Adaptive compensation method, device and equipment for inclination temperature and storage medium

Abstract

The invention provides a dip angle temperature adaptive compensation method and device, equipment and a storage medium. The method comprises the following steps: acquiring a current dip angle and a current temperature; and compensating the current inclination angle according to a predetermined angle reference value, a temperature reference value and a temperature compensation coefficient in combination with the current temperature to obtain an inclination angle value after temperature self-adaption. According to the method, the temperature drift of the tilt angle sensor can be effectively reduced, and the accuracy of the output tilt angle value is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of data processing technology, and in particular to a tilt angle temperature adaptive compensation method, device, equipment and storage medium. Background Art

[0002] The primary function of an inclinometer is to monitor tilt changes in real time and promptly upload the data to a data cloud platform. With the advancement of structural safety monitoring technology, these sensors have found widespread application in diverse fields, including hazardous buildings, cultural relic protection, and bridge monitoring. These scenarios place stringent demands on the inclinometer's thermal drift performance. However, existing inclinometers typically exhibit significant thermal drift, failing to meet these stringent requirements. Therefore, effectively reducing the thermal drift of inclinometers and improving the accuracy of their output inclinometer values ​​remains a pressing technical challenge for those skilled in the art. Summary of the Invention

[0003] In view of this, the present disclosure proposes a tilt temperature adaptive compensation method, device, equipment and storage medium, which can effectively reduce the temperature drift of the tilt sensor and improve the accuracy of the output tilt value.

[0004] According to a first aspect of the present disclosure, a tilt angle temperature adaptive compensation method is provided, comprising:

[0005] Get the current inclination angle and current temperature at the current moment;

[0006] The current tilt angle is compensated according to a predetermined angle reference value, a temperature reference value, and a temperature compensation coefficient in combination with the current temperature to obtain a temperature-adapted tilt angle value.

[0007] In one possible implementation, the angle reference value, the temperature reference value, and the temperature compensation coefficient are determined based on historical data within a past set time period, wherein the historical data includes historical angle values ​​and historical temperature values ​​at each acquisition moment within the past set time period.

[0008] In a possible implementation, determining the angle reference value based on the historical data includes:

[0009] Extracting historical angle values ​​at each acquisition moment from the historical data;

[0010] The angle reference value is determined based on the historical angle values ​​at each of the acquisition moments.

[0011] In a possible implementation, determining the temperature reference value based on the historical data includes:

[0012] Extracting historical temperature values ​​at each collection moment from the historical data;

[0013] The temperature reference value is determined based on the historical temperature values ​​at each of the collection moments.

[0014] In a possible implementation, determining the temperature compensation coefficient based on the historical data includes:

[0015] Calculating the angle change value and the temperature change value at each of the collection moments based on the historical data at each of the collection moments, the angle reference value, and the temperature reference value;

[0016] According to the angle change value and the temperature change value at each acquisition moment, a linear fitting is performed on the temperature compensation coefficient to obtain the temperature compensation coefficient.

[0017] In a possible implementation, when the current tilt angle is compensated according to a predetermined angle reference value, temperature reference value and temperature compensation coefficient in combination with the current temperature to obtain a temperature-adapted tilt angle value, it is implemented based on a pre-constructed tilt angle compensation formula.

[0018] In a possible implementation, when determining the angle reference value, the temperature reference value, and the temperature compensation coefficient based on historical data, an operation of cleaning the historical data is also included.

[0019] According to a second aspect of the present disclosure, there is provided a tilt angle temperature adaptive compensation device, comprising:

[0020] Data acquisition module, used to obtain current inclination angle and current temperature;

[0021] The tilt compensation module is used to compensate the current tilt according to a predetermined angle reference value, a temperature reference value and a temperature compensation coefficient in combination with the current temperature to obtain a temperature-adapted tilt value.

[0022] According to a third aspect of the present disclosure, a tilt temperature adaptive compensation device is provided, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute the method described in the first aspect of the present disclosure.

[0023] According to a fourth aspect of the present disclosure, a non-volatile computer-readable storage medium is provided, on which computer program instructions are stored, wherein the computer program instructions, when executed by a processor, implement the method described in the first aspect of the present disclosure.

[0024] The present disclosure provides a method, apparatus, device, and storage medium for temperature-adaptive tilt compensation. The method comprises: obtaining a current tilt angle and a current temperature; and compensating the current tilt angle based on a predetermined angle reference value, a temperature reference value, and a temperature compensation coefficient in combination with the current temperature, thereby obtaining a temperature-adapted tilt value. This method can effectively reduce temperature drift of a tilt sensor and improve the accuracy of the output tilt value.

