Automatic calibration method, device, and system for angle sensor

An automatic calibration device for an angle sensor, comprising:

• a memory;
• and
• a processor coupled to the memory, the processor configured to, based on instructions stored in the memory, carry out the automatic calibration method for the angle sensor, wherein the angle sensor is placed on a turntable mechanical platform, the turntable mechanical platform being rotatable about a first axis, a second axis, and a third axis, the first axis and the second axis being perpendicular to each other and forming a horizontal plane, the third axis being perpendicular to the horizontal plane, and the automatic calibration method for the angle sensor comprising:
• obtaining first acceleration data output by the angle sensor at each first test angle and corresponding second acceleration data which is nominal data in a case where the angle sensor rotates about the first axis, wherein the turntable mechanical platform in a first initial state of rotating about the first axis is parallel to the horizontal plane;
• obtaining third acceleration data output by the angle sensor at each second test angle and corresponding fourth acceleration data which is nominal data in a case where the angle sensor rotates about the second axis in a situation that the turntable mechanical platform rotates 90 degrees about the third axis, wherein the turntable mechanical platform in a second initial state of rotating about the second axis is parallel to the horizontal plane;
• constructing a calibration data model between output acceleration data and calibrated acceleration data, based on the first acceleration data, the second acceleration data, the third acceleration data, and the fourth acceleration data;
• determining calibrated acceleration data corresponding to acceleration data output at any angle based on the calibration data model;
• and
• obtaining a calibrated angle of the angle sensor at any angle based on the calibrated acceleration data of that angle.

A non-transitory computer-readable storage medium stored thereon computer program instructions that, when executed by a processor, implement the automatic calibration method for an angle sensor, wherein the angle sensor is placed on a turntable mechanical platform, the turntable mechanical platform being rotatable about a first axis, a second axis, and a third axis, the first axis and the second axis being perpendicular to each other and forming a horizontal plane, the third axis being perpendicular to the horizontal plane, and the automatic calibration method for the angle sensor comprising:

• obtaining first acceleration data output by the angle sensor at each first test angle and corresponding second acceleration data which is nominal data in a case where the angle sensor rotates about the first axis, wherein the turntable mechanical platform in a first initial state of rotating about the first axis is parallel to the horizontal plane;
• obtaining third acceleration data output by the angle sensor at each second test angle and corresponding fourth acceleration data which is nominal data in a case where the angle sensor rotates about the second axis in a situation that the turntable mechanical platform rotates 90 degrees about the third axis, wherein the turntable mechanical platform in a second initial state of rotating about the second axis is parallel to the horizontal plane;
• constructing a calibration data model between output acceleration data and calibrated acceleration data, based on the first acceleration data, the second acceleration data, the third acceleration data, and the fourth acceleration data;
• determining calibrated acceleration data corresponding to acceleration data output at any angle based on the calibration data model;
• and
• obtaining a calibrated angle of the angle sensor at any angle based on the calibrated acceleration data of that angle.