CN110187144A - Acceleration transducer calibration method and device - Google Patents
Acceleration transducer calibration method and device Download PDFInfo
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- CN110187144A CN110187144A CN201910372993.8A CN201910372993A CN110187144A CN 110187144 A CN110187144 A CN 110187144A CN 201910372993 A CN201910372993 A CN 201910372993A CN 110187144 A CN110187144 A CN 110187144A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
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Abstract
The embodiment of the present application provides a kind of acceleration transducer calibration method and device, the acceleration transducer calibration parameter of the period of motion is calculated according to the acceleration detection information of terminal device in each period of motion and video detection information, and each relative displacement coordinate in each axis direction in acceleration detection information is calibrated with this, then calibrated according to each relative displacement coordinate pair acceleration transducer after a point location coordinate, terminal positioning coordinate and calibration.Hereafter continuous the Tracing Historical calibration process carries out adaptive calibration.In above process, calibration is participated in substantially without user, can be effectively calibrated for the acceleration transducer of any attitude installation, greatly improvement navigation experience.
Description
Technical field
This application involves pick up calibration fields, in particular to a kind of acceleration transducer calibration method and device.
Background technique
In the terminal, the frequency of use of navigation software is higher and higher, such as Baidu map, high moral navigation etc..Mesh
Before, mobile terminal generally comprises acceleration transducer, generally uses the coordinate system and vehicle of acceleration transducer during the navigation process
Coordinate system is overlapped, then is corrected to the data of acceleration transducer acquisition.However current method can not be for any
The acceleration transducer of posture installation is calibrated, and user is still required and participates in many calibrations.
Apply for content
In order to overcome above-mentioned deficiency in the prior art, the application's is designed to provide a kind of acceleration transducer calibration
Method and device participates in calibration substantially without user, passes through the acceleration based on terminal device described in each period of motion
Degree detection information and video detection information can effectively be calibrated and continuous for the acceleration transducer of any attitude installation
The Tracing Historical calibration process carries out adaptive calibration, greatly improvement navigation experience.
To achieve the goals above, the embodiment of the present application the technical solution adopted is as follows:
In a first aspect, the embodiment of the present application provides a kind of acceleration transducer calibration method, it is applied to terminal device, it is described
Method includes:
Obtain the acceleration detection information and video detection information of terminal device described in each period of motion, wherein institute
Stating acceleration detection information includes multiple relative displacement coordinates of the terminal device in the period of motion in each axis direction, institute
Stating video detection information includes that the terminal device plays point location coordinate and terminal positioning coordinate in the period of motion；
The acceleration transducer of the period of motion is calculated according to the acceleration detection information and the video detection information
Calibration parameter；
Based on the acceleration transducer calibration parameter to each of in each axis direction in the acceleration detection information
Relative displacement coordinate is calibrated, each relative displacement coordinate in each axis direction after being calibrated；
According to each in each axis direction after described point location coordinate, terminal positioning coordinate and the calibration
Acceleration transducer described in relative displacement coordinate pair is calibrated；
When next period of motion starts, the acceleration detection information in next period of motion is obtained；
Based on the acceleration transducer calibration parameter in historical movement period in each axis direction in next period of motion
Each relative displacement coordinate is calibrated, and each relative displacement coordinate pair obtained in each axis direction in next period of motion is answered
Predicted position coordinate；
According to the corresponding predicted position coordinate of each relative displacement coordinate in each axis direction in next period of motion after
It is continuous that the acceleration transducer is calibrated.
In a kind of possible example, each axis direction includes that first axis, the second axial direction and third are axial, described
The acceleration transducer calibration parameter of the period of motion is calculated according to the acceleration detection information and the video detection information
The step of, comprising:
Calculate the sum of first axis coordinate of the multiple relative displacement coordinate in each axis direction, the second axial coordinate it
With and the sum of third axial coordinate；
Calculate difference, second axial coordinate for playing the first axis coordinate between point location coordinate and terminal positioning coordinate
Difference and third axial coordinate difference；
The first of the period of motion is calculated according to the difference of the sum of described first axis coordinate and the first axis coordinate
Axial coordinate acceleration transducer calibration parameter；
The second of the period of motion is calculated according to the difference of the sum of described second axial coordinate and second axial coordinate
Axial coordinate acceleration transducer calibration parameter；
The third of the period of motion is calculated according to the difference of the sum of described third axial coordinate and the third axial coordinate
Axial coordinate acceleration transducer calibration parameter；
It is calibrated according to the first axis coordinate acceleration pick up calibration parameter, the second axial coordinate acceleration transducer
Parameter and third axial coordinate acceleration transducer calibration parameter obtain the acceleration transducer calibration parameter of the period of motion；
It is described based on the acceleration transducer calibration parameter in each axis direction in the acceleration detection information
The step of each relative displacement coordinate is calibrated, each relative displacement coordinate in each axis direction after being calibrated, comprising:
Based on the first axis coordinate acceleration pick up calibration parameter to first in the acceleration detection information
The first axis coordinate of each relative displacement coordinate in axial direction is calibrated, each in the first axial direction after being calibrated
The first axis coordinate of a relative displacement coordinate；
Based on the second axial coordinate acceleration transducer calibration parameter to second in the acceleration detection information
Second axial coordinate of each relative displacement coordinate in axial direction is calibrated, each phase in the second axial direction after being calibrated
To the second axial coordinate of displacement coordinate；
After the first axis coordinate of each relative displacement coordinate in the third axial direction after the calibration and calibration
Second axial coordinate of each relative displacement coordinate in third axial direction calibrated after third axial direction on each third axis
To coordinate.
