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CN-121977613-A - Wireless inclinometer self-correction method and system based on multi-sensor fusion

CN121977613ACN 121977613 ACN121977613 ACN 121977613ACN-121977613-A

Abstract

The invention relates to the technical field of real-time correction of inclinometers, in particular to a wireless inclinometer self-correction method and system based on multi-sensor fusion, comprising the following steps: and performing temperature compensation test on the wireless inclinometer to obtain a temperature compensation model, performing parameter measurement by using the wireless inclinometer to obtain a triaxial acceleration group set, a triaxial angular velocity group set and a measured temperature, performing temperature compensation on the triaxial acceleration group set by using the measured temperature and the temperature compensation model to obtain a target acceleration group set, performing angular velocity gesture calculation on the basis of an original gesture angle deviation group and the triaxial angular velocity group set if a static state judgment result is a non-static state to obtain corrected inclinometry data, and acquiring corrected inclinometry data and a current gesture angle deviation group if the static state is a static state. The invention can improve the measurement precision and stability of the inclinometer under variable temperature and dynamic environment, and reduce the accumulated error of attitude estimation.

Inventors

  • FAN KAI
  • ZHANG ZHIHONG

Assignees

  • 深圳岩泰科技有限公司

Dates

Publication Date
20260505
Application Date
20260403

Claims (10)

