CN108600542B - Gyroscope calibration method and device - Google Patents

Abstract

The embodiment of the present application discloses a gyroscope calibration method and device, including: when a mobile terminal is detected to be in a falling state, starting the gyroscope; when the system operation state of the mobile terminal is detected to be in a dormant state, obtaining pre-stored first calibration data of the gyroscope; obtaining multiple sets of angle data collected by the gyroscope according to the first calibration data, and determining the angle change value of the mobile terminal during the falling process through the multiple sets of angle data. The embodiment of the present application realizes that when the mobile terminal is in a falling process and in a dormant state, the application processor will not be started when calibrating the gyroscope, thereby reducing power consumption and the degree of falling damage.

Description

Gyroscope calibration method and device

technical field

The present application relates to the technical field of mobile terminals, and in particular, to a gyroscope calibration method and device.

Background technique

With the mass popularization and rapid development of mobile terminals (for example, smart phones), more and more applications are installed in users' mobile terminals, and people use mobile terminals more and more frequently, such as video applications, payment applications , game applications, music applications, etc.

At present, due to the frequent use of mobile terminals, parts (such as display screens, casings, etc.) are often damaged due to falling, which shortens the service life of the mobile terminal. Therefore, how to accurately locate the damaged parts and obtain accurate drop data can prolong the life of the mobile terminal. The service life of the mobile terminal has important guiding significance.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a gyroscope calibration method and device, which can realize that when the mobile terminal is in a falling process and is in a sleep state, the application processor will not be started when calibrating the gyroscope, thereby reducing power consumption and drop damage.

In a first aspect, an embodiment of the present application provides a method for calibrating a gyroscope, the method comprising:

When it is detected that the mobile terminal is in a falling state, start the gyroscope;

When it is detected that the system running state of the mobile terminal is the dormant state, acquiring pre-stored first calibration data of the gyroscope;

Acquire multiple sets of angle data collected by the gyroscope according to the first calibration data, and determine the angle change value of the mobile terminal during the falling process by using the multiple sets of angle data.

In a second aspect, an embodiment of the present application provides a gyroscope calibration device, including a startup unit, an acquisition unit, and a determination unit, wherein:

The starting unit is used to start the gyroscope when it is detected that the mobile terminal is in a falling state;

the acquisition unit, configured to acquire pre-stored first calibration data of the gyroscope when it is detected that the system operating state of the mobile terminal is a sleep state;

The determining unit is configured to acquire multiple sets of angle data collected by the gyroscope according to the first calibration data, and determine the angle change value of the mobile terminal during the falling process by using the multiple sets of angle data.

In a third aspect, an embodiment of the present application provides a mobile terminal, including: a processor, a memory, and one or more programs; the one or more programs are stored in the above-mentioned memory, and are configured to be executed by the Executed by the processor, the program includes instructions for executing the steps described in any of the methods in the first aspect of the embodiments of this application.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, and the computer program specifically includes instructions for executing As part or all of the steps described in any method in the first aspect of the embodiments of this application, the computer includes a mobile terminal.

In a fifth aspect, embodiments of the present application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute the Part or all of the steps described in any method of the first aspect of the application examples. The computer program product may be a software installation package, and the computer includes a mobile terminal.

It can be seen that, in the embodiment of the present application, the mobile terminal firstly starts the gyroscope when it is detected that the mobile terminal is in a falling state, and secondly, when it is detected that the system running state of the mobile terminal is in the sleep state, obtains the pre-stored gyroscope The first calibration data. Finally, according to the first calibration data, multiple sets of angle data collected by the gyroscope are acquired, and the angle change value of the mobile terminal during the falling process is determined by the multiple sets of angle data. It can be seen that when the mobile terminal is in a falling state, the gyroscope is activated to avoid power consumption when the gyroscope is in a working state at all times. Moreover, when the system running state is a sleep state, the first calibration data pre-stored in the history record is used instead of Acquire real-time data, so that the gyroscope can collect multiple sets of angle data according to the first calibration data without calibrating the gyroscope, which avoids the power consumption caused by calibrating the gyroscope to wake up the application processor in the sleep state, which is conducive to reducing the power consumption. power consumption, and the drop occurs under low power consumption, which reduces the damage degree of the mobile terminal. In addition, making the gyroscope collect multiple sets of angle data according to the first calibration data is beneficial to improve the accuracy of the gyroscope.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1A is a schematic flowchart of a gyroscope calibration method disclosed in an embodiment of the present application;

