Calibration method of inertial measurement system, inertial measurement system and movable platform

文档序号：602731 发布日期：2021-05-04 浏览：14次中文

阅读说明：本技术 惯性测量系统的校准方法、惯性测量系统和可移动平台 (Calibration method of inertial measurement system, inertial measurement system and movable platform ) 是由朱誉品王凯刘新俊于 2020-03-31 设计创作，主要内容包括：一种惯性测量系统(420)的校准方法、惯性测量系统(420)和可移动平台(410),惯性测量系统(420)包括主惯性测量单元(320)和辅惯性测量单元(330),方法包括：进入校准模式(S110)；获取主惯性测量单元(320)输出的第一测量数据和辅惯性测量单元(330)输出的第二测量数据(S120)；利用第一测量数据和第二测量数据确定辅惯性测量单元(330)的测量误差,测量误差用于对辅惯性测量单元(330)输出的第三测量数据进行校准(S130)。能够自动采用主惯性测量单元(320)的输出数据对辅惯性测量单元(330)进行校准,无需用户主动触发校准,提高了用户体验,保证了系统的可靠性。(A method of calibrating an inertial measurement system (420), the inertial measurement system (420) and a movable platform (410), the inertial measurement system (420) comprising a primary inertial measurement unit (320) and a secondary inertial measurement unit (330), the method comprising: entering a calibration mode (S110); acquiring first measurement data output by a main inertia measurement unit (320) and second measurement data output by an auxiliary inertia measurement unit (330) (S120); a measurement error of the secondary inertial measurement unit (330) is determined using the first measurement data and the second measurement data, the measurement error being used to calibrate the third measurement data output by the secondary inertial measurement unit (330) (S130). The auxiliary inertia measurement unit (330) can be automatically calibrated by adopting the output data of the main inertia measurement unit (320), the user does not need to actively trigger calibration, the user experience is improved, and the reliability of the system is ensured.)

1. A calibration method for an inertial measurement system applied to a movable platform, the inertial measurement system comprising a primary inertial measurement unit and a secondary inertial measurement unit, the method comprising:

entering a calibration mode;

acquiring first measurement data output by the main inertia measurement unit and second measurement data output by the auxiliary inertia measurement unit;

and determining a measurement error of the auxiliary inertial measurement unit by using the first measurement data and the second measurement data, wherein the measurement error is used for calibrating third measurement data output by the auxiliary inertial measurement unit.

2. The method of claim 1, wherein said determining a measurement error of the secondary inertial measurement unit using the first measurement data and the second measurement data comprises:

and taking the first measurement data as a first true value, and determining an error between the second measurement data and the first true value as a measurement error of the auxiliary inertial measurement unit.

3. The method of claim 2, wherein said obtaining first measurement data output by the primary inertial measurement unit and second measurement data output by the secondary inertial measurement unit comprises:

and acquiring multiple groups of the first measurement data and the second measurement data which are synchronously output.

4. The method of claim 3, wherein the determining an error between the second measurement data and the first true value comprises:

and fitting a plurality of groups of the first measurement data and the second measurement data according to a least square method to calculate the error.

5. The method of any one of claims 1-4, wherein the method further comprises:

storing the measurement error in a memory.

6. Method according to one of claims 1 to 4, characterized in that the measurement error is updatable.

7. The method of claim 1, wherein the entering the calibration mode comprises:

in a static state, acquiring fourth measurement data output by the auxiliary inertia measurement unit, and judging whether the deviation between the fourth measurement data and a second true value in the static state exceeds a first threshold value;

entering the calibration mode if a deviation between the fourth measurement data and the second true value exceeds the first threshold.

8. The method of claim 1, wherein the entering the calibration mode comprises:

in a static state, acquiring fourth measurement data output by the auxiliary inertia measurement unit and fifth measurement data output by the main inertia measurement unit;

judging whether the deviation between the fourth measurement data and a second true value in a static state exceeds a first threshold value or not, and judging whether the deviation between the fifth measurement data and the second true value does not exceed a second threshold value or not;

entering the calibration mode if a deviation between the fourth measurement data and the second true value exceeds the first threshold and a deviation between the fifth measurement data and the second true value does not exceed the second threshold.

9. The method of claim 1, wherein the primary inertial measurement unit includes a first accelerometer and a first gyroscope, the first measurement data including first accelerometer measurement data output by the first accelerometer and first gyroscope measurement data output by the first gyroscope, the secondary inertial measurement unit includes a second accelerometer and a second gyroscope, the second measurement data including second accelerometer measurement data output by the second accelerometer and second gyroscope measurement data output by the second gyroscope;

the determining a measurement error of the secondary inertial measurement unit using the first measurement data and the second measurement data includes:

and determining the measurement error of the second accelerometer by using the first accelerometer measurement data and the second accelerometer measurement data, wherein the measurement error of the second accelerometer is used for calibrating the third accelerometer measurement data output by the second accelerometer, and/or determining the measurement error of the second gyroscope by using the first gyroscope measurement data and the second gyroscope measurement data, and the measurement error of the second gyroscope is used for calibrating the third gyroscope measurement data output by the second gyroscope.

10. The method of claim 9, wherein said determining a measurement error of the second accelerometer using the first accelerometer measurement data and the second accelerometer measurement data comprises:

determining a measurement error of the second accelerometer using the first accelerometer measurement data and the second accelerometer measurement data each time the calibration mode is entered; or the like, or, alternatively,

and if the second accelerometer is triggered to enter the calibration mode, determining the measurement error of the second accelerometer by using the measurement data of the first accelerometer and the measurement data of the second accelerometer.

11. The method of claim 9, wherein said determining a measurement error of the second gyroscope using the first gyroscope measurement data and the second gyroscope measurement data comprises:

determining a measurement error of the second gyroscope using the first gyroscope measurement data and the second gyroscope measurement data each time the calibration mode is entered; or the like, or, alternatively,

and if the second gyroscope is judged to be triggered to enter the calibration mode, determining the measurement error of the second gyroscope by using the measurement data of the first gyroscope and the measurement data of the second gyroscope.