It is described that point location coordinate, terminal positioning coordinate and described are played according in a kind of possible example
The step of acceleration transducer described in each relative displacement coordinate pair in each axis direction after calibration is calibrated, comprising:
It is calculated according to each relative displacement coordinate in each axis direction after the calibration and sits described point location
The corresponding position of each relative displacement coordinate in each axis direction after the calibration between mark and terminal positioning coordinate
Coordinate；
It is fixed based on described point location coordinate, terminal positioning coordinate and described point location coordinate and the terminal
Each position coordinates between the coordinate of position calibrate each shaft detection parameter of the acceleration transducer.
In a kind of possible example, it is described based on the acceleration transducer calibration parameter in historical movement period to next fortune
Each relative displacement coordinate in each axis direction in the dynamic period is calibrated, and is obtained in each axis direction in next period of motion
Each relative displacement coordinate corresponding predicted position coordinate the step of, comprising:
Calculate the average acceleration pick up calibration parameter of each acceleration transducer calibration parameter in historical movement period；
Based on the average acceleration pick up calibration parameter to each phase in each axis direction in next period of motion
Displacement coordinate is calibrated, the corresponding prediction of each relative displacement coordinate in each axis direction in next period of motion is obtained
Position coordinates.
In a kind of possible example, the method also includes:
Obtain the acceleration transducer after calibrating when the terminal device is converted to the second posture from the first posture
Posture conversion angle data, the posture conversion angle data include the azimuth to be calibrated of the acceleration transducer, to school
Quasi- flip angle, reference azimuth and refer to flip angle；
The reference azimuth and the azimuth to be calibrated are weighted read group total and obtain calibration back bearing, and
Flip angle after read group total is calibrated is weighted with reference to flip angle and the flip angle to be calibrated by described；
The real time acceleration that acceleration transducer after obtaining the calibration detects；
Whether within a preset range to judge the acceleration, if the acceleration is within a preset range, adjusts the ginseng
Azimuthal weight and azimuthal weight to be calibrated are examined, so that the weight of the reference azimuth is higher than described to be calibrated
Azimuthal weight, and the weight of the weight with reference to flip angle and the flip angle to be calibrated is adjusted, so that the ginseng
The weight for examining flip angle is higher than the weight of the flip angle to be calibrated；If the acceleration within a preset range, does not adjust institute
State the weight and azimuthal weight to be calibrated of reference azimuth so that the weight of the reference azimuth lower than it is described to
Azimuthal weight is calibrated, and adjusts the weight of the weight with reference to flip angle and the flip angle to be calibrated, so that institute
State the weight for being lower than the flip angle to be calibrated with reference to the weight of flip angle.
Second aspect, the embodiment of the present application also provide a kind of acceleration transducer calibrating installation, are applied to terminal device, institute
Stating device includes:
First obtains module, for obtaining the acceleration detection information and video of terminal device described in each period of motion
Detection information, wherein the acceleration detection information includes that the terminal device is more in each axis direction in the period of motion
A relative displacement coordinate, the video detection information include the terminal device in the period of motion rise point location coordinate and
Terminal positions coordinate；
Computing module, for calculating the period of motion according to the acceleration detection information and the video detection information
Acceleration transducer calibration parameter；
Calibrating coordinates module, for based on the acceleration transducer calibration parameter in the acceleration detection information
Each relative displacement coordinate in each axis direction is calibrated, and each relative displacement in each axis direction after being calibrated is sat
Mark；
Sensor calibration module, for playing point location coordinate, terminal positioning coordinate and the calibration according to described
Acceleration transducer described in each relative displacement coordinate pair in each axis direction afterwards is calibrated；
The acquisition module is also used to obtain the acceleration inspection in next period of motion when next period of motion starts
Measurement information；
The calibrating coordinates module is also used to the acceleration transducer calibration parameter based on the historical movement period to next fortune
Each relative displacement coordinate in each axis direction in the dynamic period is calibrated, and is obtained in each axis direction in next period of motion
The corresponding predicted position coordinate of each relative displacement coordinate；
The sensor calibration module is also used to according to each relative displacement in each axis direction in next period of motion
The corresponding predicted position coordinate of coordinate continues to calibrate the acceleration transducer.
