Dynamic calibration method for gyroscope, terminal equipment and storage medium

Abstract

The invention relates to a gyroscope dynamic calibration method, terminal equipment and a storage medium. The method comprises the following steps: collecting compensation values of a gyroscope at different temperatures and constructing an initial compensation table; after the vehicle is started, a real-time compensation table used for recording gyroscope output data collected when the vehicle is in a static state is constructed, and the initial compensation table is corrected according to the real-time compensation table; and calculating a final compensation value corresponding to the current temperature in real time according to the initial compensation table and the real-time compensation table, and calibrating output data of the gyroscope according to the final compensation value. According to the method, the problem of calibration errors of the gyroscope caused by temperature drift and motion interference is solved.

Description

Technical Field

[0001] This invention relates to the field of gyroscope calibration technology, and in particular to a dynamic calibration method, terminal device and storage medium for a gyroscope. Background Technology

[0002] The accuracy of gyroscopes is significantly affected by temperature drift. Traditional calibration methods typically rely on static compensation tables at fixed temperature points, which cannot adapt to dynamic temperature changes and complex environmental noise. While linear fitting can partially address the temperature drift problem in existing technologies, it suffers from significant errors in nonlinear temperature ranges or under motion disturbances. Furthermore, gyroscopes change over time, rendering initial calibration data unreliable. Therefore, there is an urgent need for a calibration scheme that combines dynamic temperature compensation, real-time motion detection, and adaptive threshold adjustment to improve the calibration accuracy and adaptability of gyroscopes in complex scenarios. Summary of the Invention

[0003] To address the aforementioned problems, this invention proposes a dynamic calibration method for a gyroscope, a terminal device, and a storage medium.

[0004] The specific plan is as follows:

[0005] A method for dynamic calibration of a gyroscope, comprising:

[0006] The compensation values ​​of the gyroscope at different temperatures are collected and an initial compensation table is constructed; the initial compensation table is used to record the compensation values ​​of the gyroscope at different temperatures.

[0007] Construct a real-time compensation table to record the real-time compensation and weight values ​​of the gyroscope at different temperatures;

[0008] After the vehicle starts, the output data of the gyroscope is collected in real time when the vehicle is stationary. Based on the current temperature, the output data is recorded in the temperature item corresponding to the current temperature in the real-time compensation table, and the weight value of the corresponding temperature item is incremented by 1.

[0009] In real time, determine whether there is a temperature item in the real-time compensation table with a weight greater than or equal to the weight threshold. If so, calculate the average value of all real-time compensation values ​​under that temperature item, and correct the compensation value of the corresponding temperature item in the initial compensation table based on the average value. At the same time, clear all real-time compensation values ​​recorded under that temperature item in the real-time compensation table, and clear the weight value corresponding to that temperature item to zero.

[0010] After the vehicle starts, the final compensation value corresponding to the current temperature is calculated in real time based on the initial compensation table and the real-time compensation table, and the output data of the gyroscope is calibrated based on the final compensation value.

[0011] Furthermore, the acquisition of compensation values ​​of the gyroscope at different temperatures includes: placing the product containing the gyroscope in a temperature chamber, changing the temperature of the temperature chamber at fixed temperature intervals, and acquiring all output data of the gyroscope at each temperature, and taking the average value of all output data of the gyroscope at each temperature as the compensation value at the corresponding temperature.

[0012] Furthermore, the compensation values ​​of the gyroscope at different temperatures correspond to a temperature range of -40℃ to 90℃.

[0013] Furthermore, when calculating the final compensation value corresponding to the current temperature based on the initial compensation table and the real-time compensation table, if the temperature item in the initial compensation table does not include the current temperature, the fitted compensation value corresponding to the current temperature is first obtained through linear fitting, and then the final compensation value is calculated based on the fitted compensation value and the real-time compensation value in the real-time compensation table.

[0014] Furthermore, when obtaining the fitting compensation value corresponding to the current temperature through linear fitting, corresponding curves are generated for the high temperature segment and the low temperature segment respectively.

[0015] Furthermore, the criteria for determining that a vehicle is stationary are: the vehicle speed is 0, and the changes in acceleration, angular velocity, and temperature within a fixed time window are all less than the corresponding thresholds.

[0016] Furthermore, the fixed time window is set to 10 seconds; the threshold corresponding to the change in acceleration is set to 0.03g, where g represents gravitational acceleration; the threshold corresponding to the change in angular velocity is set to 0.5 degrees per second; and the threshold corresponding to the change in temperature is set to 7 degrees Celsius.