12. The method of one of claims 9-11, wherein the first gyroscope measurement data and the second gyroscope measurement data each comprise measurement data along three coordinate axes, and wherein determining the measurement error of the second gyroscope using the first gyroscope measurement data and the second gyroscope measurement data comprises:

determining an error between the second gyroscope measurement data on each coordinate axis and the first gyroscope measurement data on the corresponding coordinate axis as a measurement error of the second gyroscope on the coordinate axis.

13. The method of any of claims 9-11, wherein the first accelerometer measurement data and the second accelerometer measurement data each comprise measurement data along three coordinate axes, and wherein determining the measurement error of the second accelerometer using the first accelerometer measurement data and the second accelerometer measurement data comprises:

determining an error between the second accelerometer measurement data on each coordinate axis and the first accelerometer measurement data on the corresponding coordinate axis as a measurement error of the second accelerometer on that coordinate axis.

14. The method of any of claims 9-11, wherein the entering the calibration mode comprises:

in a static state, acquiring fourth accelerometer measurement data output by the second accelerometer and fourth gyroscope measurement data output by the second gyroscope;

judging whether the deviation between the fourth accelerometer measurement data and a third true value in a static state exceeds a third threshold value or not, and judging whether the deviation between the fourth gyroscope measurement data and a fourth true value in the static state exceeds a fourth threshold value or not;

entering the calibration mode if a deviation between the fourth accelerometer measurement data and the third true value exceeds the third threshold and/or a deviation between the fourth gyroscope measurement data and the fourth true value exceeds the fourth threshold.

15. The method of any of claims 9-11, wherein the entering the calibration mode comprises:

in a static state, acquiring fourth accelerometer measurement data output by the second accelerometer and fourth gyroscope measurement data output by the second gyroscope, and acquiring fifth accelerometer measurement data output by the first accelerometer and fifth gyroscope measurement data output by the first gyroscope;

determining whether a deviation between the fifth speedometer measurement data and the third true value does not exceed a fifth threshold value, and determining whether a deviation between the fifth gyroscope measurement data and the fourth true value does not exceed a sixth threshold value;

entering the calibration mode if a deviation between the fourth accelerometer measurement data and the third true value exceeds the third threshold and a deviation between the fifth accelerometer measurement data and the third true value does not exceed the fifth threshold, and/or a deviation between the fourth gyroscope measurement data and the fourth true value exceeds the fourth threshold and a deviation between the fifth gyroscope measurement data and the fourth true value does not exceed the sixth threshold.

16. The method of claim 1, wherein the first measurement data and the second measurement data are measurement data in motion.

17. The method of claim 1, wherein the measurement accuracy of the primary inertial measurement unit is higher than the measurement accuracy of the secondary inertial measurement unit.

18. An inertial measurement system for a movable platform, the inertial measurement system comprising:

the main inertia measurement unit is used for outputting first measurement data;

the auxiliary inertia measurement unit is used for outputting second measurement data;

a processor to:

entering a calibration mode;

acquiring the first measurement data and the second measurement data;

19. The inertial measurement system of claim 18, wherein the processor comprises a micro-control unit.

20. The inertial measurement system of claim 18, wherein said determining a measurement error of the secondary inertial measurement unit using the first measurement data and the second measurement data comprises:

21. The inertial measurement system of claim 20, wherein said obtaining first measurement data output by the primary inertial measurement unit and second measurement data output by the secondary inertial measurement unit comprises:

and acquiring multiple groups of the first measurement data and the second measurement data which are synchronously output.

22. The inertial measurement system of claim 21, wherein the determining an error between the second measurement data and the first true value comprises:

and fitting a plurality of groups of the first measurement data and the second measurement data according to a least square method to calculate the error.

23. An inertial measurement system according to any one of claims 18 to 22, wherein the inertial measurement system further comprises a memory, the processor further configured to:

storing the measurement error in a memory.

24. An inertial measurement system according to any one of claims 18 to 22, wherein the measurement error is updatable.

25. The inertial measurement system of claim 18, wherein the entering a calibration mode comprises:

entering the calibration mode if a deviation between the fourth measurement data and the second true value exceeds the first threshold.

26. The inertial measurement system of claim 18, wherein the entering a calibration mode comprises:

in a static state, acquiring fourth measurement data output by the auxiliary inertia measurement unit and fifth measurement data output by the main inertia measurement unit;

27. The inertial measurement system of claim 18, wherein the primary inertial measurement unit comprises a first accelerometer and a first gyroscope, the first measurement data comprising first accelerometer measurement data output by the first accelerometer and first gyroscope measurement data output by the first gyroscope, the secondary inertial measurement unit comprises a second accelerometer and a second gyroscope, the second measurement data comprising second accelerometer measurement data output by the second accelerometer and second gyroscope measurement data output by the second gyroscope;

the determining a measurement error of the secondary inertial measurement unit using the first measurement data and the second measurement data includes:

28. The inertial measurement system of claim 27, wherein said determining a measurement error of the second accelerometer using the first accelerometer measurement data and the second accelerometer measurement data comprises:

29. The inertial measurement system of claim 27, wherein said determining a measurement error of the second gyroscope using the first gyroscope measurement data and the second gyroscope measurement data comprises:

30. The inertial measurement system of one of claims 27-29, wherein the first gyroscope measurement data and the second gyroscope measurement data each comprise measurement data along three coordinate axes, and wherein determining the measurement error of the second gyroscope using the first gyroscope measurement data and the second gyroscope measurement data comprises:

31. The inertial measurement system of one of claims 27-29, wherein the first accelerometer measurement data and the second accelerometer measurement data each comprise measurement data along three coordinate axes, and wherein determining the measurement error of the second accelerometer using the first accelerometer measurement data and the second accelerometer measurement data comprises:

32. An inertial measurement system according to any one of claims 27 to 29, wherein said entering into calibration mode comprises:

in a static state, acquiring fourth accelerometer measurement data output by the second accelerometer and fourth gyroscope measurement data output by the second gyroscope;

33. An inertial measurement system according to any one of claims 27 to 29, wherein said entering into calibration mode comprises:

34. The inertial measurement system of claim 18, wherein the first and second measurement data are measurements in motion.