[0025] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

[0027] Figure 1 A flow chart showing a tilt angle temperature adaptive compensation method according to an embodiment of the present disclosure is shown;

[0028] Figure 2 A flowchart showing an example of a tilt temperature adaptive compensation method according to an embodiment of the present disclosure is shown;

[0029] Figure 3 A temperature drift curve diagram of X-axis raw tilt data according to an embodiment of the present disclosure is shown;

[0030] Figure 4 A temperature drift curve diagram of tilt angle data after adaptive temperature compensation of the X-axis according to an embodiment of the present disclosure is shown;

[0031] Figure 5 A temperature drift curve diagram of Y-axis raw tilt data according to an embodiment of the present disclosure is shown;

[0032] Figure 6 A temperature drift curve diagram of tilt angle data after adaptive temperature compensation of the Y-axis according to an embodiment of the present disclosure is shown;

[0033] Figure 7 A schematic block diagram of a tilt temperature adaptive compensation device according to an embodiment of the present disclosure is shown;

[0034] Figure 8 A schematic block diagram of a tilt temperature adaptive compensation device according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0035] Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

[0036] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0037] In addition, numerous specific details are provided in the following detailed description to better illustrate the present disclosure. Those skilled in the art will appreciate that the present disclosure can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art are not described in detail in order to highlight the main points of the present disclosure.

[0038] <Method Example>

[0039] Figure 1 FIG. 1 is a flow chart showing a method for adaptively compensating for tilt angle temperature according to an embodiment of the present disclosure. Figure 1 As shown, the method includes steps S1100-S1200.

[0040] S1100, obtaining the current tilt angle and current temperature at the current moment. Specifically, the device executing the method of the present disclosure (such as a tilt sensor) collects the tilt angle and temperature at a preset collection frequency, and the tilt angle and temperature collected at the current moment are the current tilt angle and current temperature.

[0041] S1200 , compensating the current tilt angle according to a predetermined angle reference value, a temperature reference value, and a temperature compensation coefficient in combination with the current temperature to obtain a temperature-adapted tilt angle value.

[0042] Before executing this step, it is necessary to first determine the angle reference value, temperature reference value and temperature compensation coefficient. In one possible implementation, the angle reference value, temperature reference value and temperature compensation coefficient are all determined based on historical data within a past set time period. Among them, the historical data includes the historical angle values ​​and historical temperature values ​​collected at each collection moment within the past set time period. The past set time period can be set according to specific needs. For example, the past set time period can be set to the past 24 hours, and the historical data used to determine the angle reference value, temperature reference value and temperature compensation coefficient are all historical data collected within the past 24 hours. It should be noted here that the past set time period is defined based on the current moment.

[0043] It should be noted here that, during the past set time period, the device executing the method disclosed herein will collect a piece of historical data at each collection moment and store the collected historical data in a data storage unit. In this way, after obtaining the current inclination angle and current temperature at the current moment, the historical data within the past set time period can be read from the data storage unit, and the corresponding angle reference value, temperature reference value and temperature compensation coefficient at the current moment can be determined based on the read historical data.

[0044] In one possible implementation, when determining the angle reference value based on the read historical data, the following steps may be included: first, extracting the historical angle values ​​at each acquisition moment from the historical data; then, determining the angle reference value based on the historical angle values ​​at each acquisition moment. Specifically, the angle mean of the historical angle values ​​at each acquisition moment may be calculated, and the calculated angle mean may be used as the angle reference value. In addition, possible angle outliers may be identified based on statistical methods (such as the 3σ criterion) or methods based on the rate of change (such as adjacent point angle difference threshold judgment). After eliminating the angle outliers, the angle reference value may be calculated based on the remaining valid historical angle values ​​using the above-mentioned mean calculation method to improve the robustness of the angle reference value.

[0045] In one possible implementation, determining a temperature reference value based on historical data may include the following steps: first, extracting historical temperature values ​​at each collection moment from the historical data; then, determining a temperature reference value based on the historical temperature values ​​at each collection moment. Specifically, the average temperature of the historical temperature values ​​at each collection moment may be calculated, and the calculated average temperature may be used as the temperature reference value.

