CN-122027912-A - Parameter-configurable inertial measurement device data communication and analysis method, system, medium, product and terminal

CN122027912ACN 122027912 ACN122027912 ACN 122027912ACN-122027912-A

Abstract

The application provides a data communication and analysis method, a system, a medium, a product and a terminal of an inertial measurement unit with configurable parameters, which realize flexible configuration of working parameters of the inertial measurement unit by introducing a byte array with a fixed format, and a user can adapt to different scenes without modifying and recompiling core codes; in addition, through a standardized instruction time sequence and high-efficiency data monitoring mechanism, the whole process from the connection and configuration validation of the inertia measurement device to the real-time analysis and display of the data is ensured to have low delay and high stability, and the strict requirements of high real-time application scenes such as unmanned plane attitude synchronization and robot motion control are met.

Inventors

ZHU YINAN
ZHANG PENG
ZHANG YU

Assignees

黑龙江惠达科技股份有限公司

Dates

Publication Date: 20260512
Application Date: 20251217

Claims (10)

1. A method for data communication and analysis of an inertial measurement unit with configurable parameters, comprising: establishing Bluetooth connection with a target inertial measurement device, and registering a disconnection callback event of the inertial measurement device; Sending a parameter configuration instruction to the inertial measurement device through Bluetooth so as to enable the inertial measurement device to complete parameter configuration, wherein the parameter configuration instruction comprises a fixed-length byte array, and different byte positions in the byte array are predefined as corresponding parameters for configuring the inertial measurement device; Sending a notification starting instruction to the inertia measurement device, and starting data monitoring to receive a data frame reported by the inertia measurement device; and under the condition that the judging result is passed, extracting the effective data segment of the data frame, and performing splicing and scaling processing on the extracted effective data segment to obtain an actual physical measured value.
2. The method of claim 1, wherein establishing a bluetooth connection with a target inertial measurement unit comprises connecting the inertial measurement unit by matching a predetermined bluetooth address of the inertial measurement unit.
3. The parameter configurable inertial measurement unit data communication and parsing method according to claim 1 or 2, wherein a wake-up command and a high-speed communication command are sequentially transmitted to the inertial measurement unit at a predetermined timing before the parameter configuration command is transmitted to the inertial measurement unit through bluetooth.
4. A method for data communication and analysis of an inertial measurement unit with configurable parameters according to claim 3, wherein the validity of the received data frame is determined to obtain a corresponding determination result, and the method comprises the following steps: Judging whether a data head in the data frame is matched with the target inertial measurement device or not; If the data head matching result is judged as negative, the validity of the data head is judged not to pass, and the disconnection callback event is triggered; if the data head matching result is yes, further judging whether the control bit identifier of the data frame is matched with the parameter configuration of different byte positions of the byte array; if the control bit identifier matching result is judged as no, the validity judgment of the control bit identifier is not passed, and the disconnection callback event is triggered; if the control bit identifier matching result is judged to be yes, the judgment result is passed.
5. The method for data communication and analysis of parameter configurable inertial measurement unit of claim 4, wherein the steps of extracting the valid data segments of the data frame and stitching and scaling the extracted valid data segments comprise: Extracting corresponding effective data segments from the data frame according to a preset data length rule, wherein the effective data segments are formed by one or more continuous bytes in the data frame; splicing bytes forming the effective data segment according to a preset byte sequence rule to obtain an original numerical value; and combining the original numerical value with a preset scaling factor to obtain the actual physical measured value.
6. The method of claim 1, further comprising performing a presentation and storage operation on the actual physical measurement values.
7. A parameter configurable inertial measurement unit data communication and resolution system, comprising: the device connection and event management module is used for establishing Bluetooth connection with a target inertial measurement device and registering a disconnection callback event of the inertial measurement device; The system comprises a configuration instruction sending module, a configuration instruction sending module and a configuration instruction receiving module, wherein the configuration instruction sending module is used for sending a parameter configuration instruction to the inertial measurement device through Bluetooth so as to enable the inertial measurement device to complete parameter configuration, the parameter configuration instruction comprises a fixed-length byte array, and different byte positions in the byte array are predefined as corresponding parameters for configuring the inertial measurement device; The data monitoring module is used for sending a notification starting instruction to the inertia measurement device and starting data monitoring to receive a data frame reported by the inertia measurement device; And the effective data extraction module is used for carrying out effectiveness judgment on the received data frame to obtain a corresponding judgment result, extracting effective data segments of the data frame under the condition that the judgment result is passed, and carrying out splicing and scaling treatment on the extracted effective data segments to obtain an actual physical measurement value.
8. A computer readable storage medium having stored thereon a computer program, which when executed by a processor implements a parameter configurable inertial measurement device data communication and parsing method according to any one of claims 1 to 6.
9. A computer program product comprising computer program code which, when run on a computer, causes the computer to implement the parameter configurable inertial measurement device data communication and resolution method of any one of claims 1 to 6.
10. An electronic terminal comprising a memory, a processor and a computer program stored on the memory, wherein the processor executes the computer program to implement the parameter configurable inertial measurement device data communication and parsing method of any one of claims 1 to 6.