35. The inertial measurement system of claim 18, wherein the primary inertial measurement unit has a higher measurement accuracy than the secondary inertial measurement unit.

36. A movable platform, comprising:

a movable platform body;

the inertial measurement system of any one of claims 18-35, disposed on the movable platform body.

37. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the calibration method of an inertial measurement system of any one of claims 1 to 17.

Technical Field

The invention relates to the technical field of inertial measurement, in particular to a calibration method of an inertial measurement system, the inertial measurement system and a movable platform.

Background

An Inertial Measurement Unit (IMU) is a sensor capable of measuring acceleration and angular velocity of a motion carrier, is a key component in a navigation system of equipment such as an unmanned aerial vehicle and an automatic driving automobile, and has important influence on the precision of a combined navigation system in terms of working performance. If the IMU is abnormal, the aircraft can be caused to roll over and fall down and other serious consequences, the reliability can be improved by adding the redundant IMU into the inertial measurement system, and when the main IMU is abnormal, the system is immediately switched to the auxiliary IMU, so that the flight safety is ensured.

Due to the precision limitation and error in the IMU manufacturing process, an error exists between the output value and the true value of the IMU, wherein the zero bias (bias) is an error which greatly influences the precision of the IMU. Before the unmanned aerial vehicle and the combined navigation equipment leave a factory, a manufacturer can calibrate the IMU and eliminate errors such as bias, but after the unmanned aerial vehicle and the combined navigation equipment leave the factory, the IMU is aged and other factors can bring error changes. The existing product does not usually pay attention to the accuracy of the auxiliary IMU, and does not have a scheme for actively calibrating the auxiliary IMU, and a user can only eliminate errors by actively triggering calibration, so that the user needs to frequently calibrate, and the user experience is influenced. If the calibration is not actively triggered, the auxiliary IMU can not provide accurate information when the main IMU fails, and the unmanned aerial vehicle is out of control or the navigation equipment is abnormal.

Disclosure of Invention

In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

In view of the deficiencies of the prior art, a first aspect of the embodiments of the present invention provides a calibration method for an inertial measurement system, which is applied to a movable platform, the inertial measurement system including a primary inertial measurement unit and a secondary inertial measurement unit, the method including:

entering a calibration mode;

acquiring first measurement data output by the main inertia measurement unit and second measurement data output by the auxiliary inertia measurement unit;

A second aspect of an embodiment of the present invention provides an inertial measurement system applied to a movable platform, where the inertial measurement system includes:

the main inertia measurement unit is used for outputting first measurement data;

the auxiliary inertia measurement unit is used for outputting second measurement data;

a processor to: entering a calibration mode; acquiring the first measurement data and the second measurement data; and determining a measurement error of the auxiliary inertial measurement unit by using the first measurement data and the second measurement data, wherein the measurement error is used for calibrating third measurement data output by the auxiliary inertial measurement unit.

A third aspect of an embodiment of the present invention provides a movable platform, including: the movable platform comprises a movable platform body and the inertia measurement system, wherein the inertia measurement system is arranged on the movable platform body.

A fourth aspect of the embodiments of the present invention provides a computer storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the calibration method for an inertial measurement system described above.

The calibration method of the inertial measurement system, the movable platform and the computer storage medium can automatically adopt the output data of the main inertial measurement unit to calibrate the auxiliary inertial measurement unit, ensure the measurement accuracy of the auxiliary inertial measurement unit, and improve the user experience and the reliability of the system without actively triggering calibration by a user.

Drawings

The following drawings of the invention are included to provide a further understanding of the invention. The drawings illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

In the drawings:

FIG. 1 shows a flow diagram of a calibration method of an inertial measurement system according to an embodiment of the invention;

FIG. 2 illustrates a more detailed flow chart of a calibration method of an inertial measurement system according to an embodiment of the invention;

FIG. 3 shows a block diagram of an inertial measurement system according to an embodiment of the invention;

FIG. 4 shows a block diagram of a moveable platform according to an embodiment of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of embodiments of the invention and not all embodiments of the invention, with the understanding that the invention is not limited to the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention described herein without inventive step, shall fall within the scope of protection of the invention.

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

It is to be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.

In order to provide a thorough understanding of the present invention, detailed steps and detailed structures will be set forth in the following description in order to explain the present invention. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.

The scheme of the embodiment of the invention is suitable for an inertia measurement system adopting an inertia measurement unit redundancy design, the inertia measurement system comprises a main inertia measurement unit and at least one auxiliary inertia measurement unit, and under a general condition, the output data of a main IMU is adopted as a main data source, and an auxiliary IMU is adopted as backup switching or is used in voting decision. The inertial measurement system is mainly applied to movable platforms, such as unmanned aerial vehicles, unmanned vehicles, cloud platforms, cameras, mobile robots and the like.

In a preferred embodiment, the precision of the main inertia measurement unit is higher than that of the auxiliary inertia measurement unit, namely the output data of the high-precision measurement unit is adopted as the standard under the general condition, meanwhile, the low-precision inertia measurement unit is added as a redundancy design, the reliability of the product is improved compared with the design adopting a single high-precision inertia measurement unit, and the cost is saved compared with the design adopting a plurality of high-precision inertia measurement units. However, in other embodiments, the primary inertial measurement unit and the secondary inertial measurement unit may be set to the same accuracy, for example, both high-accuracy inertial measurement units are used to ensure that the accuracy of the output data of the secondary inertial measurement unit is consistent with that of the primary inertial measurement unit.

As an example, the primary inertial measurement unit and the secondary inertial measurement unit respectively include an accelerometer and a gyroscope, the accelerometer detects an acceleration signal of the object in the carrier coordinate system, and the gyroscope detects an angular velocity signal of the carrier relative to the navigation coordinate system, and after the processor processes the signals, the current attitude can be calculated.

The calibration method of the inertial measurement system, the movable platform, and the computer-readable storage medium according to the present application will be described in detail below with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.