[0046] After calculating the angle reference value and the temperature reference value, the temperature compensation coefficient can be further calculated. In one possible implementation, when determining the temperature compensation coefficient based on historical data, the following may be included:

[0047] First, based on the historical data, angle reference values, and temperature reference values ​​at each collection moment, the angle change and temperature change values ​​at each collection moment are calculated. Specifically, each collection moment is iterated over. For the current collection moment, the difference between the historical angle value at that moment and the angle reference value is calculated to obtain the angle change value at that moment. Simultaneously, the difference between the historical temperature value at that moment and the temperature reference value is calculated to obtain the temperature change value at that moment. At the end of this process, the angle change and temperature change values ​​for each collection moment are obtained.

[0048] Second, based on the angle change value and temperature change value at each acquisition moment, a linear fit is performed on the temperature compensation coefficient to obtain the temperature compensation coefficient. It should be noted here that after massive data analysis, it was found that within the range where the angle changes slightly with temperature, the angle temperature drift curve approaches a straight line, that is, the angle change value δA and the temperature change value δT present a linear relationship as shown in the following formula: δA = K * δT, where K is the temperature compensation parameter. Therefore, when the angle change value and temperature change value at each acquisition moment are obtained, the above linear relationship can be fitted and calculated based on the angle change value and temperature change value at each acquisition moment, and the temperature compensation parameter K can be obtained by fitting. When performing the fitting calculation, the least squares method can be used for the fitting calculation, or other algorithms can be used for the fitting calculation, which are not specifically limited here.

[0049] In this implementable method, the historical data always selected is the historical data within the previous set time period based on the current moment. As the current moment changes, the historical data is also constantly updated. Therefore, the accuracy of the calculation of the angle reference value, temperature reference value and temperature compensation coefficient can be improved.

[0050] In another possible implementation, after obtaining the temperature compensation parameter K through linear fitting, a step of evaluating the goodness of fit is further included. Specifically, after obtaining the temperature compensation coefficient K through linear fitting using the angle change value δA and the temperature change value δT at each acquisition moment, the goodness of fit index of the linear model (such as the determination coefficient R 2 Or root mean square error RMSE). If the goodness of fit index is lower than the preset threshold (such as R 2 <0.8), the current linear model is considered to be unsuitable and triggers at least one of the following actions: issuing a data quality or model failure alarm; expanding the historical data time period used for fitting to try to obtain more data points to improve the fit; or reverting to the effective temperature compensation coefficient K obtained from the previous fitting.

[0051] In another possible implementation, taking into account the hysteresis effect caused by the possible directionality (heating / cooling) or rate difference of temperature changes, when fitting the temperature compensation parameter K based on historical data, it can also include: grouping the historical data. Specifically, the historical data is divided into different data subsets according to the temperature change trend (such as continuous heating, continuous cooling, temperature stability) or the temperature change rate range at the time of acquisition. For each data subset, its corresponding temperature compensation coefficient K_sub is calculated independently. When performing the current tilt angle compensation, first determine the group to which the current temperature change state belongs, and then select the temperature compensation coefficient K_sub corresponding to the group for compensation calculation. In this embodiment, the historical data can be historical data from a quarter, a year, or more before the current moment.

[0052] In a possible implementation, when determining the angle reference value, temperature reference value and temperature compensation coefficient based on historical data, it also includes a data cleaning operation on the historical data to eliminate noise data through the data cleaning operation, thereby improving the validity of the historical data.

[0053] After determining the angle reference value, temperature reference value and temperature compensation coefficient based on historical data within the past set time period, the current tilt angle can be compensated according to the predetermined angle reference value, temperature reference value and temperature compensation coefficient combined with the current temperature to obtain the temperature-adapted tilt angle value.

[0054] In one possible implementation, when the current tilt angle is compensated according to a predetermined angle reference value, a temperature reference value, and a temperature compensation coefficient in combination with the current temperature to obtain a temperature-adapted tilt angle value, the tilt compensation formula is pre-established. Specifically, the tilt compensation formula is as follows:

[0055] Anow-Abase=K*(Tnow-Tbase)

[0056] Where Anow is the tilt angle value after temperature adaptation, Abase is the angle reference value before temperature adaptation, Tbase is the temperature reference value before temperature adaptation, Tnow is the current temperature, and K is the temperature compensation parameter K obtained by fitting.

[0057] When calculating the temperature-adapted tilt angle value based on the above tilt angle compensation formula, the angle reference value Abase, the temperature reference value Abase, the temperature compensation coefficient K and the current temperature Tnow can be substituted into the tilt angle compensation formula to obtain the temperature-adapted tilt angle value, thereby realizing adaptive temperature compensation for the tilt angle.