The third aspect, the embodiment of the present application also provide a kind of readable storage medium storing program for executing, are stored thereon with computer program, described
Computer program, which is performed, realizes above-mentioned acceleration transducer calibration method.
Based on any of the above-described aspect, the embodiment of the present application is provided to be examined according to the acceleration of terminal device in each period of motion
Measurement information and video detection information calculate the acceleration transducer calibration parameter of the period of motion, and are believed with this acceleration detection
Each relative displacement coordinate in each axis direction in breath is calibrated, and then positions coordinate according to a point location coordinate, terminal
And each relative displacement coordinate pair acceleration transducer in each axis direction after calibration is calibrated.Hereafter, in next fortune
When the dynamic period starts, the acceleration detection information in next period of motion is obtained, and pass based on the acceleration in historical movement period
Sensor calibration parameter calibrates each relative displacement coordinate in each axis direction in next period of motion, and is continued with this
Acceleration transducer is calibrated.In above process, calibration is participated in substantially without user, any attitude can be directed to
The acceleration transducer of installation carries out effectively calibration and constantly the Tracing Historical calibration process carries out adaptive calibration, greatly improves and leads
Boat experience.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic block diagram of terminal device provided by the embodiments of the present application；
Fig. 2 is a kind of one of flow diagram of acceleration transducer calibration method provided by the embodiments of the present application；
Fig. 3 is the two of a kind of flow diagram of acceleration transducer calibration method provided by the embodiments of the present application；
Fig. 4 is the functional block diagram of acceleration transducer calibrating installation provided by the embodiments of the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiment is some embodiments of the present application, instead of all the embodiments.Usually herein
The component of the embodiment of the present application described and illustrated in place's attached drawing can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiments herein provided in the accompanying drawings is not intended to limit below claimed
Scope of the present application, but be merely representative of the selected embodiment of the application.Based on the embodiment in the application, this field is common
Technical staff's all other embodiment obtained without creative labor belongs to the application protection
Range.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
It is as shown in Figure 1 a kind of structural schematic block diagram of terminal device 100 of the embodiment of the present application, the terminal device 100
It may include smart phone, touch PDA perhaps tablet computer or computer with touch screen function etc., however, should
Understand, which can also optionally include other one or more physical user-interface devices, such as secondary or physical bond
Disk, mouse and/or control stick etc..
Terminal device 100 usually supports various applications (such as APP etc. complete certain functions software), it is such as following in
One or more: positioning application, notepad production application, drawing application, application, text processing application, net is presented in navigation application
Stand creation application, disk editor application, spreadsheet application, game application, phone application, video conference application, Email is answered
Application, photo management application, digital camera applications, digital video camcorder is supported to apply with the application of, instant message, body-building, net
Page browsing application, digital music player application and/or video frequency player application.
The various applications executed on terminal device 100 optionally use at least one common physical user interface facilities,
Such as touch screen.The corresponding informance for touching one or more functions of screen and being shown in equipment is optionally answered from one kind
With adjusting and/or be changed to a kind of lower application and/or in respective application be adjusted and/or change.In this way, the shared object of equipment
Reason framework (such as touch screen) supports various applications optionally with intuitive for a user and clear user interface
Program.
Terminal device 100 includes memory 102 (it optionally includes one or more computer readable storage mediums), deposits
Memory controller 104, one or more processors (CPU) 106, peripheral device interface 108, radio circuit 110, voicefrequency circuit
112, loudspeaker 1121, microphone 1122, input/output (I/O) subsystem 114 and outside port 116, proximity sensor 118
And acceleration transducer 120, it further include the electric system for supporting each electronic component work operating in entire terminal device 100
132。
The various function moulds such as operating system, communication module, figure module, text input are stored in the memory 102
Block and various application programs, processor 106 utilize the number being stored in memory 102 under the control of storage control 104
According to completing portable multifunction device such as text-processing, the various functions such as communicate, take pictures.
