A Test Method and System for Control Terminals Based on Attitude Detection

Abstract

This invention provides a testing method and system for a control terminal based on attitude detection. The control terminal includes an operating base and a joystick. A first sensor for attitude detection is mounted on the joystick, and a second sensor for attitude detection is mounted on the operating base. The testing method includes: testing and calibrating the individual joystick using a testing mechanism; assembling the calibrated joystick and the operating base into a complete unit; testing the complete unit using the testing mechanism, and first testing and calibrating the operating base; then calculating the deviation between the attitude data of the first and second sensors to calibrate the initial relative attitude between the joystick and the operating base. This testing method avoids repeatedly debugging defective components after assembling them into a complete unit, thus significantly reducing ineffective testing and resource waste, greatly shortening the testing cycle, and clearly identifying whether the defect originates from the joystick itself or the operating base.

Description

Technical Field

[0001] This invention relates to the field of sensor testing and calibration technology, and in particular to a method and system for testing control terminals based on attitude detection. Background Technology

[0002] In the field of human-computer interaction technology, the attitude detection accuracy of control terminals (such as game controllers, industrial control joysticks, and virtual reality operating devices) directly affects the accuracy of operation response and user experience. Control terminals typically integrate sensors such as inertial measurement units (IMUs) and use multi-axis accelerometers, gyroscopes, and magnetometers to calculate attitude. However, sensors are prone to defects such as zero bias, sensitivity errors, or misalignment between axes during manufacturing, assembly, and long-term use, leading to distorted attitude data. For example, as a core input component of the control terminal, if the joystick's sensor has calibration deviations, it will directly cause operation command drift or response delay.

[0003] In existing technologies, single-point calibration under static conditions or dynamic testing relying on external optical / mechanical references are generally employed to address this issue. While this testing method is feasible for control terminals that integrate attitude sensors only in the joystick, it is ineffective when attitude sensors are integrated into both the control terminal's substrate and the joystick. If the joystick or substrate has individual defects (such as mechanical wear leading to sensor sensitivity deviation), repeated adjustments to calibration parameters will prevent the entire device from passing the test, significantly impacting testing efficiency and making it impossible to pinpoint the source of the defect. Summary of the Invention

[0004] The purpose of this invention is to provide a control terminal testing method and system based on attitude detection that achieves pre-defect interception through phased testing and step-by-step calibration in order to solve the above-mentioned technical problems.

[0005] To achieve the above objectives, the present invention provides a method for testing a control terminal based on attitude detection. The control terminal includes an operating base and a joystick disposed on the operating base. A first sensor for attitude detection is disposed on the joystick, and a second sensor for attitude detection is disposed on the operating base. The testing method includes: The testing mechanism is used to test the individual joysticks, and the first detection data is calculated based on the current attitude data of the first sensor and the corresponding first reference data. When the first detection data meets the first preset condition, the first sensor on the joystick is calibrated based on the first detection data; The calibrated joystick is assembled with the operating base to form a complete machine. The complete machine is tested based on the testing mechanism, and the second detection data is calculated based on the current attitude data of the second sensor and the corresponding second reference data. When the second detection data meets the second preset condition, the second sensor on the operating base is calibrated based on the second detection data, and the deviation between the current attitude data of the first sensor and the second sensor is calculated to obtain the third detection data; The initial relative attitude of the joystick and the operating base is calibrated based on the third detection data.

[0006] Preferably, the testing mechanism includes a testing base, on which a clamp for fixing the operating base and the rocker arm is provided, and a reference sensor for attitude detection and capable of providing standard attitude data is provided on the clamp. The method for obtaining the first detection data includes: The individual joystick is placed on the fixture, and the fixture is controlled to drive the joystick to move. The deviation between the first reference data detected by the reference sensor and the attitude data detected by the first sensor is calculated to obtain the first detection data. The method for obtaining the second detection data includes: The entire machine is placed on the fixture, and the fixture is controlled to move the entire machine. The deviation between the second reference data detected by the reference sensor and the attitude data detected by the second sensor is calculated to obtain the second detection data.