[0017] Furthermore, the thresholds corresponding to the three types of change data are updated in the following way: collect change data for a continuous period of time when the vehicle speed is 0, calculate the standard deviation σ of all the change data collected within that continuous period of time, and update the threshold corresponding to the change data to a multiple of the calculated standard deviation σ.

[0018] Furthermore, when collecting data on changes over a continuous period of time when the vehicle speed is 0, if a period of time in the middle is found to be filled with invalid data, the previously collected data is discarded and the collection is reset.

[0019] Furthermore, the criteria for determining invalid data collection are: angular velocity exceeding the angular velocity threshold or acceleration exceeding the acceleration threshold.

[0020] Furthermore, the output data is recorded in the temperature field corresponding to the current temperature in the real-time compensation table, and the average value of all output data collected within the fixed time window corresponding to the current temperature is recorded in the temperature field corresponding to the current temperature in the real-time compensation table.

[0021] Furthermore, the correction value used when correcting the compensation value of the corresponding temperature item in the initial compensation table based on the average value and the calculation formula of the final compensation value are both: (compensation value × (100 - weight threshold) + average value × weight value) / (100 - weight threshold + weight value).

[0022] A gyroscope dynamic calibration terminal device includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method described in the embodiments of the present invention.

[0023] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method described above in the embodiments of the present invention.

[0024] The present invention adopts the above technical solution to solve the calibration error problem of gyroscope caused by temperature drift and motion interference. Attached Figure Description

[0025] Figure 1 The diagram shown is a flowchart of a method according to an embodiment of the present invention.

[0026] Figure 2 The flowchart shown is a process flow chart of the dynamic correction scheme in this embodiment.

[0027] Figure 3 The figure shown is a graph corresponding to the calibration results in this embodiment. Detailed Implementation

[0028] The present disclosure will now be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific examples described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0029] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] Unless otherwise stated, the exemplary implementations / embodiments shown are to be understood as providing exemplary features of various details that provide ways in which the technical concepts of this disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of various implementations / embodiments may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of this disclosure.

[0031] The terminology used herein is for the purpose of describing particular embodiments and is not restrictive. As used herein, unless the context clearly indicates otherwise, the singular forms “a” and “the” are intended to include the plural forms as well. Furthermore, when the terms “comprising” and / or “including” and variations thereof are used in this specification, it indicates the presence of the stated features, integrals, steps, operations, parts, components, and / or groups thereof, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, parts, components, and / or groups thereof. It should also be noted that, as used herein, the terms “substantially,” “about,” and other similar terms are used as approximate terms rather than as terms of degree, thus explaining the inherent biases in measurements, calculated values, and / or provided values ​​that would be recognized by one of ordinary skill in the art.

[0032] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0033] Example 1:

[0034] This invention provides a method for dynamic calibration of a gyroscope, such as... Figure 1 As shown, the method includes the following steps:

[0035] S1: Collect the compensation values ​​of the gyroscope at different temperatures and construct an initial compensation table.

[0036] In this embodiment, the process of collecting compensation values ​​includes: placing the product containing the gyroscope in a temperature chamber before leaving the factory, changing the temperature of the temperature chamber at fixed temperature intervals (e.g., 1°C), and collecting the average value of all output data (i.e., angular velocity) of the gyroscope at each temperature (i.e., collecting multiple output data at each temperature) as the compensation value at the corresponding temperature.

[0037] In this embodiment, the temperature range corresponding to different temperatures is -40℃ to 90℃. In other embodiments, the corresponding temperature range can be set according to the driving environment requirements of the vehicle where the gyroscope is located, and no restrictions are imposed here.

[0038] The initial compensation table is used to record the compensation values ​​of the gyroscope at different temperatures. Its columns are the temperature items corresponding to different temperatures, listed as compensation values. Typically, the temperature items in the initial compensation table have fixed temperature intervals. The smaller the temperature interval, the more accurate the subsequent calibration, but the greater the computational load. Those skilled in the art can set the intervals as needed, such as 1℃, 5℃, etc.

[0039] S2: Correct the initial compensation table using the real-time compensation table.

[0040] Because vehicles face complex and diverse environments during actual driving, this embodiment introduces a dynamic correction scheme for the initial compensation table to adapt to various environments. For example... Figure 2 As shown, the dynamic correction scheme specifically includes the following steps:

[0041] S201: Construct a real-time compensation table to record the real-time compensation and weight values ​​of the gyroscope at different temperatures.

[0042] In one implementation, the temperature field in the real-time compensation table is the same as that in the initial compensation table for better correction.

[0043] The initial weight values ​​for each temperature item are all set to 0.