The I/O subsystem 114 further comprises display controller 1141, and optical sensor controller 1142, tactile is anti-
Controller 1143 is presented, other input controllers 1144 are used for the corresponding component of controlling terminal equipment 100.Terminal device 100 is also appointed
Selection of land includes touch display system 122, for receiving the touch input of user on the display screen.Terminal device 100 is also optional
Ground includes one or more optical sensors 124, for incuding light intensity.Equipment 100 is also optionally included in equipment
On 100 generate tactile output one or more tactile output generators 126 (such as touch screen such as equipment 100 touching
It touches and tactile output is generated by motor in display system 122).Terminal device 100 also optionally includes other inputs or control equipment
128.These components are communicated optionally by one or more communication bus or signal wire 130.
It is understood that the terminal device 100 can also include it is appreciated that structure shown in FIG. 1 is only to illustrate
The more perhaps less component or with the configuration different from shown in Fig. 1 than shown in Fig. 1.Each component can shown in Fig. 1
To be realized using hardware, software, or its combination.
Referring to Fig. 2, be a kind of flow diagram of acceleration transducer calibration method provided by the embodiments of the present application, this
In embodiment, acceleration transducer calibration method terminal device 100 as shown in Fig. 1 is executed, the method it is specific
Process is as follows:
Step S1 obtains the acceleration detection information and video detection information of terminal device described in each period of motion.
In the present embodiment, the acceleration detection information may include the terminal device each axis side in the period of motion
Upward multiple relative displacement coordinates, the video detection information include that starting point of the terminal device in the period of motion is fixed
Position coordinate and terminal position coordinate.
Step S2 calculates the acceleration of the period of motion according to the acceleration detection information and the video detection information
Pick up calibration parameter.
Optionally, each axis direction includes that first axis, the second axial direction and third are axial.
As an implementation, firstly, calculating the first axis of the multiple relative displacement coordinate in each axis direction
The sum of the sum of coordinate, second axial coordinate and the sum of third axial coordinate.Illustratively, it is assumed that in start time T0, movement
Period is t1, (T within each period of motion0+nt1, T0+(n+1)t1) period, the terminal device obtained by video detection
100 starting point coordinate is (Xn, Yn, Zn), (Xn+1, Yn+1, Zn+1), and in this period of motion t1Between carried out the inspection of m acceleration altogether
Survey, then by acceleration detection to terminal device 100 relative displacement be (Sx1, Sy1, Sz1) ..., (Sxi, Syi,
Szi) ..., (Sxm, Sym, Szm), total displacement is (∑ Sxi, ∑ Syii, ∑ Szi), wherein it is the multiple in each axis direction
The sum of first axis coordinate of relative displacement coordinate is ∑ Sxi, the second axis of the multiple relative displacement coordinate in each axis direction
It is ∑ S to the sum of coordinateyi, the sum of third axial coordinate of the multiple relative displacement coordinate in each axis direction is ∑ Szi。
Then, the difference for playing the first axis coordinate between point location coordinate and terminal positioning coordinate, the second axis are calculated
To the difference of coordinate and the difference of third axial coordinate；Based on above-mentioned example, described point location coordinate and terminal positioning coordinate it
Between first axis coordinate difference be Xn+1-Xn, described point location coordinate and terminal position the second axial coordinate between coordinate
Difference be Yn+1-Yn, the difference of the third axial coordinate between described point location coordinate and terminal positioning coordinate is Zn+1-Zn。
Then, which is calculated according to the difference of the sum of described first axis coordinate and the first axis coordinate
First axis coordinate acceleration pick up calibration parameter.The first axis coordinate acceleration pick up calibration parameter are as follows:
kxn=(Xn+1-Xn)/∑Sxi
The second of the period of motion is calculated according to the difference of the sum of described second axial coordinate and second axial coordinate
Axial coordinate acceleration transducer calibration parameter.The second axial coordinate acceleration transducer calibration parameter are as follows:
kyn=(Yn+1-Yn)/∑Syi
The third of the period of motion is calculated according to the difference of the sum of described third axial coordinate and the third axial coordinate
Axial coordinate acceleration transducer calibration parameter.The third axial coordinate acceleration transducer calibration parameter are as follows:
kzn=(Zn+1-Zn)/∑Szi
It is calibrated according to the first axis coordinate acceleration pick up calibration parameter, the second axial coordinate acceleration transducer
Parameter and third axial coordinate acceleration transducer calibration parameter obtain the acceleration transducer calibration parameter of the period of motion.
Step S3, based on the acceleration transducer calibration parameter in each axis direction in the acceleration detection information
Each relative displacement coordinate calibrated, each relative displacement coordinate in each axis direction after being calibrated.