[0058] In one possible implementation, before obtaining the temperature-adapted tilt angle value, a smoothing filtering process is further included on the temperature-adapted tilt angle value Anow. Specifically, taking into account environmental transient disturbances or measurement noise, the currently calculated Anow is smoothed (e.g., by moving average filtering or Kalman filtering) with the most recent N (N≥1) historically compensated tilt angle values, and the smoothed value is used as the final output temperature-adapted tilt angle value to further improve the stability and noise resistance of the output tilt angle value.

[0059] The following combination Figure 2 The tilt angle temperature adaptive compensation method disclosed in the present invention is described again. Specifically, the tilt angle temperature adaptive compensation method is as follows:

[0060] S2100, determine whether it is the hourly time, if not, continue to execute step S2100, if so, execute step S2200.

[0061] S2200: Obtain and store the current inclination angle and current temperature at the current moment.

[0062] S2300, determine whether the stored data is greater than or equal to 24: if not, the compensated inclination value is equal to the current inclination value, that is, the current inclination value is not compensated, and execute step S2600; if greater than or equal to 24, execute step S2400.

[0063] S2400 , calculating an angle reference value, a temperature reference value, and a temperature compensation coefficient using the previous day's historical data (ie, the 24 pieces of historical data that have been stored).

[0064] S2500 , compensating the current tilt angle according to the angle reference value, temperature reference value and temperature compensation coefficient determined in step S2400 in combination with the current temperature, to obtain a temperature-adapted tilt angle value.

[0065] S2600 reports the current tilt angle (i.e., uncompensated data) and the tilt angle value after temperature adaptation (i.e., compensated data) via 4G.

[0066] This disclosure provides a method for temperature-adaptive tilt compensation, comprising: obtaining a current tilt angle and a current temperature; and compensating the current tilt angle based on a predetermined angle reference value, a temperature reference value, and a temperature compensation coefficient in combination with the current temperature, thereby obtaining a temperature-adapted tilt value. This method can effectively reduce temperature drift of a tilt sensor and improve the accuracy of the output tilt value.

[0067] In a specific embodiment, the method disclosed herein has a significant improvement in the temperature drift suppression effect (compared to Figure 3 and Figure 4 , Figure 5 and Figure 6 ).

[0068] Specifically, in the X-axis direction: the original inclination data ( Figure 3 )The maximum temperature drift is 0.06°. After adaptive compensation ( Figure 4 ), the maximum temperature drift is suppressed to 0.002°. The temperature drift amplitude is reduced by 96.7%, and the suppression effect is improved by 30 times (>1 order of magnitude).

[0069] In the Y-axis direction: original inclination data ( Figure 5 )The maximum temperature drift is also 0.06°. After adaptive compensation ( Figure 6 ), the maximum temperature drift is suppressed to 0.004°. The temperature drift amplitude is reduced by 93.3%, and the suppression effect is improved by 15 times (>1 order of magnitude).

[0070] Experimental data intuitively proves that this method successfully reduces the temperature drift error of the inclination sensor to the thousandth level, solving the core problem pointed out in the background technology that "the existing inclination sensor has large temperature drift and cannot meet strict requirements."

[0071] The tilt angle temperature adaptive compensation method provided by this disclosure innovatively uses historical data within a sliding time window to dynamically calculate the angle reference value, temperature reference value, and temperature compensation coefficient, and performs real-time linear compensation for the tilt angle in combination with the current temperature. This method successfully suppresses the temperature drift error of the tilt sensor to the thousandth level (0.002°-0.004°), which is more than one order of magnitude lower than the original temperature drift (0.06°). This method has strong adaptability, high precision, strong robustness, and engineering ease of use. It significantly improves the measurement accuracy of the tilt sensor in harsh temperature environments, perfectly solving the pain point of excessive temperature drift in existing technologies, and provides reliable technical support for applications such as structural health monitoring and precision attitude control. Figures 3 to 6 The comparative data provide irrefutable experimental evidence for the above-mentioned creative effect.

[0072] <Device Example>

[0073] Figure 7 FIG. 1 is a schematic block diagram of a tilt temperature adaptive compensation device according to an embodiment of the present disclosure. Figure 7 As shown, the device 100 includes:

[0074] The data acquisition module 110 is used to obtain the current tilt angle and current temperature;

[0075] The tilt compensation module 120 is configured to compensate the current tilt according to a predetermined angle reference value, a temperature reference value, and a temperature compensation coefficient in combination with the current temperature to obtain a temperature-adapted tilt value.