1B is a schematic diagram of an acceleration direction when a mobile terminal is placed horizontally according to an embodiment of the present invention;

1C is a schematic diagram of an acceleration direction of a mobile terminal when a mobile terminal falls according to an embodiment of the present invention;

2 is a schematic flowchart of another gyroscope calibration method disclosed in an embodiment of the present application;

3 is a schematic flowchart of another gyroscope calibration method disclosed in an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a mobile terminal disclosed in an embodiment of the present application;

FIG. 5A is a block diagram of functional units of a gyroscope calibration device disclosed in an embodiment of the present application;

5B is a block diagram of functional units of another gyroscope calibration device disclosed in an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a smart phone disclosed in an embodiment of the present application.

Detailed ways

In order to make those skilled in the art better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

The terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish different objects, rather than to describe a specific order. Furthermore, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally also includes For other steps or units inherent to these processes, methods, products or devices.

Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

The mobile terminals involved in the embodiments of the present application may include various handheld devices with wireless communication functions, vehicle-mounted devices, wearable devices, computing devices, or other processing devices connected to wireless modems, as well as various forms of user equipment (User Equipment). Equipment, UE), mobile station (Mobile Station, MS), terminal device (terminal device) and so on. For the convenience of description, the devices mentioned above are collectively referred to as mobile terminals. The embodiments of the present application will be described in detail below.

Please refer to FIG. 1A. FIG. 1A is a schematic flowchart of a gyroscope calibration method provided by an embodiment of the present application. As shown in the figure, the gyroscope calibration method includes:

S101, when the mobile terminal detects that the mobile terminal is in a falling state, start the gyroscope;

Wherein, the gyroscope is used to collect the angular velocity value of the mobile terminal during operation.

The detecting that the mobile terminal is in a falling state means that the mobile terminal detects a sudden change in the acceleration direction or the acceleration value of the mobile terminal through the acceleration sensor, and it can be determined that the mobile terminal has fallen and is in a falling state.

For example, when the mobile terminal is placed horizontally on a desktop, as shown in FIG. 1B , the X-axis, Y-axis, and Z-axis of the acceleration sensor are as shown in the figure. The mobile terminal is supported by gravity and the desktop, so that all The acceleration of the mobile terminal is 0, and when the mobile terminal falls, as shown in FIG. 1C , the acceleration direction of the mobile terminal is the acceleration direction shown in FIG. 1C , which is different from the acceleration direction when placed horizontally, When the acceleration suddenly changes, the mobile terminal falls, and before the acceleration returns to the acceleration shown in FIG. 1B , the mobile terminal is in a falling state.

S102, when the mobile terminal detects that the system running state of the mobile terminal is a sleep state, obtain pre-stored first calibration data of the gyroscope;

Wherein, that the system operating state of the mobile terminal is a dormant state can be understood that the application processor of the mobile terminal is in a dormant state that is not running, and there is no power consumption.

Wherein, the system operating state is divided into a sleep state and a wake-up state.

Wherein, the first calibration data is one set of calibration data among multiple sets of calibration data stored by the mobile terminal, and the multiple sets of calibration data pre-stored by the mobile terminal are the system running during multiple historical drops of the mobile terminal. When the state is the wake-up state, the calibration data for calibrating the gyroscope is acquired in real time.

The specific implementation of acquiring the pre-stored first calibration data may be various, for example, it may be to acquire the gyroscope calibration data when the drop event occurs when the system operating state closest to the current drop state is the wake-up state, or it may be It is the gyroscope calibration data in the historical drop events matching the current location, which is not limited here.

S103, the mobile terminal acquires multiple sets of angle data collected by the gyroscope according to the first calibration data, and determines an angle change value of the mobile terminal during the falling process according to the multiple sets of angle data.

The multiple sets of angular velocity data are the multiple sets of angular velocity data obtained after the data collected by the gyroscope is calibrated by the first calibration data.