As an implementation, firstly, based on the first axis coordinate acceleration pick up calibration parameter to described
The first axis coordinate of each relative displacement coordinate in first axis in acceleration detection information is calibrated, and is calibrated
The first axis coordinate of each relative displacement coordinate in first axial direction afterwards.
For example, the first axis coordinate of each relative displacement coordinate is Sxi, then the first axis coordinate after corresponding calibration
S’xi=kxnSxi。
Based on the second axial coordinate acceleration transducer calibration parameter to second in the acceleration detection information
Second axial coordinate of each relative displacement coordinate in axial direction is calibrated, each phase in the second axial direction after being calibrated
To the second axial coordinate of displacement coordinate.
For example, the second axial coordinate of each relative displacement coordinate is Syi, then the second axial coordinate after corresponding calibration
S’yi=kynSyi。
After the first axis coordinate of each relative displacement coordinate in the third axial direction after the calibration and calibration
Second axial coordinate of each relative displacement coordinate in third axial direction calibrated after third axial direction on each third axis
To coordinate.
For example, the second axial coordinate of each relative displacement coordinate is Szi, then the second axial coordinate after corresponding calibration
S’zi=kznSzi。
Step S4, according to each axis direction after described point location coordinate, terminal positioning coordinate and the calibration
On each relative displacement coordinate pair described in acceleration transducer calibrated.
In detail, being calculated first according to each relative displacement coordinate in each axis direction after the calibration will be described
Each relative displacement coordinate in each axis direction after playing the calibration between point location coordinate and terminal positioning coordinate
Corresponding position coordinates.
Then, point location coordinate is played based on described in, the terminal positions coordinate and described point location coordinate and described
Each position coordinates between terminal positioning coordinate calibrate each shaft detection parameter of the acceleration transducer.
Step S5 obtains the acceleration detection information in next period of motion when next period of motion starts.
Step S6, based on the acceleration transducer calibration parameter in historical movement period to each axis side in next period of motion
Upward each relative displacement coordinate is calibrated, and each relative displacement obtained in each axis direction in next period of motion is sat
Mark corresponding predicted position coordinate.
In detail, the average acceleration sensing of each acceleration transducer calibration parameter in historical movement period can be calculated
Device calibration parameter is then based on the average acceleration pick up calibration parameter in each axis direction in next period of motion
Each relative displacement coordinate is calibrated, and each relative displacement coordinate pair obtained in each axis direction in next period of motion is answered
Predicted position coordinate.
Step S7, according to the corresponding predicted position of each relative displacement coordinate in each axis direction in next period of motion
Coordinate continues to calibrate the acceleration transducer.
Based on above-mentioned design, according to the acceleration detection information and video detection information of terminal device in each period of motion
The acceleration transducer calibration parameter of the period of motion is calculated, and with this to every in each axis direction in acceleration detection information
A relative displacement coordinate is calibrated, then according to each opposite after a point location coordinate, terminal positioning coordinate and calibration
Displacement coordinate calibrates acceleration transducer.Hereafter continuous the Tracing Historical calibration process carries out adaptive calibration, reduces
Acceleration detection forms accumulated error during next period of motion starts but is not finished, and realizes more accurate calibration.In above-mentioned mistake
Cheng Zhong participates in calibration substantially without user, can effectively be calibrated for the acceleration transducer of any attitude installation,
Greatly improve navigation experience.
Further, referring to Fig. 3, after step S3, acceleration transducer calibration method provided in this embodiment
It can also include the following steps:
Step S8 obtains the acceleration after calibrating when the terminal device is converted to the second posture from the first posture and passes
The posture conversion angle data of sensor, the posture conversion angle data include the orientation to be calibrated of the acceleration transducer
Angle, flip angle to be calibrated, reference azimuth and refer to flip angle.
The reference azimuth and the azimuth to be calibrated are weighted read group total and obtain calibration rear by step S9
Parallactic angle, and flip angle after read group total is calibrated is weighted with reference to flip angle and the flip angle to be calibrated by described.
Step S10, the real time acceleration that the acceleration transducer after obtaining the calibration detects.
Step S11 judges that whether within a preset range the acceleration, if the acceleration is within a preset range, is adjusted
The weight of the whole reference azimuth and azimuthal weight to be calibrated, so that the weight of the reference azimuth is higher than institute
Azimuthal weight to be calibrated is stated, and adjusts the weight of the weight with reference to flip angle and the flip angle to be calibrated, is made
Obtain the weight that the weight with reference to flip angle is higher than the flip angle to be calibrated；If the acceleration is not within a preset range,
The weight and azimuthal weight to be calibrated for then adjusting the reference azimuth, so that the weight of the reference azimuth is low
In azimuthal weight to be calibrated, and adjust the power of the weight with reference to flip angle and the flip angle to be calibrated
Weight, so that the weight with reference to flip angle is lower than the weight of the flip angle to be calibrated.