[0007] Preferably, when testing the individual joystick, the clamp is controlled to drive the joystick to perform a multi-directional swinging motion based on the positioning point; when testing the entire machine, the clamp is controlled to drive the operating base to perform a flipping motion at different angles.

[0008] Preferably, the fixture can drive the object under test to perform six degrees of freedom motion.

[0009] Preferably, the first sensor, the second sensor, and the reference sensor operate based on a common clock source.

[0010] Preferably, when testing the individual joystick, the first sensor and the reference sensor acquire data based on a first synchronization signal; when testing the entire device, the first sensor, the second sensor, and the reference sensor acquire data based on a second synchronization signal.

[0011] Preferably, timestamp records are embedded in the drivers of the first sensor, the second sensor, and the reference sensor, and the transmission delay of the arrival of the first synchronization signal and the second synchronization signal is processed based on a timestamp compensation algorithm.

[0012] Preferably, the operating base has N joysticks, where N≥2, and each joystick is individually tested for qualification before the whole machine is tested.

[0013] The present invention also provides a control terminal testing system based on attitude detection. The control terminal includes an operating base and a joystick disposed on the operating base. A first sensor for attitude detection is disposed on the joystick, and a second sensor for attitude detection is disposed on the operating base. The testing system includes a testing terminal, which tests the control terminal based on the control terminal testing method described above.

[0014] The present invention also provides a testing system, comprising: One or more processors; Memory; And one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs including instructions for performing the control terminal testing method as described above.

[0015] Compared with existing technologies, the control terminal testing method provided by the above technical solution firstly decomposes the testing process into two independent and logically progressive stages: component (joystick) testing and whole machine (control terminal) testing. If the joystick fails to meet the preset conditions in the first stage of testing, it can be judged as a defective product and subsequent testing terminated. This avoids assembling defective components into a whole machine and then repeatedly debugging them, thus significantly reducing ineffective testing and resource waste, and greatly shortening the testing cycle. Secondly, this staged testing can clearly identify whether the defect originates from the joystick itself or the operating base. Furthermore, the relative attitude calibration of the joystick and operating base is only performed after both are qualified and their calibrations are completed, improving the quality of the final product. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the planar principle of the control terminal in one embodiment of the present invention.

[0017] Figure 2 This is a state diagram showing the testing of the joystick alone in an embodiment of the present invention.

[0018] Figure 3 This is a state diagram of the operation terminal being tested in an embodiment of the present invention.

[0019] Figure 4 This is a schematic diagram of the planar principle of the control terminal in another embodiment of the present invention.

[0020] Figure 5 This is a flowchart of the testing method in an embodiment of the present invention. Detailed Implementation

[0021] To illustrate the technical content, structural features, objectives, and effects of the present invention in detail, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0022] This embodiment discloses a method for testing control terminals based on attitude detection, used to test and calibrate the accuracy of control terminals. The control terminal can be a game controller, industrial control joystick, virtual reality operating device, etc.

[0023] It should be noted in advance that, such as Figure 1 In this embodiment, the control terminal includes an operating base 20 and a joystick 10 disposed on the operating base 20. The joystick 10 is provided with a first sensor 11 for attitude detection, and the operating base 20 is provided with a second sensor 21 for attitude detection.

[0024] Specifically, the first sensor 11 and the second sensor 21 are typically inertial measurement units (IMUs) capable of providing multi-axis acceleration, angular velocity, and attitude data.

[0025] The working principle of this control terminal is as follows: The first sensor 11 detects first attitude data corresponding to the joystick 10 in real time, and the second sensor 21 detects second attitude data corresponding to the operating base 20. Then, the first attitude data and the second attitude data are compared, and combined with pre-set calibration data (i.e., the initial relative attitude of the joystick 10 and the operating base 20), to obtain detection data reflecting the attitude position of the joystick 10 relative to the operating base 20. Finally, control signals for operating the electronic terminal are generated based on this detection data.