Wherein, the specific implementation manner of calibrating the data collected by the gyroscope through the first calibration data may be various, for example, the data collected by the gyroscope may be added with the first calibration data to obtain multiple sets of angular velocity data, or It is the data collected by the gyroscope minus the first calibration data to obtain multiple sets of angular velocity data, which is not limited here.

Wherein, the angle change value is any set of angular velocity values in the multiple sets of angular velocity data collected by the gyroscope, and the time integral is obtained to obtain the angle that the mobile terminal turns from the time the mobile terminal falls until the moment when the set of angular velocity values is obtained.

It can be seen that, in the embodiment of the present application, the mobile terminal firstly starts the gyroscope when it is detected that the mobile terminal is in a falling state, and secondly, when it is detected that the system running state of the mobile terminal is in the sleep state, obtains the pre-stored gyroscope The first calibration data. Finally, according to the first calibration data, multiple sets of angle data collected by the gyroscope are acquired, and the angle change value of the mobile terminal during the falling process is determined by the multiple sets of angle data. It can be seen that when the mobile terminal is in a falling state, the gyroscope is activated to avoid power consumption when the gyroscope is in a working state at all times. Moreover, when the system running state is a sleep state, the first calibration data pre-stored in the history record is used instead of Acquire real-time data, so that the gyroscope can collect multiple sets of angle data according to the first calibration data without calibrating the gyroscope, which avoids the power consumption caused by calibrating the gyroscope to wake up the application processor in the sleep state, which is conducive to reducing the power consumption. power consumption, and the drop occurs under low power consumption, which reduces the damage degree of the mobile terminal. In addition, making the gyroscope collect multiple sets of angle data according to the first calibration data is beneficial to improve the accuracy of the gyroscope.

In a possible example, after detecting that the mobile terminal is in a falling state, the method further includes:

Determine the initial angle of the mobile terminal when it falls according to the acceleration sensor;

After acquiring multiple sets of angle data collected by the gyroscope according to the first calibration data, and after determining the angle change value of the mobile terminal during the falling process by using the multiple sets of angle data, the method further includes:

The impact angle of the mobile terminal when the mobile terminal hits the ground during the falling process is determined according to the initial angle of the mobile terminal and the angle change value.

Wherein, the acceleration sensor obtains the initial angle value of the mobile terminal when the mobile terminal is stationary through the X axis, the Y axis, and the Z axis as shown in FIG. 1B at the beginning of the fall.

Wherein, the impact angle when the mobile terminal hits the ground during the falling process is the impact angle when the mobile terminal hits the ground for the first time, and the angle change value is obtained by the gyroscope from the start of the fall to the time when the mobile terminal hits the ground. The angle change value of the mobile terminal between.

It can be seen that in this example, the mobile terminal obtains the initial angle of the mobile terminal when the mobile terminal starts to fall through the acceleration sensor, and then obtains the angle change of the mobile terminal during the drop process through the gyroscope, and finally determines the angle value when the mobile terminal falls and hits the ground, and obtains the Accurate drop data is conducive to improving the accuracy of mobile terminal drop data analysis.

In a possible example, the acquiring pre-stored first calibration data of the gyroscope includes:

acquiring target environmental parameters of the mobile terminal, where the target environmental parameters include location parameters and temperature parameters;

The reference environment parameters corresponding to the pre-stored multiple sets of calibration data are queried, and the calibration data corresponding to the reference environment parameters matching the target environment parameters is determined as the first calibration data.

Wherein, the mobile terminal obtains the position parameter through the position sensor, and obtains the temperature parameter through the temperature sensor.

Wherein, each set of calibration data in the pre-stored sets of calibration data includes calibration data and a reference environment parameter, and the reference environment parameter includes a reference position parameter and a reference temperature parameter.

It can be seen that in this example, the mobile terminal queries multiple sets of pre-stored calibration data according to the current target environment parameters, and determines the first calibration data that matches the current target environment parameters, which is conducive to improving the intelligence of the gyroscope to obtain the angle change value, Convenience and accuracy.

In a possible example, after it is detected that the system running state of the mobile terminal is a sleep state, the method further includes:

According to the sleep state, the sensor service SensorService is notified to cancel the acquiring operation and the writing operation for the second calibration data, where the second calibration data is real-time calibration data.