Through the above steps, the acceleration inspection of testing acceleration sensor can be continued after calibrating acceleration transducer
Precision is surveyed, and constantly adjusts the posture conversion angle data of acceleration transducer, to further improve navigation accuracy.
Further, the embodiment of the present application also provides a kind of readable storage medium storing program for executing, is stored thereon with computer program, described
Computer program is performed the acceleration transducer calibration method realized in above-mentioned any means embodiment.
It is worth noting that in information exchange, implementation procedure between module, unit in above-mentioned apparatus and system etc.
Hold, due to being based on same design with the processing method embodiment of the application, particular content be can be found in the application embodiment of the method
Narration, details are not described herein again.
The foregoing is merely the preferred embodiments of the application, not to limit the application, all essences in the application
Made any modifications, equivalent replacements, and improvements etc., should be included within the scope of protection of this application within mind and principle.
Claims (10)
1. a kind of acceleration transducer calibration method, which is characterized in that be applied to terminal device, which comprises
Obtain the acceleration detection information and video detection information of terminal device described in each period of motion, wherein described to add
Acceleration sensing information includes multiple relative displacement coordinates of the terminal device in the period of motion in each axis direction, the view
Frequency detection information includes that the terminal device plays point location coordinate and terminal positioning coordinate in the period of motion；
The acceleration transducer calibration of the period of motion is calculated according to the acceleration detection information and the video detection information
Parameter；
Based on the acceleration transducer calibration parameter to opposite each of in each axis direction in the acceleration detection information
Displacement coordinate is calibrated, each relative displacement coordinate in each axis direction after being calibrated；
According to each opposite in each axis direction after described point location coordinate, terminal positioning coordinate and the calibration
Displacement coordinate calibrates the acceleration transducer；
When next period of motion starts, the acceleration detection information in next period of motion is obtained；
Based on the acceleration transducer calibration parameter in historical movement period to each of in each axis direction in next period of motion
Relative displacement coordinate is calibrated, and each relative displacement coordinate obtained in each axis direction in next period of motion is corresponding pre-
Survey position coordinates；
Continued pair according to the corresponding predicted position coordinate of each relative displacement coordinate in each axis direction in next period of motion
The acceleration transducer is calibrated.
2. acceleration transducer calibration method according to claim 1, which is characterized in that each axis direction includes first
Axial, the second axial direction and third are axial, and described calculated according to the acceleration detection information and the video detection information should
The step of acceleration transducer calibration parameter of the period of motion, comprising:
Calculate the sum of the sum of first axis coordinate of the multiple relative displacement coordinate in each axis direction, second axial coordinate with
And the sum of third axial coordinate；
Calculate difference, the difference of the second axial coordinate for playing the first axis coordinate between point location coordinate and terminal positioning coordinate
And the difference of third axial coordinate；
The first axis of the period of motion is calculated according to the difference of the sum of described first axis coordinate and the first axis coordinate
Coordinate acceleration pick up calibration parameter；
The second axial direction of the period of motion is calculated according to the difference of the sum of described second axial coordinate and second axial coordinate
Coordinate acceleration pick up calibration parameter；
The third for calculating the period of motion according to the difference of the sum of described third axial coordinate and the third axial coordinate is axial
Coordinate acceleration pick up calibration parameter；
According to the first axis coordinate acceleration pick up calibration parameter, the second axial coordinate acceleration transducer calibration parameter
And third axial coordinate acceleration transducer calibration parameter obtains the acceleration transducer calibration parameter of the period of motion；
It is described based on the acceleration transducer calibration parameter to each of in each axis direction in the acceleration detection information
The step of relative displacement coordinate is calibrated, each relative displacement coordinate in each axis direction after being calibrated, comprising:
Based on the first axis coordinate acceleration pick up calibration parameter to the first axis in the acceleration detection information
On the first axis coordinate of each relative displacement coordinate calibrated, each phase in the first axial direction after being calibrated
To the first axis coordinate of displacement coordinate；
It is axial to second in the acceleration detection information based on the second axial coordinate acceleration transducer calibration parameter
On the second axial coordinate of each relative displacement coordinate calibrated, each opposite position in the second axial direction after being calibrated
Move the second axial coordinate of coordinate；
According to the third after the first axis coordinate of each relative displacement coordinate in the third axial direction after the calibration and calibration
Second axial coordinate of each relative displacement coordinate in axial direction calibrated after third axial direction on each third axially sit
Mark.