First, referring to fig. 1 and 2, a method for calibrating an inertial measurement system according to an embodiment of the present invention will be described. FIG. 1 shows a flow diagram of a calibration method 100 of an inertial measurement system according to one embodiment of the invention. As shown in fig. 1, the method 100 includes the steps of:

in step S110, enter a calibration mode;

in step S120, first measurement data output by the primary inertia measurement unit and second measurement data output by the secondary inertia measurement unit are obtained;

in step S130, a measurement error of the secondary inertial measurement unit is determined using the first measurement data and the second measurement data, and the measurement error is used for calibrating the third measurement data output by the secondary inertial measurement unit. The measurement error comprises a zero offset error of the secondary inertial measurement unit.

In the calibration method 100 of the inertial measurement system, the first measurement data output by the primary inertial measurement unit is used as the first true value, the error between the second measurement data output by the secondary inertial measurement unit and the first true value is calculated, and the error is stored in the memory as the measurement error of the secondary inertial measurement unit. Subsequently, when the third measurement data output by the auxiliary inertia measurement unit is needed to be used as a data source due to the fault of the main inertia measurement unit or other reasons, the measurement error can be used for compensating the third measurement data output by the auxiliary inertia measurement unit, and the accuracy of the third measurement data is ensured. According to the calibration method 100 provided by the embodiment of the invention, the calibration can be realized at a higher frequency in a state that a user does not sense the calibration without the need of actively calibrating the calibration by the user, so that the error of the auxiliary inertial measurement unit can be eliminated on line, and the performance of the product after leaving the factory is always ensured to be in an optimal state.

Specifically, in step S110, it may be determined whether to enter the calibration mode in the stationary state after the movable platform is powered on and started, and if the movable platform enters the calibration mode, step S120 and step S130 are executed after entering the moving state. The determination of whether to enter the calibration mode may be performed each time the movable platform is started, or may be performed every predetermined time, or may be performed when a calibration instruction from a user is received.

For the judgment of whether to enter the calibration mode, referring to fig. 2, as an implementation manner, it may be judged whether the auxiliary inertial measurement unit needs to be calibrated in a static state, and whether the main inertial measurement unit is valid, and if the auxiliary inertial measurement unit needs to be calibrated and the main inertial measurement unit is valid, the calibration mode is entered; and if the auxiliary inertia measurement unit does not need to be calibrated or the main inertia measurement unit is invalid, stopping calibration and ending the process.

Wherein, whether the auxiliary inertia measurement unit needs to be calibrated and whether the main inertia measurement unit is effective can be sequentially judged. For example, as shown in fig. 2, it may be determined whether the auxiliary inertial measurement unit needs to be calibrated first, and if the auxiliary inertial measurement unit does not need to be calibrated, the auxiliary inertial measurement unit does not enter the calibration mode and directly ends the process; and if the auxiliary inertia measurement unit needs to be calibrated, then judging whether the main inertia measurement unit is effective, if the main inertia measurement unit is effective, entering a calibration mode, otherwise, not entering the calibration mode and ending the process.

In a similar way, it is also possible to first determine whether the primary inertia measurement unit is valid, and then determine whether the secondary inertia measurement unit needs to be calibrated on the premise that the primary inertia measurement unit is valid, and enter the calibration mode if the secondary inertia measurement unit needs to be calibrated, otherwise not enter the calibration mode and end the process. In other examples, the determination of whether the auxiliary inertial measurement unit needs to be calibrated and whether the main inertial measurement unit is valid may also be performed in parallel, and the order of the two is not limited in the embodiment of the present invention.

Specifically, the step of judging whether the auxiliary inertial measurement unit needs to be calibrated includes the following steps: and in a static state, acquiring fourth measurement data output by the auxiliary inertia measurement unit, and judging whether the deviation between the fourth measurement data and a second true value in the static state exceeds a first threshold value. If the deviation between the fourth measurement data and the second true value exceeds the first threshold, the auxiliary inertial measurement unit is considered to need to be calibrated; if the deviation between the fourth measurement data and the second true value does not exceed the first threshold, the auxiliary inertial measurement unit is considered to be not required to be calibrated, and the process can be directly ended.

Similarly, determining whether the primary inertial measurement unit is active includes the steps of: and in a static state, acquiring fifth measurement data output by the main inertia measurement unit, and judging whether the deviation between the fifth measurement data and a second true value in the static state exceeds a second threshold value. If the deviation between the fifth measurement data and the second true value does not exceed the second threshold value, the main inertia measurement unit is considered to be valid; if the deviation between the fifth measurement data and the second true value exceeds the second threshold, the primary inertial measurement unit is considered to be invalid, and the process may be terminated directly.

As described above, the primary inertial measurement unit may include a first accelerometer and a first gyroscope, and the secondary inertial measurement unit may include a second accelerometer and a second gyroscope, and the second true value includes both a third true value of the accelerometer in the stationary state and a fourth true value of the gyroscope in the stationary state. Then in one embodiment, in determining whether the secondary inertial measurement unit requires calibration, it may be determined whether the second accelerometer and the second gyroscope require calibration, respectively. And if at least one of the second accelerometer and the second gyroscope needs to be calibrated, the auxiliary inertial measurement unit is considered to need to be calibrated. When judging whether main inertial measurement unit is effective, can judge respectively whether first accelerometer and first gyroscope are effective, different with assisting inertial measurement unit, when first accelerometer and first gyroscope are all effective, just can regard main inertial measurement unit as effective. The determination of whether the second accelerometer and the second gyroscope need to be calibrated and the determination of whether the first gyroscope and the first accelerometer are effective may be performed in parallel or in any order, and the order of the determination is not limited in the embodiments of the present invention.

In the above illustrated embodiment, the determining whether the auxiliary inertial measurement unit needs to be calibrated specifically may include the following steps:

in a static state, acquiring fourth accelerometer measurement data output by a second accelerometer and fourth gyroscope measurement data output by a second gyroscope; and judging whether the deviation between the fourth accelerometer measurement data and the third true value in the static state exceeds a third threshold value, and judging whether the deviation between the fourth gyroscope measurement data and the fourth true value in the static state exceeds a fourth threshold value. If the deviation between the measurement data of the fourth accelerometer and the third true value does not exceed the third threshold value and the deviation between the measurement data of the fourth gyroscope and the fourth true value does not exceed the fourth threshold value, judging that the auxiliary inertial measurement unit does not need to be calibrated; on the contrary, if at least one of the deviation between the fourth accelerometer measurement data and the third true value exceeding the third threshold and the deviation between the fourth gyroscope measurement data and the fourth true value exceeding the fourth threshold is satisfied, it is determined that the auxiliary inertial measurement unit needs to be calibrated.