Wherein, canceling the acquisition operation and writing operation for the second calibration data is canceling the real-time acquisition of the calibration data, that is, canceling the real-time acquisition of the second calibration data, which is acquiring the pre-stored first calibration data, and canceling the writing of the second calibration data. into operation.

It can be seen that, in this example, when the system state is in the sleep state, the mobile terminal notifies the sensor service to cancel the real-time acquisition of the second calibration data, and does not need to wake up the application processor in the sleep state, which is conducive to further reducing power consumption.

In a possible example, when it is detected that the mobile terminal is in a falling state, after starting the gyroscope, the method further includes:

When it is detected that the system operating state of the mobile terminal is an awake state, acquiring second calibration data;

Calibrate the gyroscope according to the second calibration data;

The angle change value of the mobile terminal during the falling process is determined by the calibrated gyroscope.

Wherein, the second calibration data is gyroscope calibration data obtained and written in real time, and the angle change value is the integration of the real-time angle value and time obtained by the calibrated gyroscope as described above.

It can be seen that in this example, when the mobile terminal is in the wake-up state, the second calibration data is acquired in real time, and the gyroscope is calibrated according to the second calibration data, which is beneficial to improve the accuracy of gyroscope data acquisition and the real-time performance of data calibration, and in Calibrating the gyroscope in the wake-up state does not require re-awakening the application processor and does not increase the power consumption of the mobile terminal.

Consistent with the embodiment shown in FIG. 1A , please refer to FIG. 2 . FIG. 2 is a schematic flowchart of another gyroscope calibration method provided by an embodiment of the present application. As shown in the figure, the gyroscope calibration method includes:

S201, when the mobile terminal detects that the mobile terminal is in a falling state, start the gyroscope.

S202, the mobile terminal determines an initial angle of the mobile terminal when it falls according to an acceleration sensor.

S203: When detecting that the system running state of the mobile terminal is a sleep state, the mobile terminal acquires a target environment parameter of the mobile terminal, where the target environment parameter includes a location parameter and a temperature parameter.

S204, the mobile terminal queries the reference environment parameters corresponding to the pre-stored multiple sets of calibration data, and determines that the calibration data corresponding to the reference environment parameters matching the target environment parameter is the first calibration data.

S205 , the mobile terminal notifies, according to the sleep state, the sensor service, SensorService, to cancel the acquiring operation and the writing operation for the second calibration data, where the second calibration data is real-time calibration data.

S206, the mobile terminal acquires multiple sets of angle data collected by the gyroscope according to the first calibration data, and determines the angle change value of the mobile terminal during the falling process according to the multiple sets of angle data.

S207, the mobile terminal determines, according to the initial angle of the mobile terminal and the angle change value, an impact angle of the mobile terminal when the mobile terminal hits the ground during the falling process.

It can be seen that, in the embodiment of the present application, the mobile terminal firstly starts the gyroscope when it is detected that the mobile terminal is in a falling state, and secondly, when it is detected that the system running state of the mobile terminal is in the sleep state, obtains the pre-stored gyroscope The first calibration data. Finally, according to the first calibration data, multiple sets of angle data collected by the gyroscope are acquired, and the angle change value of the mobile terminal during the falling process is determined by the multiple sets of angle data. It can be seen that when the mobile terminal is in a falling state, the gyroscope is activated to avoid power consumption when the gyroscope is in a working state at all times. Moreover, when the system running state is a sleep state, the first calibration data pre-stored in the history record is used instead of Acquire real-time data, so that the gyroscope can collect multiple sets of angle data according to the first calibration data without calibrating the gyroscope, which avoids the power consumption caused by calibrating the gyroscope to wake up the application processor in the sleep state, which is conducive to reducing the power consumption. power consumption, and the drop occurs under low power consumption, which reduces the damage degree of the mobile terminal. In addition, making the gyroscope collect multiple sets of angle data according to the first calibration data is beneficial to improve the accuracy of the gyroscope.

In addition, the mobile terminal obtains the initial angle of the mobile terminal when the mobile terminal starts to fall through the acceleration sensor, and then obtains the angle change of the mobile terminal during the drop process through the gyroscope, and finally determines the angle value when the mobile terminal falls and hits the ground, and obtains accurate drop data. , which is conducive to improving the accuracy of the mobile terminal's drop data analysis. Moreover, the mobile terminal queries multiple sets of pre-stored calibration data according to the current target environment parameters, and determines the first calibration data that matches the current target environment parameters, which is conducive to improving the gyro The intelligence, convenience and accuracy of the instrument to obtain the angle change value.