  1. 1. A wireless inclinometer self-correction method based on multi-sensor fusion, the method comprising: constructing a wireless inclinometer, wherein the wireless inclinometer comprises a triaxial accelerometer, a gyroscope and a temperature sensor; performing temperature compensation test on the wireless inclinometer to obtain a temperature compensation model, wherein the temperature compensation model comprises a compensation coefficient change curve set; performing parameter measurement by using a wireless inclinometer to obtain a triaxial acceleration group set, a triaxial angular velocity group set and a measurement temperature; acquiring an original attitude angle deviation group of a gyroscope, and performing temperature compensation on the triaxial acceleration group set by using a measured temperature and temperature compensation model to obtain a target acceleration group set; according to the target acceleration group set, judging the resting state to obtain a resting state judgment result, wherein the resting state judgment result is a resting state or a non-resting state; if the static state judgment result is a non-static state, carrying out angular velocity gesture calculation based on the original gesture angle deviation group and the triaxial angular velocity group set to obtain correction inclinometry data; if the static state judgment result is a static state, acquiring correction inclinometry data and a current attitude angle deviation group based on the target acceleration group set and the original attitude angle deviation group; and completing the self-correction of the wireless inclinometer based on multi-sensor fusion based on the correction inclinometry data and the current attitude angle deviation group.
  2. 2. The wireless inclinometer self-correction method based on multi-sensor fusion according to claim 1, wherein the performing a temperature compensation test on the wireless inclinometer to obtain a temperature compensation model comprises: determining a using environment temperature range based on the wireless inclinometer, and performing discrete temperature selection on the using environment temperature range to obtain a discrete environment temperature set, wherein the discrete environment temperature set comprises a plurality of discrete environment temperatures; The temperature compensation device is constructed and comprises a turntable rotating base, a temperature control box and a wireless inclinometer, wherein the turntable rotating base is arranged at the central position inside the temperature control box, and the wireless inclinometer is arranged on the turntable rotating surface of the turntable rotating base; sequentially extracting discrete environmental temperatures in the discrete environmental temperature sets, and recording the extracted discrete environmental temperatures as the environmental temperature to be compensated; Temperature compensation is carried out on the wireless inclinometer by utilizing a temperature compensation device and the ambient temperature to be compensated, so as to obtain temperature compensation data, wherein the temperature compensation data comprises a triaxial compensation coefficient set and a drift compensation coefficient set; Summarizing temperature compensation data corresponding to each discrete environmental temperature to obtain a temperature compensation data set; and performing data fitting according to the temperature compensation data set and the discrete environment temperature set to obtain a temperature compensation model.
  3. 3. The self-calibration method of a wireless inclinometer based on multi-sensor fusion according to claim 2, wherein the temperature compensation of the wireless inclinometer by using the temperature compensation device and the ambient temperature to be compensated to obtain temperature compensation data comprises: Fixing the wireless inclinometer on a turntable rotating base of the temperature compensation device to obtain a fixed inclinometer; the temperature environment regulation and control are carried out on the fixed inclinometer based on the environment temperature to be compensated and the temperature control box, so that the temperature control inclinometer is obtained; Setting a inclinometer compensation position set, wherein the inclinometer compensation position set comprises a plurality of inclinometer compensation positions; Carrying out real acceleration calculation on each inclinometer compensation position in the inclinometer compensation position set to obtain a real triaxial acceleration group set, wherein the real triaxial acceleration group set comprises a plurality of real triaxial acceleration groups, and the real triaxial acceleration groups correspond to the inclinometer compensation positions one by one; performing rotating operation on the temperature-controlled inclinometer by using a turntable rotating base to obtain a test inclinometer; Based on a triaxial accelerometer and an inclinometer compensation position set in the wireless inclinometer, acquiring acceleration of the test inclinometer to obtain a plurality of measurement triaxial acceleration group sets, wherein each test triaxial acceleration group set comprises a plurality of test triaxial acceleration groups; And carrying out temperature compensation calculation according to the plurality of measurement triaxial acceleration groups and the real triaxial acceleration groups to obtain temperature compensation data.
  4. 4. The method for self-correcting a wireless inclinometer based on multi-sensor fusion according to claim 3, wherein the performing temperature compensation calculation according to the plurality of measurement triaxial acceleration sets and the real triaxial acceleration set to obtain temperature compensation data comprises: the following is performed for each of the plurality of sets of measured triaxial acceleration: Constructing a temperature compensation equation set according to the measured triaxial acceleration set and the real triaxial acceleration set, wherein the temperature compensation equation set comprises a plurality of temperature compensation equations, and each temperature compensation equation comprises a triaxial coefficient set to be compensated and a drift coefficient set to be compensated; summarizing a temperature compensation equation set corresponding to each measurement triaxial acceleration set to obtain a temperature compensation equation set; and solving the triaxial coefficient set to be compensated and the drift coefficient set to be compensated by using the temperature compensation equation set to obtain temperature compensation data.
  5. 5. The wireless inclinometer self-correction method based on multi-sensor fusion of claim 4, wherein the performing data fitting according to the temperature compensation data set and the discrete ambient temperature set to obtain a temperature compensation model comprises: setting a parameter set to be compensated based on the temperature compensation data set, wherein the parameter set to be compensated comprises a plurality of parameters to be compensated; each parameter to be compensated in the parameter set to be compensated performs the following operations: Extracting similar compensation coefficient sets in the temperature compensation data set according to the parameters to be compensated, wherein the similar compensation coefficient sets comprise a plurality of similar compensation coefficients, and the similar compensation coefficients correspond to the parameters to be compensated; performing curve fitting based on the similar compensation coefficient set and the discrete environment temperature set to obtain a compensation coefficient change curve, wherein the horizontal axis of the compensation coefficient change curve represents the discrete environment temperature, and the vertical axis of the compensation coefficient change curve represents the similar compensation coefficient; Summarizing compensation coefficient change curves corresponding to each parameter to be compensated to obtain a compensation coefficient change curve set; and constructing a temperature compensation model based on the compensation coefficient change curve set.
  6. 6. The method for self-correcting a wireless inclinometer based on multi-sensor fusion according to claim 5, wherein the performing temperature compensation on the three-axis acceleration set by using the measured temperature and temperature compensation model to obtain a target acceleration set comprises: The following is performed for each of the three-axis acceleration groups in the three-axis acceleration group set: Carrying out coordinate point index in a compensation coefficient change curve set of the temperature compensation model based on the measured temperature to obtain a target compensation coefficient coordinate point set; identifying a target compensation coefficient set according to the target compensation coefficient coordinate point set; compensating the triaxial acceleration group by using the target compensation coefficient set to obtain a target acceleration group; And summarizing the target acceleration groups corresponding to each triaxial acceleration group to obtain a target acceleration group set.
  7. 7. The self-calibration method of a wireless inclinometer based on multi-sensor fusion according to claim 6, wherein the determining the resting state according to the target acceleration group set to obtain the resting state determination result comprises: extracting coaxial data based on the target acceleration group set to obtain a plurality of coaxial acceleration sets; Carrying out variance calculation on the coaxial acceleration sets to obtain coaxial standard deviations, and carrying out mean calculation on the coaxial standard deviations to obtain coaxial standard deviation; if the coaxial standard deviation is larger than the preset static standard deviation, marking the non-static state as a static state judgment result; And if the coaxial standard deviation is not greater than the stationary standard deviation, marking the stationary state as a stationary state judgment result.
  8. 8. The multi-sensor fusion-based wireless inclinometer self-correction method as set forth in claim 7, wherein the performing the angular velocity pose calculation based on the original pose angular deviation set and the three-axis angular velocity set to obtain corrected inclinometry data includes: correcting the triaxial angular velocity group set based on the original attitude angle deviation group to obtain a corrected angular velocity group set; the following is performed for each of the set of correction angular velocity groups: Acquiring an angular velocity acquisition interval, and performing product calculation based on the angular velocity acquisition interval and the corrected angular velocity group to obtain an attitude angle change value group; Summarizing each attitude angle change value group to obtain an attitude angle change group set; carrying out coaxial angle accumulation on the attitude angle change group set to obtain a current angle change group, and carrying out current attitude estimation based on the current angle change group and a preset historical attitude angle group to obtain an estimated attitude angle group; The set of estimated attitude angles is noted as corrected inclinometry data.
  9. 9. The multi-sensor fusion-based wireless inclinometer self-correction method of claim 8, wherein the obtaining corrected inclinometry data and the current set of attitude angle deviations based on the set of target acceleration sets and the set of original attitude angle deviations comprises: Identifying a current acceleration set in the set of target acceleration sets; calculating the posture of the inclinometer based on the current acceleration group to obtain a current posture angle group, and recording the current posture angle group as correction inclinometry data; and identifying a current angular velocity group in the triaxial angular velocity group set, and iteratively updating the original attitude angle deviation group based on the current angular velocity group and the current attitude angle group to obtain the current attitude angle deviation group.
  10. 10. A wireless inclinometer self-correction system based on multi-sensor fusion, the system comprising: the compensation model construction module is used for constructing a wireless inclinometer, wherein the wireless inclinometer comprises a triaxial accelerometer, a gyroscope and a temperature sensor, and is used for performing temperature compensation test on the wireless inclinometer to obtain a temperature compensation model, and the temperature compensation model comprises a compensation coefficient change curve set; The acceleration parameter measurement module is used for carrying out parameter measurement by utilizing the wireless inclinometer to obtain a triaxial acceleration group set, a triaxial angular velocity group set and a measured temperature, acquiring an original attitude angle deviation group of the gyroscope, and carrying out temperature compensation on the triaxial acceleration group set by utilizing the measured temperature and a temperature compensation model to obtain a target acceleration group set; The stationary state judging module is used for judging the stationary state according to the target acceleration group set to obtain a stationary state judging result, wherein the stationary state judging result is a stationary state or a non-stationary state; and the gesture deviation calculation module is used for carrying out angular velocity gesture calculation based on the original gesture angle deviation group and the triaxial angular velocity group set to obtain correction inclinometry data, and if the stationary state judgment result is a stationary state, obtaining the correction inclinometry data and the current gesture angle deviation group based on the target acceleration group set and the original gesture angle deviation group.