[0026] Based on this, such as Figure 5 The testing method in this embodiment includes the following steps: S11: Joystick 10 test, that is, testing the individual joystick 10 based on the testing mechanism (e.g.) Figure 2 ).

[0027] S12: Calculate the first detection data based on the current attitude data of the first sensor 11 and the corresponding first reference data.

[0028] S13: Determine whether the first detection data meets the first preset condition. If yes, proceed to S21; otherwise, proceed to S40.

[0029] S14: Calibrate the first sensor 11 on the joystick 10 based on the first detection data.

[0030] S21: Assemble the calibrated joystick 10 and the operating base 20 into a complete unit, and test the complete unit based on the testing mechanism (e.g., Figure 3 ).

[0031] S22: Calculate the second detection data based on the current attitude data of the second sensor 21 and the corresponding second reference data.

[0032] S23: Determine whether the second detection data meets the second preset condition. If yes, proceed to S25; otherwise, proceed to S40.

[0033] S24: Calibrate the second sensor 21 on the operating base 20 based on the second detection data.

[0034] S30: Calculate the deviation between the current attitude data of the first sensor 11 and the second sensor 21 to obtain the third detection data; S31: The initial relative attitude between the joystick 10 and the operating base 20 is calibrated based on the third detection data.

[0035] S40: Terminate the current test.

[0036] The technical concept of this embodiment is to perform phased testing and calibration. First, the attitude of the independent component (joystick 10) of the control terminal is detected and the first sensor 11 is calibrated. Then, after it is assembled with the operating base 20 into a complete machine, the second sensor 21 is calibrated and the relative attitude between the first sensor 11 and the second sensor 21 is calibrated.

[0037] Specifically, the operating mechanism of this method first tests the individual joystick 10. The joystick 10 is driven to move by a testing mechanism, while the first sensor 11 collects attitude data and compares it with first reference data to calculate first detection data. When the first detection data meets a first preset condition (e.g., attitude deviation is within an acceptable range), the first sensor 11 is calibrated. Subsequently, the calibrated joystick 10 is assembled with the operating base 20 to form the complete device.

[0038] Next, the entire machine is tested by the testing organization. The second sensor 21 collects attitude data and compares it with the second reference data to calculate the second detection data. When the second detection data meets the second preset condition, the second sensor 21 on the operating base 20 is calibrated. After this, the deviation between the attitude data of the calibrated first sensor 11 and the second sensor 21 is calculated to obtain the third detection data.

[0039] Finally, based on this third detection data, the initial relative attitude of the joystick 10 and the operating base 20 is precisely calibrated to compensate for assembly errors. This step-by-step calibration and standardization ensures the accuracy of attitude detection of the control terminal under complex movements.

[0040] The aforementioned testing method can quickly identify and locate initial defects in the first sensor 11 or the second sensor 21, such as manufacturing tolerances, sensor zero bias, sensitivity errors, or misalignment between axes. This avoids the time-consuming and ineffective repeated debugging after assembling defective parts into a complete machine, significantly shortening the testing cycle, increasing the production line pass rate, and thus significantly improving overall production efficiency.

[0041] Secondly, this phased testing can clearly identify whether the defect originates from the joystick 10 itself or the operating base 20.

[0042] Furthermore, the relative attitude calibration of the joystick 10 and the operating base 20 is only performed after both are qualified and their respective calibrations are completed, which improves the quality of the final product.

[0043] It should also be noted that the preset conditions (i.e., the first preset condition and the second preset condition) can be set according to the specific application scenario of the control terminal and the required attitude detection accuracy. For industrial control equipment with high precision requirements, a stricter attitude error threshold can be set, such as less than 0.1 degrees; while for consumer-grade game controllers, it can be appropriately relaxed to 0.5 degrees.