[0076] In one possible implementation, the temperature-adaptive tilt compensation device also includes an integrated battery-powered module, a low-power main control module, and a 4G wireless transmission module. The data acquisition module is used to obtain the current tilt angle and current temperature. The tilt compensation module is used to compensate the current tilt angle based on a predetermined angle reference value, a temperature reference value, and a temperature compensation coefficient in combination with the current temperature, thereby obtaining a temperature-adapted tilt angle value. The 4G wireless transmission module is used to upload the current tilt angle and the temperature-adapted tilt angle value to a data cloud platform.

[0077] <Equipment Example>

[0078] Figure 8 FIG. 1 shows a schematic block diagram of a tilt temperature adaptive compensation device according to an embodiment of the present disclosure. Figure 8As shown, the tilt temperature adaptive compensation device 200 includes: a processor 210 and a memory 220 for storing executable instructions of the processor 210. The processor 210 is configured to implement any of the above-mentioned tilt temperature adaptive compensation methods when executing the executable instructions.

[0079] It should be noted that there may be one or more processors 210. Furthermore, the tilt temperature adaptive compensation device 200 according to the embodiment of the present disclosure may further include an input device 230 and an output device 240. The processor 210, memory 220, input device 230, and output device 240 may be connected via a bus or other means, which are not specifically limited herein.

[0080] Memory 220, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and various modules, such as the program or module corresponding to the tilt temperature adaptive compensation method according to the present disclosure. Processor 210 executes the software programs or modules stored in memory 220 to perform various functional applications and data processing of tilt temperature adaptive compensation device 200.

[0081] The input device 230 may be used to receive input numbers or signals. The signals may be key signals related to user settings and function control of the device / terminal / server. The output device 240 may include a display device such as a display screen.

[0082] <Storage Medium Embodiment>

[0083] According to a fourth aspect of the present disclosure, a non-volatile computer-readable storage medium is further provided, on which computer program instructions are stored. When the computer program instructions are executed by the processor 210, any of the above-mentioned tilt angle temperature adaptive compensation methods is implemented.

[0084] While various embodiments of the present disclosure have been described above, the foregoing description is intended to be illustrative, non-exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or technical improvements to existing technologies, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A tilt temperature adaptive compensation method, characterized in that: include: Get the current inclination angle and current temperature at the current moment; The current tilt angle is compensated according to a predetermined angle reference value, a temperature reference value, and a temperature compensation coefficient in combination with the current temperature to obtain a temperature-adapted tilt angle value.

2. The method according to claim 1, characterized in that The angle reference value, the temperature reference value, and the temperature compensation coefficient are determined based on historical data within a past set time period, wherein the historical data includes historical angle values ​​and historical temperature values ​​at each collection moment within the past set time period.

3. The method according to claim 2, characterized in that When determining the angle reference value based on the historical data, the method includes: Extracting historical angle values ​​at each acquisition moment from the historical data; The angle reference value is determined based on the historical angle values ​​at each of the acquisition moments.

4. The method according to claim 2, characterized in that When determining the temperature reference value based on the historical data, the method includes: Extracting historical temperature values ​​at each collection moment from the historical data; The temperature reference value is determined based on the historical temperature values ​​at each of the collection moments.

5. The method according to claim 2, characterized in that When determining the temperature compensation coefficient based on the historical data, the method includes: Calculating the angle change value and the temperature change value at each of the collection moments based on the historical data at each of the collection moments, the angle reference value, and the temperature reference value; According to the angle change value and the temperature change value at each acquisition moment, a linear fitting is performed on the temperature compensation coefficient to obtain the temperature compensation coefficient.

6. The method according to claim 1, wherein When the current tilt angle is compensated according to the predetermined angle reference value, temperature reference value and temperature compensation coefficient in combination with the current temperature to obtain the temperature-adapted tilt angle value, it is achieved based on a pre-constructed tilt angle compensation formula.

7. The method according to claim 1, characterized in that When the angle reference value, the temperature reference value, and the temperature compensation coefficient are determined based on historical data, the method further includes performing data cleaning on the historical data.

8. A tilt temperature adaptive compensation device, characterized in that: include: Data acquisition module, used to obtain current inclination angle and current temperature; The tilt compensation module is used to compensate the current tilt according to a predetermined angle reference value, a temperature reference value and a temperature compensation coefficient in combination with the current temperature to obtain a temperature-adapted tilt value.

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

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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