Similarly, determining whether the primary inertial measurement unit is active may include the steps of:

in a static state, acquiring fifth accelerometer measurement data output by the first accelerometer and fifth gyroscope measurement data output by the first gyroscope; it is determined whether a deviation between the fifth speedometer measurement data and the third true value in the rest state exceeds a fifth threshold value, and whether a deviation between the fifth gyroscope measurement data and the fourth true value in the rest state exceeds a sixth threshold value. If the deviation between the measurement data of the fifth speedometer and the third true value does not exceed a fifth threshold value and the deviation between the measurement data of the fifth gyroscope and the fourth true value does not exceed a sixth threshold value, the main inertia measurement unit is judged to be effective; on the contrary, if at least one of a deviation between the fifth speedometer measurement data and the third true value exceeds a fifth threshold value and a deviation between the fifth gyroscope measurement data and the fourth true value exceeds a sixth threshold value, it is determined that the main inertia measurement unit is invalid.

In another embodiment, a determination manner may also be adopted to determine whether the second accelerometer and the second gyroscope need to be calibrated and satisfy calibration conditions, and enter the calibration mode when at least one of the following conditions is satisfied: (1) the second accelerometer needs to be calibrated and the first accelerometer is valid; (2) the second gyroscope needs to be calibrated and the first gyroscope is valid.

Specifically, in the stationary state, fourth accelerometer measurement data output by the second accelerometer and fourth gyroscope measurement data output by the second gyroscope are acquired, and fifth accelerometer measurement data output by the first accelerometer and fifth gyroscope measurement data output by the first gyroscope are acquired. And if the deviation between the measurement data of the fourth accelerometer and the third true value exceeds a third threshold value and the deviation between the measurement data of the fifth accelerometer and the third true value does not exceed a fifth threshold value, the second accelerometer is considered to need to be calibrated and the calibration condition is met. If the deviation between the fourth gyroscope measurement data and the fourth true value exceeds a fourth threshold and the deviation between the fifth gyroscope measurement data and the fourth true value does not exceed the sixth threshold, the second gyroscope is considered to need to be calibrated and the calibration condition is satisfied.

In the above, in the stationary state, the third true value for verifying the fourth accelerometer measurement data output by the second accelerometer and the fifth accelerometer measurement data output by the first accelerometer is the gravitational acceleration g, and the fourth true value for verifying the fourth gyroscope measurement data output by the second gyroscope and the fifth gyroscope measurement data output by the first gyroscope is 0. In practical use, after the accelerometer and the gyroscope output measurement data, the measurement error stored in the memory is used to compensate the measurement data, so that the deviation between the data compensated by the measurement error stored in the memory and the true value needs to be paid attention to, and according to the calibration times, the measurement error stored in the memory may be a measurement error determined before the auxiliary inertial measurement unit leaves the factory or a measurement error determined after the auxiliary inertial measurement unit is calibrated last time.

It is understood that if the output measurement data is directly used to compare with the true value after the accelerometer and gyroscope output the measurement data, the measurement data needs to be compensated for because the accelerometer and gyroscope have errors before shipment, the third threshold is data related to the measurement error of the second accelerometer, the fourth threshold is data related to the measurement error of the second gyroscope, the fifth threshold is data related to the measurement error of the first accelerometer, and the sixth threshold is data related to the measurement error of the first gyroscope.

Wherein the third threshold, the fourth threshold, the fifth threshold and the sixth threshold may be variable, for example, determined by adding a certain value or multiplying a certain ratio to the measurement error of the corresponding item determined at the previous calibration; alternatively, the third threshold, the fourth threshold, the fifth threshold, and the sixth threshold may be fixed values, for example, determined by adding a certain value to the measurement error of the corresponding item calibrated at the time of factory shipment.

In addition to the implementation shown in fig. 2, in another implementation, it may be determined whether the auxiliary inertial measurement unit needs to be calibrated in a static state, and if the auxiliary inertial measurement unit needs to be calibrated, the auxiliary inertial measurement unit directly enters a calibration mode without determining the validity of the main inertial measurement unit; and if the auxiliary inertial measurement unit does not need to be calibrated, not entering a calibration mode and ending the process.

In this implementation, entering the calibration mode specifically includes: in a static state, acquiring fourth measurement data output by an auxiliary inertia measurement unit, and judging whether the deviation between the fourth measurement data and a second true value in the static state exceeds a first threshold value; if the deviation between the fourth measurement data and the second true value exceeds the first threshold, then enter a calibration mode.

Further, the auxiliary inertial measurement unit includes a second accelerometer and a second gyroscope, the second true value includes two of a third true value of the accelerometer in the static state and a fourth true value of the gyroscope in the static state, and entering the calibration mode includes: in a static state, acquiring fourth accelerometer measurement data output by a second accelerometer and fourth gyroscope measurement data output by a second gyroscope; judging whether the deviation between the measurement data of the fourth accelerometer and the third true value in the static state exceeds a third threshold value or not, and judging whether the deviation between the measurement data of the fourth gyroscope and the fourth true value in the static state exceeds a fourth threshold value or not; if at least one of the deviation between the fourth accelerometer measurement data and the third true value exceeds a third threshold and the deviation between the fourth gyroscope measurement data and the fourth true value exceeds a fourth threshold, the calibration mode is entered directly, otherwise, if the deviation between the fourth accelerometer measurement data and the third true value does not exceed the third threshold and the deviation between the fourth gyroscope measurement data and the fourth true value does not exceed the fourth threshold, the calibration mode is not entered, and the process is ended. For further details of determining whether the secondary inertial measurement unit needs to be calibrated, reference may be made to the above description, which is not repeated herein.