[0044] S202: After the vehicle starts, the output data of the gyroscope is collected in real time when the vehicle is stationary. Based on the current temperature, the output data is recorded in the temperature item corresponding to the current temperature in the real-time compensation table, and the weight value of the corresponding temperature item is incremented by 1.

[0045] It should be noted that the gyroscope output data to be collected in this embodiment is output when the vehicle is stationary. This is because the gyroscope output data in the stationary state only contains zero bias, while the gyroscope output data in the non-stationary state contains both zero bias and gyroscope value (i.e., zero bias + gyroscope value). Since the compensation value used during calibration is the zero bias value, the output data collected in step S202 is the output data when the vehicle is stationary, and at this time, these output data only contain the zero bias value.

[0046] Since the vehicle is not completely stationary after starting, it is necessary to determine whether the vehicle is stationary when collecting gyroscope output data, filter out the data in the non-stationary state, and only retain the data in the stationary state.

[0047] In this embodiment, the criteria for determining that the vehicle is stationary are: the vehicle speed is 0, and within a fixed time window, the changes in acceleration, angular velocity, and temperature are all less than their corresponding thresholds. Specifically, the change in acceleration is less than the acceleration change threshold, the change in angular velocity is less than the angular velocity change threshold, and the change in temperature is less than the temperature change threshold. In one embodiment, the acceleration change threshold is set to 0.03g, where g represents gravitational acceleration; the angular velocity change threshold is set to 0.5° / s (degrees per second); and the temperature change threshold is set to 7°C (degrees per second). In other embodiments, these thresholds can be set according to actual needs and are not limited here. The size of the fixed time window can be set by those skilled in the art according to actual needs; in this embodiment, it is set to 10 seconds.

[0048] Furthermore, since the above-mentioned determination of the static state is based on the data of all time points within a fixed time window, in this embodiment, when recording the output data to the corresponding temperature item in the real-time compensation table, it is preferable to record the average value of all output data collected within the fixed time window corresponding to the static state (i.e., the average value of 10 seconds of data) to the temperature item corresponding to the current temperature in the real-time compensation table.

[0049] Furthermore, to adapt to noise levels in different environments, the thresholds corresponding to the three types of change data included in the static state determination conditions in this embodiment need to be updated according to the real-time environment. The update method for the three types of thresholds is as follows: collect change data over a continuous period of time when the vehicle speed is 0, calculate the standard deviation σ of all such change data collected within that continuous period of time, and update the threshold corresponding to that change data to a multiple of the calculated standard deviation σ. The size of this multiple can be set by those skilled in the art according to actual needs; in this embodiment, it is set to 3 times. It should be noted that the duration of a continuous period of time is usually much longer than the duration of a fixed time window; in this embodiment, the duration of the continuous period of time is set to 15 minutes.

[0050] Furthermore, considering that environmental adaptability has limits, data from environments exceeding a certain threshold is considered invalid. Therefore, this embodiment adds a count of invalid data. When the cumulative number of invalid data exceeds a limit, previously collected data is discarded and collection restarts (i.e., data reset). In one implementation, the limit on the cumulative number of invalid data is represented by a collection time range. For example, this limit can be set as the cumulative data collected over a period of time, which should be much shorter than the length of a continuous period. For instance, it can be set to 1 minute. That is, if all data collected within one minute is invalid, the aforementioned data reset operation is performed. Dynamically adjusting the threshold based on real-time noise allows for adaptation to different environmental noise levels.

[0051] In one implementation, invalid data determination criteria are set: when the angular velocity is greater than an angular velocity threshold or the acceleration is greater than an acceleration threshold, the currently collected data is determined to be invalid data. Those skilled in the art can set the angular velocity and acceleration thresholds according to actual needs, and no restrictions are imposed here. In this embodiment, the angular velocity threshold is set to 4° / s, and the angular velocity threshold is set to 0.12g.

[0052] In step S202, the static reliability of data acquisition is ensured by jointly judging acceleration, angular velocity and vehicle speed.

[0053] In step S202, the output data is recorded as a real-time compensation value in the real-time compensation value column of the corresponding temperature item. For each output data recorded, the weight value of the corresponding temperature item is incremented by 1. Therefore, the weight value is the same as the number of real-time compensation values ​​recorded in the corresponding temperature item.

[0054] Step S203: In real time, determine whether there is a temperature item in the real-time compensation table with a weight greater than or equal to the weight threshold. If so, calculate the average value of all real-time compensation values ​​under that temperature item, and based on the average value, correct the compensation value of the corresponding temperature item in the initial compensation table. At the same time, clear all real-time compensation values ​​recorded under that temperature item in the real-time compensation table, and clear the weight value corresponding to that temperature item to zero. Figure 3 The figure shown is a schematic diagram of the curves corresponding to the compensation value, correction value, and calibrated value obtained by the method of this embodiment.