[0044] The calculation method for the third detection data can adopt various attitude representation methods, such as quaternions, Euler angles, or rotation matrices, and the most suitable representation method can be selected for deviation calculation according to the requirements of calculation efficiency and accuracy.

[0045] The motion trajectory and velocity parameters of the testing mechanism can be optimized based on the dynamic response characteristics of the sensors (first sensor 11, second sensor 21). For example, test trajectories incorporating rapid acceleration and deceleration and high angular velocity changes can be designed to comprehensively evaluate the sensor performance under dynamic conditions and acquire more comprehensive attitude data. The data acquisition frequency can also be adjusted according to the sensor bandwidth and application requirements. For example, for control terminals that need to capture fast movements, the acquisition frequency can be increased to over 200Hz.

[0046] On the other hand, such as Figures 1 to 3 The testing mechanism includes a testing base, on which a fixture (not shown) is provided for fixing the operating base 20 and the rocker arm 10. A reference sensor 30 for attitude detection and capable of providing standard attitude data is provided on the fixture.

[0047] Based on this, the methods for obtaining the first detection data include: Place the individual joystick 10 on the fixture (e.g.) Figure 2 The system controls the clamp to move the rocker arm 10 and calculates the deviation between the first reference data detected by the reference sensor 30 and the attitude data detected by the first sensor 11 to obtain the first detection data.

[0048] The methods for obtaining the second detection data include: The entire machine is placed on the fixture, and the fixture is controlled to drive the entire machine to move. The deviation between the second reference data detected by the reference sensor 30 and the attitude data detected by the second sensor 21 is calculated to obtain the second detection data.

[0049] Specifically, the reference sensor 30, the first sensor 11, and the second sensor 21 are IMUs of the same model and specifications.

[0050] The clamp in this embodiment can flexibly fix a single joystick 10 or the entire control terminal and drive it to perform preset actions.

[0051] When acquiring the first detection data, the fixture drives the individual joystick 10 to move, and the reference sensor 30 provides the first reference data, which is compared with the attitude data of the first sensor 11, thereby accurately quantifying the attitude error of the joystick 10.

[0052] When acquiring the second detection data, the fixture drives the whole machine to move, and the reference sensor 30 provides the second reference data, which is compared with the attitude data of the second sensor 21, thereby accurately quantifying the attitude error of the operating base 20.

[0053] This allows the performance of the sensor under test to be directly compared with a known, high-precision external benchmark, thereby improving the accuracy and reliability of the test data.

[0054] The clamp can employ pneumatic, hydraulic, or electric clamping mechanisms to accommodate rocker arms 10 and operating bases 20 of different materials and shapes, and provide adjustable clamping force to avoid damage to the control terminal.

[0055] On the other hand, the joystick 10, as a user input component, primarily moves by oscillating in multiple directions around a central point. The operating base 20, as the main body of the entire control terminal, tends to move more towards overall rotation or posture changes.

[0056] Therefore, when testing a single joystick 10, the fixture is precisely controlled to cause the joystick 10 to swing in multiple directions around its own positioning point (typically the rotation center or geometric center of the joystick 10). This swinging motion is designed to simulate various inputs made by the user to the joystick 10 in actual operation, such as forward and backward, left and right, and oblique pushing, pulling or tilting, thereby comprehensively covering the range of attitude changes that the first sensor 11 may encounter and exposing its errors at different swing angles and directions.

[0057] When testing the assembled device, the fixture controls the operating base 20 to perform rotational movements at different angles. This rotation simulates the overall attitude adjustments a user makes when using a handheld device, such as pitching, rolling, or yawing the entire device. This rotation allows for a comprehensive evaluation of the performance of the second sensor 21 under various attitudes and provides rich attitude data for subsequent relative attitude calibration of the first sensor 11 and the second sensor 21. This differentiated motion control strategy makes the testing process closer to real-world usage scenarios, thereby improving the validity of the test results and the accuracy of the calibration.