In addition, when the system state is in the sleep state, the mobile terminal notifies the sensor service to cancel the real-time acquisition of the second calibration data, and does not need to wake up the application processor in the sleep state, which is beneficial to further reduce power consumption.

Consistent with the embodiment shown in FIG. 1A , please refer to FIG. 3 . FIG. 3 is a schematic flowchart of another gyroscope calibration method provided by an embodiment of the present application. As shown in the figure, the gyroscope calibration method includes:

S301, when the mobile terminal detects that the mobile terminal is in a falling state, start the gyroscope.

S302, the mobile terminal determines the initial angle of the mobile terminal when it falls according to the acceleration sensor.

S303, the mobile terminal acquires second calibration data when detecting that the system running state of the mobile terminal is an awake state.

S304, the mobile terminal calibrates the gyroscope according to the second calibration data.

S305, the mobile terminal determines, by using the calibrated gyroscope, an angle change value of the mobile terminal during the falling process.

S306, the mobile terminal determines, according to the initial angle of the mobile terminal and the angle change value, an impact angle of the mobile terminal when the mobile terminal hits the ground during the falling process.

It can be seen that, in the embodiment of the present application, the mobile terminal firstly starts the gyroscope when it is detected that the mobile terminal is in a falling state, and secondly, when it is detected that the system running state of the mobile terminal is in the sleep state, obtains the pre-stored gyroscope The first calibration data. Finally, according to the first calibration data, multiple sets of angle data collected by the gyroscope are acquired, and the angle change value of the mobile terminal during the falling process is determined by the multiple sets of angle data. It can be seen that when the mobile terminal is in a falling state, the gyroscope is activated to avoid power consumption when the gyroscope is in a working state at all times. Moreover, when the system running state is a sleep state, the first calibration data pre-stored in the history record is used instead of Acquire real-time data, so that the gyroscope can collect multiple sets of angle data according to the first calibration data without calibrating the gyroscope, which avoids the power consumption caused by calibrating the gyroscope to wake up the application processor in the sleep state, which is conducive to reducing the power consumption. power consumption, and the drop occurs under low power consumption, which reduces the damage degree of the mobile terminal. In addition, making the gyroscope collect multiple sets of angle data according to the first calibration data is beneficial to improve the accuracy of the gyroscope.

In addition, when the mobile terminal is in the awake state, the second calibration data is acquired in real time, and the gyroscope is calibrated according to the second calibration data, which is beneficial to improve the accuracy of gyroscope data acquisition and the real-time performance of data calibration. The gyroscope does not need to re-wake the application processor and does not increase the power consumption of the mobile terminal.

Consistent with the embodiments shown in FIG. 1A , FIG. 2 , and FIG. 3 above, please refer to FIG. 4 . FIG. 4 is a schematic structural diagram of a mobile terminal provided by an embodiment of the present application. As shown in the figure, the mobile terminal includes processing a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, the program comprising instructions for performing the following steps;

When it is detected that the mobile terminal is in a falling state, start the gyroscope;

When it is detected that the system running state of the mobile terminal is the dormant state, acquiring pre-stored first calibration data of the gyroscope;

Acquire multiple sets of angle data collected by the gyroscope according to the first calibration data, and determine the angle change value of the mobile terminal during the falling process by using the multiple sets of angle data.

It can be seen that, in the embodiment of the present application, the mobile terminal firstly starts the gyroscope when it is detected that the mobile terminal is in a falling state, and secondly, when it is detected that the system running state of the mobile terminal is in the sleep state, obtains the pre-stored gyroscope The first calibration data. Finally, according to the first calibration data, multiple sets of angle data collected by the gyroscope are acquired, and the angle change value of the mobile terminal during the falling process is determined by the multiple sets of angle data. It can be seen that when the mobile terminal is in a falling state, the gyroscope is activated to avoid power consumption when the gyroscope is in a working state at all times. Moreover, when the system running state is a sleep state, the first calibration data pre-stored in the history record is used instead of Acquire real-time data, so that the gyroscope can collect multiple sets of angle data according to the first calibration data without calibrating the gyroscope, which avoids the power consumption caused by calibrating the gyroscope to wake up the application processor in the sleep state, which is conducive to reducing the power consumption. power consumption, and the drop occurs under low power consumption, which reduces the damage degree of the mobile terminal. In addition, making the gyroscope collect multiple sets of angle data according to the first calibration data is beneficial to improve the accuracy of the gyroscope.