[0055] In this embodiment, the weight threshold is set to 60. In other embodiments, those skilled in the art can set it as needed, and no restrictions are imposed here.

[0056] In one implementation, when correcting the compensation value for the corresponding temperature item in the initial compensation table, the correction value is calculated using the following formula: Correction value = (Compensation value × (100 - Weight threshold) + Average value × Weight value) / (100 - Weight threshold + Weight value), where the weight value in the above formula represents the current weight value recorded in the real-time compensation table. Considering that the real-time judgment performed in step S203 requires a certain time period, the weight value in the real-time compensation table may be greater than the weight threshold when the judgment is performed. By balancing the compensation values ​​collected in the factory and the compensation values ​​obtained in real time on the vehicle, both stability and real-time performance can be taken into account.

[0057] S3: After the vehicle starts, calculate the final compensation value corresponding to the current temperature in real time according to the initial compensation table and the real-time compensation table, and calibrate the output data of the gyroscope according to the final compensation value.

[0058] Because gyroscope output data exhibits zero bias and temperature drift, it can lead to inaccurate and unreliable output data. Therefore, gyroscope output data needs to be calibrated. In this embodiment, a lookup table method is primarily used for calibration. The formula used in the lookup table method calibration is: x1 = x - yt, where x1 represents the calibrated value, x represents the original value (i.e., the value before calibration), and yt represents the compensation value corresponding to the current temperature t (the current temperature at the calibration time), i.e., the calculated final compensation value.

[0059] The formula for calculating the final compensation value used in this embodiment is the same as the formula for calculating the correction value mentioned above, namely: final compensation value = (compensation value × (100 - weight threshold) + average value × weight value) / (100 - weight threshold + weight value). The compensation value in the above formula is the result of correcting the compensation value in the initial compensation table. That is, the compensation value corresponds to the value in the initial compensation table, and the average value corresponds to the value in the real-time compensation table.

[0060] Furthermore, in practical applications, there may be instances where the compensation value for the current temperature is missing from the initial compensation table or falls outside the temperature range covered by the initial compensation table. In such cases, the final compensation value cannot be calculated directly using the table lookup method. To address this technical problem, this embodiment employs linear fitting to calculate the missing compensation values ​​in the initial compensation table. It should be noted that the compensation value calculated through linear fitting is not stored in the initial compensation table but is used as a temporary variable solely for calculating the current final compensation value.

[0061] The linear fitting method is as follows: based on the data in the initial compensation table, an optimal straight line is fitted using the least squares method. The formula for this straight line is: yt=kt+c, where k is the slope, c is the intercept, and t represents the temperature.

[0062] After obtaining the compensation value yt through linear fitting, the formula corresponding to the above lookup table method can be used to calculate the calibrated value, that is: x1=x-kt-c, where x1 represents the calibrated value, x represents the original value, k represents the temperature drift coefficient, c represents the zero bias parameter, and t represents the temperature.

[0063] Furthermore, in actual testing, it was found that the curves of the gyroscope did not change in the same direction in the high and low temperature ranges (i.e., the slope k was inconsistent), such as... Figure 3 As shown, piecewise linear fitting is performed in this embodiment, which is divided into low temperature segment and high temperature segment, and the corresponding best straight line is fitted respectively.

[0064] Low-temperature range: Linear fitting is performed using data from the first A percent of the entire temperature range to obtain the corresponding slope k1 and intercept c1. The corresponding calibration formula is x1 = x - k1t - c1. High-temperature range: Linear fitting is performed using data from the last (100-A) percent of the entire temperature range to obtain the corresponding slope k2 and intercept c2. The corresponding formula is x2 = x – k2t – c2. A represents the boundary condition between the high-temperature and low-temperature ranges, and its value can be obtained based on actual data analysis. In this embodiment, it is set to 50.

[0065] By using the above method, this embodiment innovatively combines the lookup table method with high and low temperature linear fitting, thereby improving the calibration accuracy of the nonlinear temperature range.

[0066] Furthermore, to improve the robustness of the calibration results, the data in the initial compensation table is filtered before calibration to remove outliers and prevent interference from abnormal data. In this embodiment, outliers are defined as values ​​whose deviation from the fitted value exceeds 5 times the variance. Other outlier criteria may be used in other embodiments, and are not limited here.

[0067] Example 2:

[0068] The present invention also provides a gyroscope dynamic calibration terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps in the method embodiment described above in Embodiment 1 of the present invention.