[0058] On the other hand, the fixture can drive the object under test to perform six degrees of freedom motion.

[0059] Six-degree-of-freedom (6-DOF) motion includes three translational degrees of freedom (translation along the X, Y, and Z axes) and three rotational degrees of freedom (rotation about the X, Y, and Z axes, i.e., pitch, roll, and yaw).

[0060] By endowing the fixture with six degrees of freedom of motion, it is possible to simulate all the complex spatial movements that the control terminal may encounter in actual use, thereby exposing the error characteristics of the first sensor 11 and the second sensor 21 in various motion states more comprehensively and thoroughly, and ensuring the comprehensiveness and effectiveness of calibration.

[0061] To address this, the motion control system of the fixture typically employs multi-axis servo motors or precision hydraulic / pneumatic systems, and is equipped with high-precision encoders or position sensors to ensure that the fixture can accurately track a preset six-degree-of-freedom trajectory. Accordingly, the fixture can simulate any complex spatial motion that the control terminal might encounter in actual use, such as simulating translation and attitude adjustment in confined spaces. This enhanced motion capability greatly expands the testing range, enabling a more comprehensive exposure of the error characteristics of the first sensor 11 and the second sensor 21 under various complex dynamic conditions.

[0062] It should also be noted that fixtures with the above functions can employ a single mechanism or a composite mechanism combining multiple single structures. For example, when testing the operating base 20 or the entire machine, a rotary table can be used as the fixture. When testing a single rocker arm 10, a mechanism combining a positioning element and a robotic arm can be used, with the positioning element used to fix the rocker arm and the robotic arm used to guide the rocker arm's movement. The specific structures of the various combinations of fixtures mentioned above are conventional techniques in this field and will not be elaborated further.

[0063] On the other hand, the first sensor 11, the second sensor 21, and the reference sensor 30 operate based on a common clock source.

[0064] A common clock source can be implemented through hardware synchronization, where a high-precision master clock signal (e.g., a dedicated synchronization pulse generator or crystal oscillator) is distributed to all sensors. Each sensor uses this master clock signal to trigger its data acquisition process, ensuring that they begin sampling at the same time and update their data within the same sampling period.

[0065] Alternatively, a high-precision crystal oscillator can be used as the master clock source, and the synchronization signal can be distributed to all sensors through a dedicated clock distribution network. For applications requiring extremely high time synchronization accuracy, an atomic clock or GPS timing module can be used as an external time reference, and system-level synchronization can be achieved through pulses per second (PPS) signals or Network Time Protocol (NTP) / Precise Time Protocol (PTP).

[0066] When all sensors operate based on a common clock source, the data they acquire at the same physical moment can be considered time-aligned. This means that when the system calculates the first deviation between the second sensor 21 and the reference sensor 30, or the second deviation between the first sensor 11 and the reference sensor 30, the compared data points do indeed correspond to the same instantaneous attitude. By eliminating this time asynchrony error, the present invention can ensure the accuracy of deviation calculation, thereby providing more reliable and accurate input data for subsequent sensor calibration, greatly improving the effectiveness of calibration results.

[0067] On the other hand, when testing a single joystick 10, the first sensor 11 and the reference sensor 30 collect data based on the first synchronization signal; when testing the whole machine, the first sensor 11, the second sensor 21, and the reference sensor 30 collect data based on the second synchronization signal.

[0068] This embodiment provides a data acquisition synchronization mechanism for different testing stages to address the problem of how to flexibly manage sensor data synchronization and ensure data consistency across stages in multi-stage testing.

[0069] Specifically, when testing a single joystick 10, only the data of the first sensor 11 and the reference sensor 30 need to be synchronized; however, when testing the entire device, the data of the first sensor 11, the second sensor 21, and the reference sensor 30 need to be synchronized.