3. acceleration transducer calibration method according to claim 1, which is characterized in that described to play point location according to
Acceleration described in each relative displacement coordinate pair in each axis direction after coordinate, terminal positioning coordinate and the calibration
The step of sensor is calibrated, comprising:
Be calculated according to each relative displacement coordinate in each axis direction after the calibration by described point location coordinate and
The corresponding position coordinates of each relative displacement coordinate in each axis direction after the calibration between the terminal positioning coordinate；
It is sat based on described point location coordinate, terminal positioning coordinate and described point location coordinate and terminal positioning
Each position coordinates between mark calibrate each shaft detection parameter of the acceleration transducer.
4. acceleration transducer calibration method according to claim 1, which is characterized in that described to be based on the historical movement period
Acceleration transducer calibration parameter each relative displacement coordinate in each axis direction in next period of motion is calibrated,
The step of obtaining each relative displacement coordinate in each axis direction in next period of motion corresponding predicted position coordinate, packet
It includes:
Calculate the average acceleration pick up calibration parameter of each acceleration transducer calibration parameter in historical movement period；
Based on the average acceleration pick up calibration parameter to position opposite each of in each axis direction in next period of motion
It moves coordinate to be calibrated, obtains the corresponding predicted position of each relative displacement coordinate in each axis direction in next period of motion
Coordinate.
5. acceleration transducer calibration method described in any one of -4 according to claim 1, which is characterized in that the method
Further include:
Obtain the posture of the acceleration transducer after calibrating when the terminal device is converted to the second posture from the first posture
Conversion angle data, the posture conversion angle data include the azimuth to be calibrated of the acceleration transducer, to be calibrated turn over
Corner, reference azimuth and refer to flip angle；
The reference azimuth and the azimuth to be calibrated are weighted read group total and obtain calibration back bearing, and by institute
It states and is weighted flip angle after read group total is calibrated with reference to flip angle and the flip angle to be calibrated；
The real time acceleration that acceleration transducer after obtaining the calibration detects；
Whether within a preset range to judge the acceleration, if the acceleration is within a preset range, adjusts the reference side
The weight of parallactic angle and azimuthal weight to be calibrated, so that the weight of the reference azimuth is higher than the orientation to be calibrated
The weight at angle, and the weight of the weight with reference to flip angle and the flip angle to be calibrated is adjusted, so that the reference is turned over
The weight of corner is higher than the weight of the flip angle to be calibrated；If the acceleration within a preset range, does not adjust the ginseng
Azimuthal weight and azimuthal weight to be calibrated are examined, so that the weight of the reference azimuth is lower than described to be calibrated
Azimuthal weight, and the weight of the weight with reference to flip angle and the flip angle to be calibrated is adjusted, so that the ginseng
The weight for examining flip angle is lower than the weight of the flip angle to be calibrated.
6. a kind of acceleration transducer calibrating installation, which is characterized in that be applied to terminal device, described device includes:
First obtains module, for obtaining the acceleration detection information and video detection of terminal device described in each period of motion
Information, wherein the acceleration detection information includes multiple phases of the terminal device in the period of motion in each axis direction
To displacement coordinate, the video detection information includes that the terminal device plays point location coordinate and terminal in the period of motion
Position coordinate；
Computing module, for calculating the acceleration of the period of motion according to the acceleration detection information and the video detection information
Spend pick up calibration parameter；
Calibrating coordinates module, for based on the acceleration transducer calibration parameter to each axis in the acceleration detection information
Each relative displacement coordinate on direction is calibrated, each relative displacement coordinate in each axis direction after being calibrated；
Sensor calibration module, after according to described point location coordinate, terminal positioning coordinate and the calibration
Acceleration transducer described in each relative displacement coordinate pair in each axis direction is calibrated；
The acquisition module is also used to obtain the acceleration detection letter in next period of motion when next period of motion starts
Breath；
The calibrating coordinates module is also used to the acceleration transducer calibration parameter based on the historical movement period to next movement week
Each relative displacement coordinate in interim each axis direction is calibrated, and is obtained every in each axis direction in next period of motion
The corresponding predicted position coordinate of a relative displacement coordinate；
The sensor calibration module is also used to according to each relative displacement coordinate in each axis direction in next period of motion
Corresponding predicted position coordinate continues to calibrate the acceleration transducer.