After entering the calibration mode in the static state, the calibration action may not be executed temporarily until the inertial measurement system enters the motion state, and step S120 is executed to obtain the first measurement data output by the primary inertial measurement unit and the second measurement data output by the secondary inertial measurement unit. Further, in order to ensure the accuracy of the calibration, the primary inertial measurement unit and the secondary inertial measurement unit may output the first measurement data and the second measurement data synchronously at the same time, and obtain multiple sets of the first measurement data and the second measurement data synchronously output for calculating the measurement error of the secondary inertial measurement unit in step S130.

Specifically, in step S130, a plurality of sets of first measurement data and second measurement data that are synchronously acquired may be fitted according to a least square method to calculate an error therebetween, and the error is stored in the memory as a measurement error of the auxiliary inertial measurement unit, referring to fig. 2. The memory may be various non-volatile memory, and may include FLASH memory (FLASH), for example. The measurement error stored in the memory is updatable, with each calibration being performed, i.e., the measurement error stored in the memory at the time of the last calibration is replaced with the measurement error obtained from the current calibration. Subsequently, when the third measurement data output by the auxiliary inertia measurement unit is needed to be used as a data source due to the failure of the main inertia measurement unit and the like, the measurement error which is stored in the memory and is updated last time can be called to calibrate the third measurement data, and the measurement error is calculated by taking the first measurement data output by the main inertia measurement unit as a true value, and the measurement error is used to calibrate the third measurement data, so that the calibrated data can be ensured to be consistent with the output data of the main inertia measurement unit.

Further, since there may be a measurement error between the first measurement data output by the main inertia measurement unit and the actual true value in the motion state, when the first measurement data output by the main inertia measurement unit is used as a data source, the measurement error of the main inertia measurement unit stored in the memory may be used to calibrate the first measurement data. Thus, in one embodiment, after compensating the third measurement data using the measurement error determined in step S130, the measurement error of the primary inertial measurement unit may be invoked for further calibration to obtain the final measurement data. The measurement error of the main inertia measurement unit may be a measurement error obtained by calibration at the time of factory shipment, or may be a measurement error obtained by manually calibrating the main inertia measurement unit.

As described above, the primary inertial measurement unit includes the first gyroscope and the first accelerometer, and the secondary inertial measurement unit includes the second gyroscope and the second accelerometer, the first measurement data includes the first accelerometer measurement data output by the first accelerometer and the first gyroscope measurement data output by the first gyroscope, and the second measurement data includes the second accelerometer measurement data output by the second accelerometer and the second gyroscope measurement data output by the second gyroscope. The calibration of the third measurement data output by the auxiliary inertial measurement unit by using the first measurement data and the second measurement data specifically comprises the following two independent parts: the measurement data of the second accelerometer is calibrated using the first accelerometer measurement data and the second accelerometer measurement data, and the measurement data of the second gyroscope is calibrated using the first gyroscope measurement data and the second gyroscope measurement data. Each time of calibration, one or both of the output data of the second accelerometer and the output data of the second gyroscope may be calibrated, as follows:

in step S110, entering the calibration mode may be due to detecting that the second gyroscope needs to be calibrated, i.e. the calibration is triggered by the second gyroscope; alternatively, entering the calibration mode may be due to detecting that the second accelerometer needs to be calibrated, i.e. the calibration is triggered by the second accelerometer; of course, it is also possible to enter the calibration mode due to the detection that both the second accelerometer and the second gyroscope require calibration, i.e. calibration is triggered by both.

Then, in one embodiment, after entering the calibration mode, whether the calibration is triggered by the second gyroscope, the second accelerometer, or both, the second gyroscope and the second accelerometer are both calibrated, that is, in step S120, the first accelerometer measurement data output by the first accelerometer and the first gyroscope measurement data output by the first gyroscope are acquired, and the second accelerometer measurement data output by the second accelerometer and the second gyroscope measurement data output by the second gyroscope are acquired; in step S130, a measurement error of the second accelerometer is determined using the first accelerometer measurement data and the second accelerometer measurement data, and a measurement error of the second gyroscope is determined using the first gyroscope measurement data and the second gyroscope measurement data.

In yet another embodiment, after entering the calibration mode, it is determined which of the second accelerometer and the second gyroscope triggered the calibration. If the calibration is triggered by the second accelerometer, only the second accelerometer is calibrated, that is, in step S120, first accelerometer measurement data output by the first accelerometer and second accelerometer measurement data output by the second accelerometer are acquired, and in step S130, a measurement error of the second accelerometer is determined by using the first accelerometer measurement data and the second accelerometer measurement data. If the calibration is triggered by the second gyroscope, only the second gyroscope is calibrated, that is, in step S120, first gyroscope measurement data output by the first gyroscope and second gyroscope measurement data output by the second gyroscope are obtained, and in step S130, a measurement error of the second gyroscope is determined by using the first gyroscope measurement data and the second gyroscope measurement data. If the calibration is triggered by both the second accelerometer and the second gyroscope, both are calibrated, see above.

The first accelerometer and the second accelerometer may be implemented as single-axis accelerometers as well as multi-axis accelerometers. When the first accelerometer and the second accelerometer are single-axis accelerometers, the error between the measurement data of the first accelerometer and the measurement data of the second accelerometer can be directly calculated as the measurement error of the second accelerometer; and when the first accelerometer and the second accelerometer are multi-axis accelerometers, respectively calculating the error between the first acceleration measurement data and the second accelerometer measurement data on each coordinate axis as the measurement error of the second accelerometer on the coordinate axis. In one example, the first accelerometer and the second accelerometer may each be implemented as a three-axis accelerometer, with the first accelerometer output first accelerometer measurement data and the second accelerometer output second accelerometer measurement data including measurement data along three x, y, and z coordinate axes, respectively. When the measurement error of the second accelerometer is determined by using the measurement data of the first accelerometer and the measurement data of the second accelerometer, the error between the component of the measurement data of the second accelerometer on each coordinate axis and the component of the measurement data of the first accelerometer on the coordinate axis can be respectively determined to be the measurement error of the accelerometer of the second accelerometer on the coordinate axis, and the measurement error of the accelerometer on each coordinate axis is stored in the memory. And when the third accelerometer measurement data output by the second accelerometer is needed to be used as a data source, the measurement error of the accelerometer on each coordinate axis can be used for compensating the component of the third accelerometer measurement data on the corresponding coordinate axis.