[0069] Furthermore, as an executable solution, the gyroscope dynamic calibration terminal device can be a computing device such as an in-vehicle computer or a cloud server. The gyroscope dynamic calibration terminal device may include, but is not limited to, a processor and memory. Those skilled in the art will understand that the above-described structure of the gyroscope dynamic calibration terminal device is merely an example and does not constitute a limitation on the gyroscope dynamic calibration terminal device. It may include more or fewer components than described above, or combine certain components, or different components. For example, the gyroscope dynamic calibration terminal device may also include input / output devices, network access devices, buses, etc., and this embodiment of the invention does not limit this.

[0070] Furthermore, as an executable solution, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices. The general-purpose processor can be a microprocessor or any conventional processor. This processor is the control center of the gyroscope dynamic calibration terminal device, connecting various parts of the device via various interfaces and lines.

[0071] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the gyroscope dynamic calibration terminal device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created according to the use of the device. In addition, the memory may include high-speed random access memory and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0072] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described in the embodiments of the present invention.

[0073] If the modules / units integrated into the gyroscope dynamic calibration terminal device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a computer memory, a read-only memory (ROM), a random access memory (RAM), and a software distribution medium, etc.

[0074] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A method for dynamic calibration of a gyroscope, characterized in that, include: Collect the compensation values ​​of the gyroscope at different temperatures and construct an initial compensation table; The initial compensation table is used to record the compensation values ​​of the gyroscope at different temperatures; Construct a real-time compensation table to record the real-time compensation and weight values ​​of the gyroscope at different temperatures; After the vehicle starts, the output data of the gyroscope is collected in real time when the vehicle is stationary. Based on the current temperature, the output data is recorded in the temperature item corresponding to the current temperature in the real-time compensation table, and the weight value of the corresponding temperature item is incremented by 1. In real time, determine whether there is a temperature item in the real-time compensation table with a weight greater than or equal to the weight threshold. If so, calculate the average value of all real-time compensation values ​​under that temperature item, and correct the compensation value of the corresponding temperature item in the initial compensation table based on the average value. At the same time, clear all real-time compensation values ​​recorded under that temperature item in the real-time compensation table, and clear the weight value corresponding to that temperature item to zero. After the vehicle starts, the final compensation value corresponding to the current temperature is calculated in real time based on the initial compensation table and the real-time compensation table, and the output data of the gyroscope is calibrated based on the final compensation value.

2. The gyroscope dynamic calibration method according to claim 1, characterized in that: When calculating the final compensation value corresponding to the current temperature based on the initial compensation table and the real-time compensation table, if the temperature item in the initial compensation table does not include the current temperature, the fitted compensation value corresponding to the current temperature is first obtained by linear fitting, and then the final compensation value is calculated based on the fitted compensation value and the real-time compensation value in the real-time compensation table.

3. The gyroscope dynamic calibration method according to claim 1, characterized in that: The conditions for determining that a vehicle is stationary are: the vehicle speed is 0, and the changes in acceleration, angular velocity, and temperature within a fixed time window are all less than the corresponding thresholds.

4. The gyroscope dynamic calibration method according to claim 3, characterized in that: The thresholds corresponding to the three types of change data are updated in the following way: collect change data for a continuous period of time when the vehicle speed is 0, calculate the standard deviation of all such change data collected within that continuous period of time, and update the threshold corresponding to the change data to a multiple of the calculated standard deviation.

5. The gyroscope dynamic calibration method according to claim 4, characterized in that: When collecting data on changes in vehicle speed over a continuous period of time when the vehicle speed is 0, if there are instances where all collected data for a cumulative period is invalid, the previously collected data should be discarded and the collection process should be reset.

6. The gyroscope dynamic calibration method according to claim 5, characterized in that: The criteria for determining invalid data collection are: angular velocity exceeding the angular velocity threshold or acceleration exceeding the acceleration threshold.

7. The gyroscope dynamic calibration method according to claim 3, characterized in that: The output data is recorded in the temperature field corresponding to the current temperature in the real-time compensation table, and the average value of all output data collected within the fixed time window corresponding to the current temperature is recorded in the temperature field corresponding to the current temperature in the real-time compensation table.

8. The gyroscope dynamic calibration method according to claim 1, characterized in that: The correction value used when correcting the compensation value of the corresponding temperature item in the initial compensation table based on the average value and the calculation formula of the final compensation value are both: (compensation value × (100 - weight threshold) + average value × weight value) / (100 - weight threshold + weight value).

9. A gyroscope dynamic calibration terminal device, characterized in that: It includes a processor, a memory, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the steps of the method as described in any one of claims 1 to 8.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 8.

Images