In a possible example, the above program further includes an instruction for performing the following steps: after detecting that the mobile terminal is in a falling state, determine the initial angle of the mobile terminal when it falls according to the acceleration sensor;

The above program also includes instructions for performing the following steps: in the process of acquiring multiple sets of angle data collected by the gyroscope according to the first calibration data, and determining the position of the mobile terminal during the falling process by using the multiple sets of angle data. After the angle change value is determined, the impact angle of the mobile terminal when the mobile terminal hits the ground during the falling process is determined according to the initial angle of the mobile terminal and the angle change value.

In a possible example, the above program further includes instructions for performing the following steps: before the detection that the execution duration is greater than or equal to a first preset duration threshold, determine the category of the first application; and The category of the first application is a query representation, the mapping relationship between the category of the application and the preset duration threshold is queried, and the first preset duration threshold corresponding to the category of the first application is determined.

In a possible example, in the aspect of acquiring the pre-stored first calibration data of the gyroscope, the instructions in the program are specifically used to perform the following operations: acquiring target environment parameters of the mobile terminal, where the target environment parameters include location parameters and temperature parameters; and reference environmental parameters corresponding to multiple sets of pre-stored calibration data are inquired, and the calibration data corresponding to the reference environmental parameters matching the target environmental parameters are determined as the first calibration data.

In a possible example, the above program further includes an instruction for executing the following steps: after it is detected that the system running state of the mobile terminal is a sleep state, according to the sleep state, notify the sensor service SensorService to cancel the Two operations of acquiring and writing calibration data, where the second calibration data is real-time calibration data.

In a possible example, the above program further includes an instruction for executing the following steps: when it is detected that the mobile terminal is in a falling state, after starting the gyroscope, when it is detected that the system running state of the mobile terminal is a wake-up state when , obtain second calibration data; and calibrate the gyroscope according to the second calibration data; and determine the angle change value of the mobile terminal during the falling process by using the calibrated gyroscope.

The foregoing mainly introduces the solutions of the embodiments of the present application from the perspective of the method-side execution process. It can be understood that, in order to implement the above-mentioned functions, the mobile terminal includes corresponding hardware structures and/or software modules for executing each function. Those skilled in the art should easily realize that the present application can be implemented in hardware or in the form of a combination of hardware and computer software, in combination with the units and algorithm steps of each example described in the embodiments provided herein. Whether a function is performed by hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

In this embodiment of the present application, the mobile terminal may be divided into functional units according to the foregoing method examples. For example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated into one processing unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units. It should be noted that the division of units in the embodiments of the present application is illustrative, and is only a logical function division, and other division methods may be used in actual implementation.

FIG. 5A is a block diagram of functional units of the gyroscope calibration apparatus 500 involved in the embodiment of the present application. The gyroscope calibration device 500 is applied to a mobile terminal, and the gyroscope calibration device 500 includes a startup unit 501, an acquisition unit 502 and a determination unit 503, wherein,

The starting unit 501 is used to start the gyroscope when it is detected that the mobile terminal is in a falling state;

The obtaining unit 502 is configured to obtain pre-stored first calibration data of the gyroscope when it is detected that the system operating state of the mobile terminal is a sleep state;

The determining unit 503 is configured to acquire multiple sets of angle data collected by the gyroscope according to the first calibration data, and determine the angle change value of the mobile terminal during the falling process by using the multiple sets of angle data.