7. acceleration transducer calibrating installation according to claim 6, which is characterized in that each axis direction includes first
Axial, the second axial direction and third are axial, and the computing module calculates the acceleration of the period of motion especially by following manner
Pick up calibration parameter:
Calculate the sum of the sum of first axis coordinate of the multiple relative displacement coordinate in each axis direction, second axial coordinate with
And the sum of third axial coordinate；
Calculate difference, the difference of the second axial coordinate for playing the first axis coordinate between point location coordinate and terminal positioning coordinate
And the difference of third axial coordinate；
The first axis of the period of motion is calculated according to the difference of the sum of described first axis coordinate and the first axis coordinate
Coordinate acceleration pick up calibration parameter；
The second axial direction of the period of motion is calculated according to the difference of the sum of described second axial coordinate and second axial coordinate
Coordinate acceleration pick up calibration parameter；
The third for calculating the period of motion according to the difference of the sum of described third axial coordinate and the third axial coordinate is axial
Coordinate acceleration pick up calibration parameter；
According to the first axis coordinate acceleration pick up calibration parameter, the second axial coordinate acceleration transducer calibration parameter
And third axial coordinate acceleration transducer calibration parameter obtains the acceleration transducer calibration parameter of the period of motion；
It is described based on the acceleration transducer calibration parameter to each of in each axis direction in the acceleration detection information
The step of relative displacement coordinate is calibrated, each relative displacement coordinate in each axis direction after being calibrated, comprising:
Based on the first axis coordinate acceleration pick up calibration parameter to the first axis in the acceleration detection information
On the first axis coordinate of each relative displacement coordinate calibrated, each phase in the first axial direction after being calibrated
To the first axis coordinate of displacement coordinate；
It is axial to second in the acceleration detection information based on the second axial coordinate acceleration transducer calibration parameter
On the second axial coordinate of each relative displacement coordinate calibrated, each opposite position in the second axial direction after being calibrated
Move the second axial coordinate of coordinate；
According to the third after the first axis coordinate of each relative displacement coordinate in the third axial direction after the calibration and calibration
Second axial coordinate of each relative displacement coordinate in axial direction calibrated after third axial direction on each third axially sit
Mark.
8. acceleration transducer calibrating installation according to claim 6, which is characterized in that the sensor calibration module tool
Body in the following manner calibrates the acceleration transducer:
Be calculated according to each relative displacement coordinate in each axis direction after the calibration by described point location coordinate and
The corresponding position coordinates of each relative displacement coordinate in each axis direction after the calibration between the terminal positioning coordinate；
It is sat based on described point location coordinate, terminal positioning coordinate and described point location coordinate and terminal positioning
Each position coordinates between mark calibrate each shaft detection parameter of the acceleration transducer.
9. acceleration transducer calibrating installation according to claim 6, which is characterized in that the calibrating coordinates module is specific
Each relative displacement coordinate in each axis direction in next period of motion is calibrated in the following manner, obtains next fortune
The corresponding predicted position coordinate of each relative displacement coordinate in each axis direction in the dynamic period:
Calculate the average acceleration pick up calibration parameter of each acceleration transducer calibration parameter in historical movement period；
Based on the average acceleration pick up calibration parameter to position opposite each of in each axis direction in next period of motion
It moves coordinate to be calibrated, obtains the corresponding predicted position of each relative displacement coordinate in each axis direction in next period of motion
Coordinate.
10. the acceleration transducer calibrating installation according to any one of claim 6-9, which is characterized in that the dress
It sets further include:
The acquisition module, be also used to obtain when the terminal device is converted to the second posture from the first posture calibrate after described in
The posture conversion angle data of acceleration transducer, the posture conversion angle data include the acceleration transducer to school
Quasi- azimuth, flip angle to be calibrated, reference azimuth and refer to flip angle；
The computing module, is also used to the reference azimuth being weighted read group total with the azimuth to be calibrated and obtains
Back bearing is calibrated, and described be weighted after read group total is calibrated with reference to flip angle with the flip angle to be calibrated is turned over
Corner；
The acquisition module, the real time acceleration that the acceleration transducer after being also used to obtain the calibration detects；
Whether within a preset range the sensor calibration module is also used to judge the acceleration, if the acceleration is pre-
If in range, then the weight and azimuthal weight to be calibrated of the reference azimuth are adjusted, so that the reference azimuth
The weight at angle is higher than azimuthal weight to be calibrated, and adjusts the weight with reference to flip angle and described to be calibrated turn over
The weight of corner, so that the weight with reference to flip angle is higher than the weight of the flip angle to be calibrated；If the acceleration is not
Within a preset range, then the weight and azimuthal weight to be calibrated for adjusting the reference azimuth, so that the reference
Azimuthal weight is lower than azimuthal weight to be calibrated, and adjusts the weight with reference to flip angle and described to school
The weight of quasi- flip angle, so that the weight with reference to flip angle is lower than the weight of the flip angle to be calibrated.
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