Description

Wireless inclinometer self-correction method and system based on multi-sensor fusion Technical Field The invention relates to the technical field of real-time correction of inclinometers, in particular to a wireless inclinometer self-correction method and system based on multi-sensor fusion. Background In the fields of geological exploration, structural health monitoring, industrial equipment attitude control and the like, the measurement accuracy of the wireless inclinometer is of great importance, and as the environmental temperature of the application scenes often fluctuates, and the equipment can be in a static or motion alternating working state, how to ensure that the inclinometer can output stable and accurate attitude data under various complex working conditions becomes a key technical challenge. The traditional technology generally only depends on a single sensor to carry out gesture calculation or adopts simple static calibration, and the method has obvious defects that on one hand, measurement drift of the sensor caused by temperature change is difficult to overcome, and on the other hand, the static state and the motion state of the equipment cannot be effectively distinguished, so that a large error is introduced under dynamic interference, and the gesture tracking precision is reduced. Disclosure of Invention The invention provides a wireless inclinometer self-correction method based on multi-sensor fusion and a computer readable storage medium, and mainly aims to improve measurement accuracy and stability of an inclinometer in variable temperature and dynamic environments and reduce accumulated errors of attitude estimation. In order to achieve the above purpose, the invention provides a wireless inclinometer self-correcting method based on multi-sensor fusion, comprising the following steps: constructing a wireless inclinometer, wherein the wireless inclinometer comprises a triaxial accelerometer, a gyroscope and a temperature sensor; performing temperature compensation test on the wireless inclinometer to obtain a temperature compensation model, wherein the temperature compensation model comprises a compensation coefficient change curve set; performing parameter measurement by using a wireless inclinometer to obtain a triaxial acceleration group set, a triaxial angular velocity group set and a measurement temperature; acquiring an original attitude angle deviation group of a gyroscope, and performing temperature compensation on the triaxial acceleration group set by using a measured temperature and temperature compensation model to obtain a target acceleration group set; according to the target acceleration group set, judging the resting state to obtain a resting state judgment result, wherein the resting state judgment result is a resting state or a non-resting state; if the static state judgment result is a non-static state, carrying out angular velocity gesture calculation based on the original gesture angle deviation group and the triaxial angular velocity group set to obtain correction inclinometry data; if the static state judgment result is a static state, acquiring correction inclinometry data and a current attitude angle deviation group based on the target acceleration group set and the original attitude angle deviation group; and completing the self-correction of the wireless inclinometer based on multi-sensor fusion based on the correction inclinometry data and the current attitude angle deviation group. Optionally, the performing a temperature compensation test on the wireless inclinometer to obtain a temperature compensation model includes: determining a using environment temperature range based on the wireless inclinometer, and performing discrete temperature selection on the using environment temperature range to obtain a discrete environment temperature set, wherein the discrete environment temperature set comprises a plurality of discrete environment temperatures; The temperature compensation device is constructed and comprises a turntable rotating base, a temperature control box and a wireless inclinometer, wherein the turntable rotating base is arranged at the central position inside the temperature control box, and the wireless inclinometer is arranged on the turntable rotating surface of the turntable rotating base; sequentially extracting discrete environmental temperatures in the discrete environmental temperature sets, and recording the extracted discrete environmental temperatures as the environmental temperature to be compensated; Temperature compensation is carried out on the wireless inclinometer by utilizing a temperature compensation device and the ambient temperature to be compensated, so as to obtain temperature compensation data, wherein the temperature compensation data comprises a triaxial compensation coefficient set and a drift compensation coefficient set; Summarizing temperature compensation data corresponding to each discrete environmental temperatur