Similarly, the first and second gyroscopes may also be implemented as single-axis gyroscopes or multi-axis gyroscopes. When the first gyroscope and the second gyroscope are single-axis gyroscopes, an error between the output data of the first gyroscope and the output data of the second gyroscope can be directly calculated as a measurement error of the second gyroscope. And when the first gyroscope and the second gyroscope are positioned on the multi-axis gyroscope, respectively calculating the error between the first gyroscope measurement data and the second gyroscope measurement data on each coordinate axis to be used as the measurement error of the second gyroscope on the coordinate axis. In one example, the first and second gyroscopes may each be implemented as a three-axis gyroscope, with the first gyroscope outputting first gyroscope measurement data and the second gyroscope outputting second gyroscope measurement data comprising measurement data along three axes, x, y, and z, respectively. When the measurement error of the second gyroscope is determined by using the first gyroscope measurement data and the second gyroscope measurement data, an error between a component of the second gyroscope measurement data on each coordinate axis and a component of the first gyroscope measurement data on the coordinate axis may be respectively determined to be used as the measurement error of the second gyroscope on the coordinate axis, and the measurement error of the second gyroscope on each coordinate axis is stored in the memory. And subsequently, when third gyroscope measurement data output by the second gyroscope is required to be used as a data source, compensating the component of the third gyroscope measurement data on the corresponding coordinate axis by using the measurement error of the second gyroscope on each coordinate axis.

The above exemplarily describes an exemplary step flow included in the calibration method of the inertial measurement system according to the embodiment of the present invention. The calibration method of the inertial measurement system provided by the embodiment of the invention can automatically adopt the output data of the main inertial measurement unit to calibrate the auxiliary inertial measurement unit, ensures the measurement precision of the auxiliary inertial measurement unit, does not need to actively trigger calibration by a user, and improves the user experience and the reliability of the system.

In another aspect of the present invention, an inertial measurement system is provided, and fig. 3 is a schematic block diagram of an inertial measurement system 300 according to an embodiment of the present invention. As shown in fig. 3, the inertial measurement system 300 includes: the processor 310, the primary inertia measurement unit 320, and the secondary inertia measurement unit 330, only the main functions of the inertia measurement system 300 are described below, and some details that have been described above are omitted.

The primary inertial measurement unit 320 is configured to output first measurement data. Further, the main inertial measurement unit 320 includes a first accelerometer and a first gyroscope, and the first measurement data includes first accelerometer measurement data output by the first accelerometer and first gyroscope measurement data output by the first gyroscope.

The auxiliary inertial measurement unit 330 is configured to output second measurement data. Further, the auxiliary inertial measurement unit 330 includes a second accelerometer and a second gyroscope, and the second measurement data includes second accelerometer measurement data output by the second accelerometer and second gyroscope measurement data output by the second gyroscope. As an example, the measurement accuracy of the primary inertial measurement unit 320 is higher than the measurement accuracy of the secondary inertial measurement unit 330. The first measurement data and the second measurement data are measurement data in a motion state.

The processor 310 may have any form of processing unit with data processing capabilities and/or instruction execution capabilities. For example, the processor 310 may include a Micro Controller Unit (MCU) which appropriately reduces the frequency and specification of the cpu, and integrates the memory, the counter, the USB, the a/D converter, the UART, the PLC, the DMA, and other peripheral interfaces, and the LCD driving circuit on a single chip to form a chip-level processor for different applications and different combinations of control. In addition to executing the calibration method of the embodiment of the present invention, the MCU may also algorithmically control the stable operation of the movable platform (e.g., the drone) according to the operation instructions of the user and the output data of the primary inertial measurement unit 320 or the secondary inertial measurement unit 330.

In particular, the processor 310 is configured to perform the following steps: entering a calibration mode; acquiring the first measurement data and the second measurement data; and determining a measurement error of the auxiliary inertia measurement unit by using the first measurement data and the second measurement data, wherein the measurement error is used for calibrating third measurement data output by the auxiliary inertia measurement unit.

Further, determining a measurement error of the secondary inertial measurement unit using the first measurement data and the second measurement data comprises: and taking the first measurement data as a first true value, and determining an error between the second measurement data and the first true value as a measurement error of the auxiliary inertial measurement unit.

In one embodiment, acquiring first measurement data output by the primary inertial measurement unit and second measurement data output by the secondary inertial measurement unit comprises: and acquiring multiple groups of the first measurement data and the second measurement data which are synchronously output. The determining an error between the second measurement data and the first measurement data comprises: and fitting a plurality of groups of the first measurement data and the second measurement data according to a least square method to calculate the error.

In one embodiment, inertial measurement system 300 further includes a memory, and processor 310 is further configured to store the error in the memory. Illustratively, the error is updatable.

In one embodiment, the entering the calibration mode comprises: in a static state, acquiring fourth measurement data output by the auxiliary inertia measurement unit, and judging whether the deviation between the fourth measurement data and a second true value in the static state exceeds a first threshold value; entering the calibration mode if a deviation between the fourth measurement data and the second true value exceeds the first threshold.

In another embodiment, the entering the calibration mode includes: in a static state, acquiring fourth measurement data output by the auxiliary inertia measurement unit and fifth measurement data output by the main inertia measurement unit; judging whether the deviation between the fourth measurement data and a second true value in a static state exceeds a first threshold value or not, and judging whether the deviation between the fifth measurement data and the second true value does not exceed a second threshold value or not; entering the calibration mode if a deviation between the fourth measurement data and the second true value exceeds the first threshold and a deviation between the fifth measurement data and the second true value does not exceed the second threshold.