It can be seen that, in the embodiment of the present application, the mobile terminal firstly starts the gyroscope when it is detected that the mobile terminal is in a falling state, and secondly, when it is detected that the system running state of the mobile terminal is in the sleep state, obtains the pre-stored gyroscope The first calibration data. Finally, according to the first calibration data, multiple sets of angle data collected by the gyroscope are acquired, and the angle change value of the mobile terminal during the falling process is determined by the multiple sets of angle data. It can be seen that when the mobile terminal is in a falling state, the gyroscope is activated to avoid power consumption when the gyroscope is in a working state at all times. Moreover, when the system running state is a sleep state, the first calibration data pre-stored in the history record is used instead of Acquire real-time data, so that the gyroscope can collect multiple sets of angle data according to the first calibration data without calibrating the gyroscope, which avoids the power consumption caused by calibrating the gyroscope to wake up the application processor in the sleep state, which is conducive to reducing the power consumption. power consumption, and the drop occurs under low power consumption, which reduces the damage degree of the mobile terminal. In addition, making the gyroscope collect multiple sets of angle data according to the first calibration data is beneficial to improve the accuracy of the gyroscope.

In a possible example, the determining unit 503 is further configured to: after it is detected that the mobile terminal is in a falling state, determine the initial angle of the mobile terminal when it falls according to the acceleration sensor;

The determining unit 503 is further configured to: in the acquisition of multiple sets of angle data collected by the gyroscope according to the first calibration data, and determining the angle change value of the mobile terminal during the falling process by using the multiple sets of angle data Afterwards, the impact angle of the mobile terminal when the mobile terminal hits the ground during the falling process is determined according to the initial angle of the mobile terminal and the angle change value.

In a possible example, in terms of acquiring the pre-stored first calibration data of the gyroscope, the acquiring unit 502 is specifically configured to: acquire a target environment parameter of the mobile terminal, where the target environment parameter includes a position parameter and a temperature and is used to query the reference environment parameters corresponding to the pre-stored sets of calibration data, and determine the calibration data corresponding to the reference environment parameters matching the target environment parameters as the first calibration data.

In a possible example, the gyroscope calibration device 500 further includes a cancellation unit,

The canceling unit is used for, after detecting that the system operating state of the mobile terminal is the dormant state, notify the sensor service SensorService to cancel the acquisition operation and write operation for the second calibration data according to the dormant state, and the The second calibration data is real-time calibration data.

In a possible example, as shown in FIG. 5B , the gyroscope calibration device 500 further includes a calibration unit 504,

The acquiring unit 502 is further configured to, after starting the gyroscope when it is detected that the mobile terminal is in a falling state, acquire second calibration data when it is detected that the system running state of the mobile terminal is an awake state;

the calibration unit 504, configured to calibrate the gyroscope according to the second calibration data;

The determining unit 503 is further configured to determine, by using the calibrated gyroscope, an angle change value of the mobile terminal during the falling process.

Specifically, the starting unit 501, the obtaining unit 502, the determining unit 503 and the calibration unit 504 may be a processor or a transceiver.

Please refer to FIG. 6. FIG. 6 is a schematic structural diagram of a smart phone 600 provided by an embodiment of the present application. The smart phone 600 includes: a casing 610, a display screen 620, and a main board 630. The main board 630 is provided with a front camera 631, A processor 632, a memory 633, a power management chip 634, a gyroscope 635, an acceleration sensor 636, etc. connected to the processor.

Wherein, the smart phone starts the gyroscope when it is detected that the smart phone is in a falling state; when it is detected that the system running state of the smart phone is in a dormant state, obtains the pre-stored first calibration data of the gyroscope; A calibration data acquires multiple sets of angle data collected by the gyroscope, and the angle change value of the smartphone during the falling process is determined by the multiple sets of angle data.

The above-mentioned gyroscope 635 is used to obtain the angular velocity of the smartphone when the smartphone is moving, and the above-mentioned acceleration sensor 636 is used to determine the angle value of the smartphone when the smartphone is stationary through the three-dimensional coordinate system.

The above-mentioned processor 632 is the control center of the smart phone, and uses various interfaces and lines to connect various parts of the entire smart phone, by running or executing the software programs and/or modules stored in the memory 633, and calling the stored in the memory 633. Data, perform various functions of the smartphone and process data, so as to monitor the smartphone as a whole. Optionally, the processor 632 may include one or more processing units; preferably, the processor 632 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, etc. , the modem processor mainly deals with wireless communication. It can be understood that, the above-mentioned modulation and demodulation processor may not be integrated into the processor 632. The processor 632 may be, for example, a central processing unit (Central Processing Unit, CPU), a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application-Specific Integrated Circuit, ASIC), field programmable Gate Array (Field Programmable GateArray, FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute the various exemplary logical blocks, modules and circuits described in connection with this disclosure. The above-mentioned processor may also be a combination that realizes computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