Description

Parameter-configurable inertial measurement device data communication and analysis method, system, medium, product and terminal Technical Field The invention relates to the field of sensor data communication and analysis, in particular to a data communication and analysis method, a system, a medium, a product and a terminal of an inertial measurement device with configurable parameters. Background In the gesture simulation and test scene of intelligent equipment such as unmanned aerial vehicle, robot, inertial measurement unit (Inertial Measurement Unit, IMU) is as core sensing component, and accurate collection and high-efficient transmission of its gesture data (such as angle, speed etc.) directly influence intelligent equipment's control accuracy and running stability. The bluetooth communication technology has the advantages of low power consumption and wireless transmission, and becomes the mainstream choice of the gesture data transmission of the inertial measurement unit, but the bluetooth communication scheme of the gesture data of the conventional inertial measurement unit still has a plurality of technical defects, and is difficult to meet the application requirements of high stability and high maintainability, and the specific problems are as follows: On the one hand, the parameter configuration mode of the existing Bluetooth communication scheme is poor in flexibility. Most of the Bluetooth communication codes of the inertial measurement unit adopt hard coding mode to solidify equipment parameters, such as filter coefficients, data reporting frame rate and other key configurations are directly written into program codes, and when application scene changes need to adjust the configuration parameters, core codes need to be reconstructed, compiled and deployed, so that the operation is complex, the maintenance cost is high, new code problems are easily introduced, and the expandability of a scheme is seriously affected. On the other hand, the reliability of the data analysis link is insufficient. In practical application, when abnormal conditions such as byte stream boundary crossing, data head errors, check bit mismatch and the like occur, effective fault-tolerant processing cannot be performed, program breakdown is often caused directly, data acquisition is interrupted, and the continuity of subsequent gesture simulation and test work is affected. Furthermore, bluetooth instruction interactions lack canonical timing control. The Bluetooth communication of the inertial measurement unit is required to sequentially complete a series of instruction interactions such as wakeup, high-speed communication mode switching, parameter configuration, data notification starting and the like, but in the existing scheme, the sending sequence of the instructions is random, the delay setting of adjacent instructions is not uniform, the problems of overtime response of equipment, disordered instruction execution sequence and the like are easy to occur, unstable Bluetooth connection and interruption of data transmission are caused, the reliability of angle data acquisition of the inertial measurement unit is seriously reduced, and the core requirements of gesture simulation and test scenes of equipment such as unmanned aerial vehicles, robots and the like are difficult to support efficiently. Disclosure of Invention In view of the above-mentioned drawbacks of the prior art, the present invention aims to provide a method, a system, a medium, a product and a terminal for data communication and analysis of an inertial measurement device with configurable parameters, which are used for solving the technical problems of poor flexibility of parameter configuration modes, insufficient reliability of data analysis links and disordered timing control of bluetooth instruction interaction in the existing bluetooth communication scheme of an inertial measurement unit. The application provides a data communication and analysis method of an inertial measurement unit with configurable parameters, which is characterized by comprising the steps of establishing Bluetooth connection with a target inertial measurement unit and registering a disconnection callback event of the inertial measurement unit, sending a parameter configuration instruction to the inertial measurement unit through Bluetooth to enable the inertial measurement unit to complete parameter configuration, wherein the parameter configuration instruction comprises a byte array with fixed length, different byte positions in the byte array are predefined to be used for configuring corresponding parameters of the inertial measurement unit, sending a notification start instruction to the inertial measurement unit, starting data monitoring to receive a data frame reported by the inertial measurement unit, judging validity of the received data frame to obtain a corresponding judging result, extracting a valid data segment of the data frame, and splicing and processing the ext