In one embodiment, the primary inertial measurement unit 320 includes a first accelerometer and a first gyroscope, and the first measurement data output by the primary inertial measurement unit 320 includes first accelerometer measurement data output by the first accelerometer and first gyroscope measurement data output by the first gyroscope. The auxiliary inertial measurement unit 330 includes a second accelerometer and a second gyroscope, and the second measurement data output by the auxiliary inertial measurement unit 330 includes second accelerometer measurement data output by the second accelerometer and second gyroscope measurement data output by the second gyroscope; the determining a measurement error of the secondary inertial measurement unit using the first measurement data and the second measurement data includes: and determining the measurement error of the second accelerometer by using the first accelerometer measurement data and the second accelerometer measurement data, wherein the measurement error of the second accelerometer is used for calibrating the third accelerometer measurement data output by the second accelerometer, and/or determining the measurement error of the second gyroscope by using the first gyroscope measurement data and the second gyroscope measurement data, and the measurement error of the second gyroscope is used for calibrating the third gyroscope measurement data output by the second gyroscope.

In one embodiment, said determining a measurement error of said second accelerometer using said first accelerometer measurement data and said second accelerometer measurement data comprises: determining a measurement error of the second accelerometer using the first accelerometer measurement data and the second accelerometer measurement data each time the calibration mode is entered; or, if the second accelerometer is triggered to enter the calibration mode, determining a measurement error of the second accelerometer by using the measurement data of the first accelerometer and the measurement data of the second accelerometer.

In one embodiment, said determining a measurement error of said second gyroscope using said first gyroscope measurement data and said second gyroscope measurement data comprises: determining a measurement error of the second gyroscope using the first gyroscope measurement data and the second gyroscope measurement data each time the calibration mode is entered; or, if the second gyroscope is judged to be triggered to enter the calibration mode, determining the measurement error of the second gyroscope by using the measurement data of the first gyroscope and the measurement data of the second gyroscope.

In one embodiment, the first and second gyroscope measurements comprise measurements along three coordinate axes, respectively, and the determining a measurement error of the second gyroscope using the first and second gyroscope measurements comprises: determining an error between the second gyroscope measurement data on each coordinate axis and the first gyroscope measurement data on the corresponding coordinate axis as a measurement error of the second gyroscope on the coordinate axis.

In one embodiment, the first accelerometer measurement data and the second accelerometer measurement data each comprise measurement data along three coordinate axes, and the determining a measurement error of the second accelerometer using the first accelerometer measurement data and the second accelerometer measurement data comprises: determining an error between the second accelerometer measurement data on each coordinate axis and the first accelerometer measurement data on the corresponding coordinate axis as a measurement error of the second accelerometer on that coordinate axis.

In one embodiment, the entering the calibration mode comprises: in a static state, acquiring fourth accelerometer measurement data output by the second accelerometer and fourth gyroscope measurement data output by the second gyroscope; judging whether the deviation between the fourth accelerometer measurement data and a third true value in a static state exceeds a third threshold value or not, and judging whether the deviation between the fourth gyroscope measurement data and a fourth true value in the static state exceeds a fourth threshold value or not; entering the calibration mode if a deviation between the fourth accelerometer measurement data and the third true value exceeds the third threshold and/or a deviation between the fourth gyroscope measurement data and the fourth true value exceeds the fourth threshold.

In another embodiment, the entering the calibration mode includes: in a static state, acquiring fourth accelerometer measurement data output by the second accelerometer and fourth gyroscope measurement data output by the second gyroscope, and acquiring fifth accelerometer measurement data output by the first accelerometer and fifth gyroscope measurement data output by the first gyroscope; judging whether the deviation between the fourth accelerometer measurement data and a third true value in a static state exceeds a third threshold value or not, and judging whether the deviation between the fourth gyroscope measurement data and a fourth true value in the static state exceeds a fourth threshold value or not; determining whether a deviation between the fifth speedometer measurement data and the third true value does not exceed a fifth threshold value, and determining whether a deviation between the fifth gyroscope measurement data and the fourth true value does not exceed a sixth threshold value; entering the calibration mode if a deviation between the fourth accelerometer measurement data and the third true value exceeds the third threshold and a deviation between the fifth accelerometer measurement data and the third true value does not exceed the fifth threshold, and/or a deviation between the fourth gyroscope measurement data and the fourth true value exceeds the fourth threshold and a deviation between the fifth gyroscope measurement data and the fourth true value does not exceed the sixth threshold.

The main functions of the components of the inertial measurement system 300 are described above, and further details can be referred to the above description of the calibration method 100 of the inertial measurement system, which is not repeated herein.

In another embodiment, as shown in fig. 4, an embodiment of the present invention further provides a movable platform 400, where the movable platform 400 includes a movable platform body 410 and an inertial measurement system 420, and the inertial measurement system 420 is disposed on the movable platform body 410. Wherein, the movable platform 400 includes any movable device that needs to be provided with an inertia measurement system, for example, at least one of an unmanned aerial vehicle, an unmanned vehicle, a cradle head, a camera, an unmanned aerial vehicle robot, and the like. Illustratively, when the movable platform 400 is a drone, the movable platform body 410 is the fuselage of the drone. When the movable platform 400 is an unmanned vehicle, the movable platform body 410 is a body of the unmanned vehicle. When the movable platform 400 is a pan/tilt head, the movable platform body 410 is a pan/tilt head body. The inertial measurement system 420 includes the inertial measurement system described in any of the above embodiments, and specific details thereof refer to the above description, which is not repeated herein.

In addition, the embodiment of the invention also provides a computer storage medium, and the computer storage medium is stored with the computer program. The steps of the calibration method 100 described above may be implemented when the computer program is executed by a processor.

For example, the computer storage medium is a computer-readable storage medium. The computer storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a portable compact disc read only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

In summary, the calibration method of the inertial measurement system, the movable platform and the computer storage medium according to the embodiments of the present invention can automatically calibrate the auxiliary inertial measurement unit using the output data of the main inertial measurement unit, thereby ensuring the measurement accuracy of the auxiliary inertial measurement unit, and improving the user experience and the reliability of the system without the need of actively triggering calibration by the user.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the foregoing illustrative embodiments are merely exemplary and are not intended to limit the scope of the invention thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be construed to reflect the intent: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some of the modules according to embodiments of the present invention. The present invention may also be embodied as apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

The above description is only for the specific embodiment of the present invention or the description thereof, and the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

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Calibration method of inertial measurement system, inertial measurement system and movable platform

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