[0070] By introducing different synchronization signals, it is possible to precisely control which sensors synchronize data acquisition at what time. In terms of operation, when testing a single joystick 10, a "first synchronization signal" is sent to the first sensor 11 and the reference sensor 30. This first synchronization signal acts as a trigger, causing the two sensors to acquire attitude data simultaneously (or within a very small, controllable time difference).

[0071] During the overall system testing, a "second synchronization signal" is sent to the first sensor 11, the second sensor 21, and the reference sensor 30. At this time, these three sensors synchronously acquire attitude data based on the second synchronization signal. This mechanism ensures that during the overall system testing, the attitude data of the joystick 10 (provided by the first sensor 11), the attitude data of the operating base 20 (provided by the second sensor 21), and the external reference attitude data (provided by the reference sensor 30) are precisely aligned, providing a reliable time reference for subsequent deviation calculation and calibration, thus improving the accuracy and efficiency of the test.

[0072] Furthermore, timestamp records are embedded in the drivers of the first sensor 11, the second sensor 21, and the reference sensor 30, and the transmission delay of the arrival of the first synchronization signal and the second synchronization signal is processed based on the timestamp compensation algorithm.

[0073] This embodiment achieves precise data alignment in time by recording the precise acquisition time (timestamp) of each data packet at the sensor driver level and using a timestamp compensation algorithm to correct these transmission delays.

[0074] When the first sensor 11, the second sensor 21, and the reference sensor 30 acquire attitude data, their internal drivers record a timestamp generated by a high-precision clock within the sensor the instant the data acquisition is completed, and package it along with the attitude data. This timestamp accurately reflects the physical moment of data acquisition. Subsequently, when the first or second synchronization signal arrives at each sensor, the system records the arrival time of the synchronization signal. Since the transmission delay of the synchronization signal is relatively fixed, a timestamp compensation algorithm can be applied based on these timestamps and the arrival time of the synchronization signal. This algorithm calculates the precise time offset of each sensor's data relative to a unified time reference and performs time correction on the data (e.g., through data interpolation or resampling), thereby eliminating time misalignment caused by transmission delay. This ensures that even if there are differences in the arrival of the synchronization signals, the data ultimately used for attitude deviation calculation is strictly aligned in time, greatly improving the accuracy of attitude detection and calibration.

[0075] In addition, timestamp records can be generated directly by a high-precision timer inside the sensor hardware, rather than relying entirely on the driver, to further improve the accuracy and real-time performance of the timestamps.

[0076] Timestamp compensation algorithms can employ adaptive or machine learning methods to learn and update the transmission delay model in real time during testing, thus addressing delay variations caused by environmental changes or cable aging. In addition to delay compensation based on the arrival of synchronization signals, compensation for internal sensor processing delays, i.e., the total delay from data acquisition to data output, can also be considered.

[0077] On the other hand, such as Figure 4 The operating base 20 has N joysticks 10, where N≥2. Before the whole machine is tested, each joystick 10 is tested individually for qualification.

[0078] In this embodiment, the operating base 20 has at least two joysticks 10, each joystick 10 serving as an independent input unit, and the attitude detection accuracy of its first sensor 11 is crucial. Therefore, performing independent qualification tests on each joystick 10 before assembling all the joysticks 10 with the operating base 20 into a complete device is key to ensuring the final product quality and testing efficiency.

[0079] In another preferred embodiment of the present invention, a control terminal testing system based on attitude detection is also disclosed. The control terminal includes an operating base 20 and a joystick 10 disposed on the operating base 20. A first sensor 11 for attitude detection is disposed on the joystick 10, and a second sensor 21 for attitude detection is disposed on the operating base 20. The testing system includes a testing terminal, which tests the control terminal based on the control terminal testing method in the above embodiment.

[0080] The present invention also discloses another testing system, which includes one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs including instructions for performing the testing methods described above. The processors may be general-purpose central processing units (CPUs), microprocessors, application-specific integrated circuits (ASICs), or one or more integrated circuits, used to execute relevant programs to implement the functions required by the modules in the testing system of the embodiments of this application, or to execute the testing methods of the method embodiments of this application.

