained acceleration vector is 1.0g;

[0076] The obtained angular velocity vector is 110° / s;

[0077] The acceleration vector and angular velocity vector are then compared with their respective thresholds. The range switching operation performed based on the comparison results is: the angular velocity vector is switched to the high range ±250° / s.

[0078] In some embodiments, a moving average method is used to process the data collected during the range switching period. The data processing methods include:

[0079]

[0080] Where: i is the number of data to be processed, χ1, χ2, ..., χ i These are the data to be processed, and k is the window size.

[0081] Specifically, because switching measurement ranges may result in data loss or significant differences, some implementations employ a simple moving average method to reduce fluctuations. After determining the size of the data window, data points within the window are taken at each time point, and their average value is calculated as the smoothed data point. As new data points arrive, the window is continuously slid to recalculate the average value. The simple moving average method averages the data points within a fixed window of the time series data and uses this average value to replace the data points at the center or end of the window.

[0082] Specifically, by processing the data collected during the range switching period using the moving average method, error data can be effectively suppressed, and the stability of measurement during range switching can be improved.

[0083] In this embodiment, in order to prioritize the real-time performance of inertial measurement data, the window size k is reduced to 3-5. In the following example, the window size k is 3.

[0084] like Figure 2 As shown, a case study illustrates the method of processing data using the moving average method, as follows:

[0085] Assuming there are 10 data points to process, i.e., i=10, and the window size is set to k=3, then the data to be processed starts from index i=3, with a total of 8 data points. The output of point i is the average of point i-2, point i-1, and point i.

[0086] Figure 2 The center dot represents the original data input:

[0087] Data sequence [0.1,0.2,0.15,0.3,0.25,0.4,0.35,0.5,0.45,0.6], time points 1-10.

[0088] Window size k=3, such as Figure 2 The box containing time points 4 to 6 is used to calculate the mean value within the window with each slide. For example, the smoothed value of time point 6 is approximately equal to the mean of the original values ​​from time point 4 to time point 6.

[0089] Figure 2 The square brackets represent the smoothed data output.

[0090] The resulting sequence is [0.15, 0.22, 0.23, 0.32, 0.33, 0.42, 0.43, 0.52], with time points 3-10 (end-aligned).

[0091] In summary, the adaptive range adjustment of this inertial measurement unit is achieved by acquiring the triaxial acceleration vector and α. total With angular velocity vector and ω totalIt can comprehensively evaluate the motion state of the device under test, avoid misjudgment caused by sudden increases in a single axis, and dynamically adjust the range according to the motion state to avoid data overflow or truncation, thereby improving the accuracy and stability of the measurement. Furthermore, the moving average method is used to process the data collected during the range switching period, which further improves the accuracy and stability of the measurement.

[0092] Some embodiments also provide an adaptive range adjustment method for an inertial measurement unit (IMU) when a vehicle is traveling smoothly, including: real-time acquisition of acceleration data and angular velocity data when the vehicle is traveling smoothly, and obtaining the acceleration vector sum and angular velocity vector sum based on the acceleration data and angular velocity data; setting thresholds for the acceleration vector sum and angular velocity vector sum; comparing the acceleration vector sum and angular velocity vector sum with the corresponding thresholds, and performing corresponding range switching operations based on the comparison results.

[0093] Specifically, regarding the adaptive adjustment method of the inertial measurement unit range when the vehicle is driving smoothly, please refer to the aforementioned content on the adaptive adjustment method of the inertial measurement unit range, which will not be repeated here.

[0094] Some embodiments also provide a method for adaptive adjustment of the range of an inertial measurement unit during rapid vehicle acceleration, including: real-time acquisition of acceleration data and angular velocity data during rapid vehicle acceleration, and obtaining the acceleration vector sum and angular velocity vector sum based on the acceleration data and angular velocity data; setting thresholds for the acceleration vector sum and angular velocity vector sum; comparing the acceleration vector sum and angular velocity vector sum with the corresponding thresholds, and performing corresponding range switching operations based on the comparison results.

[0095] Specifically, regarding the adaptive adjustment method of the inertial measurement unit range during rapid vehicle acceleration, please refer to the aforementioned content on the adaptive adjustment method of the inertial measurement unit range, which will not be repeated here.

[0096] Some embodiments also provide a method for adaptive adjustment of the range of an inertial measurement unit during a vehicle's sharp turn, including: real-time acquisition of acceleration data and angular velocity data during the vehicle's sharp turn, and obtaining the sum of acceleration vectors and the sum of angular velocity vectors based on the acceleration data and angular velocity data; setting thresholds for the sum of acceleration vectors and the sum of angular velocity vectors; comparing the sum of acceleration vectors and the sum of angular velocity vectors with the corresponding thresholds, and performing a corresponding range switching operation based on the comparison result.

[0097] Specifically, regarding the adaptive adjustment method of the inertial measurement unit range during sharp turns, please refer to the aforementioned content on the adaptive adjustment method of the inertial measurement unit range, which will not be repeated here.

[0098] like Figure 3As shown, some embodiments also provide an inertial measurement unit range adaptive adjustment system, including: a computer device configured to include:

[0099] The acquisition module is configured to acquire inertial measurement data in real time and obtain the vector sum of each inertial test data based on the inertial measurement data;

[0100] The settings module is configured to set the threshold for the vector sum of each inertial test data; and

[0101] The switching module is configured to compare the vector sum of each inertial test data with the corresponding threshold and perform the corresponding range switching operation based on the comparison result.

[0102] Specifically, the implementation functions of the acquisition module, setting module, and switching module are carried out in the computer device. For details, please refer to the aforementioned content on the adaptive adjustment method of the inertial measurement unit range, which will not be repeated here.

[0103] Some embodiments also provide a computer-readable storage medium having a computer program / instructions stored thereon that, when executed by a processor, implements the inertial measurement unit range adaptive adjustment method as described above.

[0104] Please refer to the detailed description of the aforementioned adaptive range adjustment method for inertial measurement units; it will not be repeated here.

[0105] like Figure 4 As shown, some embodiments also provide an apparatus / system including: an inertial measurement unit configured to output inertial measurement data; and a control module configured to execute the inertial measurement unit range adaptive adjustment method as described above.

[0106] For details on the implementation process of the above-mentioned equipment / system, please refer to the specific description of the adaptive range adjustment method for the inertial measurement unit mentioned above.

[0107] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0108] In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0109] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0110] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A method for adaptive range adjustment of an inertial measurement unit, characterized in that, include: Real-time acquisition of inertial measurement data, and obtaining the vector sum of each inertial test data based on the inertial measurement data; Set the threshold for the vector sum of each inertial test data; and The vector sum of each inertial test data is compared with the corresponding threshold, and the corresponding range switching operation is performed based on the comparison result; The method for acquiring inertial measurement data in real time and obtaining the vector sum of each inertial test data based on the inertial measurement data includes: Real-time acquisition of triaxial acceleration data output by the inertial measurement unit (IMU) , , ) and triaxial angular velocity data ( , , ); Obtain acceleration vector and and angular velocity vector The calculation formulas are as follows: acceleration vector sum ; Angular velocity vector sum ; Methods for setting the threshold for the vector sum of each inertial test data include: The corresponding threshold is dynamically set based on the vector of each inertial test data and the current range, i.e. Take 85%-95% of the maximum value of the current range acceleration vector sum as the upper threshold of the acceleration vector sum. The lower threshold of the acceleration vector sum is set to 65%-75% of the maximum value of the current range. ;as well as Take 85%-95% of the maximum value of the angular velocity vector sum as the upper threshold of the angular velocity vector sum. The lower threshold of the sum of angular velocity vectors is set at 65%-75% of the maximum value of the current range. ; The method of comparing the vector sum of each inertial test data with a corresponding threshold and performing a corresponding range switching operation based on the comparison result includes: when > or > When switching, the current measurement range will be switched to a higher range. If the current range is already the highest range at the time of switching, the highest range will remain unchanged. when < and < When switching, the current range will be switched to a lower range. If the current range is already the lowest range when switching, the lowest range will be maintained and no switching will be performed.

2. The inertial measurement unit range adaptive adjustment method according to claim 1, characterized in that, Also includes: The moving average method was used to process the data collected during the range switching period. The data processing methods included: ； Where: i is the number of data to be processed. , ,..., These are the data to be processed, and k is the window size.

3. A method for adaptive adjustment of the range of an inertial measurement unit (IMU) during stable vehicle operation, comprising the method for adaptive adjustment of the IMU range as described in claim 1, characterized in that... include: Real-time collection of acceleration and angular velocity data during smooth vehicle movement, and obtaining the acceleration vector sum and angular velocity vector sum based on the acceleration and angular velocity data; Set thresholds for the sum of acceleration vectors and the sum of angular velocity vectors; and The sum of acceleration vectors and the sum of angular velocity vectors are compared with the corresponding thresholds, and the corresponding range switching operation is performed based on the comparison results.

4. A method for adaptive adjustment of the range of an inertial measurement unit during rapid vehicle acceleration, comprising executing the adaptive adjustment method for the range of an inertial measurement unit as described in claim 1, characterized in that, include: Real-time acquisition of acceleration and angular velocity data during rapid vehicle acceleration, and obtaining the acceleration vector sum and angular velocity vector sum based on the acceleration and angular velocity data; Set thresholds for the sum of acceleration vectors and the sum of angular velocity vectors; and The sum of acceleration vectors and the sum of angular velocity vectors are compared with the corresponding thresholds, and the corresponding range switching operation is performed based on the comparison results.

5. A method for adaptive adjustment of the range of an inertial measurement unit during a vehicle's sharp turn, employing the adaptive adjustment method for the range of an inertial measurement unit as described in claim 1, characterized in that... include: Real-time acquisition of acceleration and angular velocity data during vehicle sharp turns, and obtaining the acceleration vector sum and angular velocity vector sum based on the acceleration and angular velocity data; Set thresholds for the sum of acceleration vectors and the sum of angular velocity vectors; and The sum of acceleration vectors and the sum of angular velocity vectors are compared with the corresponding thresholds, and the corresponding range switching operation is performed based on the comparison results.

6. An inertial measurement unit (IMU) range adaptive adjustment system for performing the IMU range adaptive adjustment method as described in claim 1, characterized in that, include: A computer device, the computer device being configured to include: The acquisition module is configured to acquire inertial measurement data in real time and obtain the vector sum of each inertial test data based on the inertial measurement data; The settings module is configured to set the threshold for the vector sum of each inertial test data; and The switching module is configured to compare the vector sum of each inertial test data with the corresponding threshold and perform the corresponding range switching operation based on the comparison result.

7. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instruction is executed by the processor, it implements the inertial measurement unit range adaptive adjustment method as described in any one of claims 1-2.

8. A device, characterized in that, include: An inertial measurement unit is configured to output inertial measurement data; The control module is configured to perform the inertial measurement unit range adaptive adjustment method as described in any one of claims 1-2.

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