[0081] The present invention also discloses a computer-readable storage medium comprising a computer program executable by a processor to perform the test method described above. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center integrating one or more available media. The available medium can be read-only memory (ROM), random access memory (RAM), or magnetic media, such as floppy disks, hard disks, magnetic tapes, magnetic disks, or optical media, such as digital versatile discs (DVDs), or semiconductor media, such as solid-state drives (SSDs).

[0082] This application also discloses a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform the aforementioned test method. The above-disclosed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A method for testing a control terminal based on attitude detection, the control terminal comprising an operating base and a joystick disposed on the operating base, the joystick being provided with a first sensor for attitude detection, and the operating base being provided with a second sensor for attitude detection, characterized in that, The testing method includes: The testing organization tests the individual joysticks and calculates the first detection data based on the current attitude data of the first sensor and the corresponding first reference data. When the first detection data meets the first preset condition, the first sensor on the joystick is calibrated based on the first detection data; The calibrated joystick is assembled with the operating base to form a complete machine. The complete machine is tested based on the testing mechanism, and the second detection data is calculated based on the current attitude data of the second sensor and the corresponding second reference data. When the second detection data meets the second preset condition, the second sensor on the operating base is calibrated based on the second detection data, and the deviation between the current attitude data of the first sensor and the second sensor is calculated to obtain the third detection data; The initial relative attitude between the joystick and the operating base is calibrated based on the third detection data. The testing mechanism includes a testing base, on which a clamp for fixing the operating base and the rocker arm is provided, and a reference sensor for attitude detection and capable of providing standard attitude data is provided on the clamp. The first sensor, the second sensor, and the reference sensor operate based on a common clock source; When testing the individual joystick, the first sensor and the reference sensor acquire data based on a first synchronization signal; when testing the entire device, the first sensor, the second sensor, and the reference sensor acquire data based on a second synchronization signal. Timestamp records are embedded in the drivers of the first sensor, the second sensor, and the reference sensor, and the transmission delay of the arrival of the first synchronization signal and the second synchronization signal is processed based on the timestamp compensation algorithm.

2. The method for testing a control terminal based on attitude detection according to claim 1, characterized in that, The method for obtaining the first detection data includes: The individual joystick is placed on the fixture, and the fixture is controlled to drive the joystick to move. The deviation between the first reference data detected by the reference sensor and the attitude data detected by the first sensor is calculated to obtain the first detection data. The method for obtaining the second detection data includes: The entire machine is placed on the fixture, and the fixture is controlled to move the entire machine. The deviation between the second reference data detected by the reference sensor and the attitude data detected by the second sensor is calculated to obtain the second detection data.

3. The method for testing a control terminal based on attitude detection according to claim 2, characterized in that, When testing a single joystick, the clamp is controlled to drive the joystick to swing in multiple directions based on the positioning point; when testing the whole machine, the clamp is controlled to drive the operating base to flip at different angles.

4. The method for testing a control terminal based on attitude detection according to claim 2, characterized in that, The fixture can move the object under test in six degrees of freedom.

5. The method for testing a control terminal based on attitude detection according to claim 1, characterized in that, The operating base has N joysticks, where N≥2. Before the whole machine is tested, each joystick is tested individually for qualification.

6. A control terminal testing system based on attitude detection, the control terminal comprising an operating base and a joystick disposed on the operating base, the joystick being provided with a first sensor for attitude detection, and the operating base being provided with a second sensor for attitude detection, characterized in that, The testing system includes a testing terminal, which tests the control terminal based on the control terminal testing method according to any one of claims 1 to 5.

7. A testing system, characterized in that, include: One or more processors; Memory; And one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs including instructions for performing the control terminal testing method as described in any one of claims 1 to 5.

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