The above-mentioned memory 633 can be used to store software programs and modules, and the processor 632 executes various functional applications and data processing of the smartphone by running the software programs and modules stored in the memory 633 . The memory 633 may mainly include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to usage of a smartphone, and the like. Additionally, memory 633 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. The memory 633 may be, for example, a random access memory (Random Access Memory, RAM), a flash memory, a read only memory (Read Only Memory, ROM), an erasable programmable read only memory (Erasable Programmable ROM, EPROM), an electrically erasable programmable Programmable read only memory (Electrically EPROM, EEPROM), registers, hard disk, removable hard disk, compact disk read only (CD-ROM) or any other form of storage medium well known in the art.

Embodiments of the present application further provide a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables the computer to execute any of the gyroscope calibration methods described in the above method embodiments. For some or all of the steps, the above-mentioned computer includes a mobile terminal.

Embodiments of the present application further provide a computer program product, the computer program product comprising a non-transitory computer-readable storage medium storing a computer program, the computer program being operable to cause a computer to execute the methods described in the foregoing method embodiments Part or all of the steps of any gyroscope calibration method, the above-mentioned computer includes a mobile terminal.

It should be noted that, for the sake of simple description, the foregoing method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence. Because in accordance with the present application, certain steps may be performed in other orders or concurrently. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components may be combined or Integration into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The integrated unit, if implemented as a software functional unit and sold or used as a stand-alone product, may be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art, or all or part of the technical solution, and the computer software product is stored in a memory, Several instructions are included to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: a flash disk , Read-only memory (English: Read-Only Memory, referred to as: ROM), random access device (English: Random Access Memory, referred to as: RAM), magnetic disk or optical disk, etc.

The embodiments of the present application have been introduced in detail above, and the principles and implementations of the present application are described in this paper by using specific examples. The descriptions of the above embodiments are only used to help understand the methods and core ideas of the present application; at the same time, for Persons of ordinary skill in the art, based on the idea of the present application, will have changes in the specific implementation manner and application scope. In summary, the contents of this specification should not be construed as limitations on the present application.

Claims (11)

1. a gyroscope calibration method, is characterized in that, comprises: When it is detected that the mobile terminal is in a falling state, start the gyroscope; When it is detected that the system running state of the mobile terminal is the dormant state, acquiring pre-stored first calibration data of the gyroscope; Acquire multiple sets of angle data collected by the gyroscope according to the first calibration data, and determine the angle change value of the mobile terminal during the falling process by using the multiple sets of angle data. 2. The method according to claim 1, wherein after detecting that the mobile terminal is in a falling state, the method further comprises: Determine the initial angle of the mobile terminal when it falls according to the acceleration sensor; After acquiring multiple sets of angle data collected by the gyroscope according to the first calibration data, and after determining the angle change value of the mobile terminal during the falling process by using the multiple sets of angle data, the method further includes: The impact angle of the mobile terminal when the mobile terminal hits the ground during the falling process is determined according to the initial angle of the mobile terminal and the angle change value. 3. The method according to claim 1 or 2, wherein the acquiring pre-stored first calibration data of the gyroscope comprises: acquiring target environmental parameters of the mobile terminal, where the target environmental parameters include location parameters and temperature parameters; The reference environment parameters corresponding to the pre-stored multiple sets of calibration data are queried, and the calibration data corresponding to the reference environment parameters matching the target environment parameters is determined as the first calibration data. 4. The method according to any one of claims 1-2, wherein after detecting that the system running state of the mobile terminal is a sleep state, the method further comprises: According to the sleep state, the sensor service SensorService is notified to cancel the acquiring operation and the writing operation for the second calibration data, where the second calibration data is real-time calibration data. 5. The method according to claim 3, wherein after detecting that the system running state of the mobile terminal is a sleep state, the method further comprises: According to the sleep state, the sensor service SensorService is notified to cancel the acquiring operation and the writing operation for the second calibration data, where the second calibration data is real-time calibration data. 6. The method according to claim 1 or 2, wherein when it is detected that the mobile terminal is in a falling state, after starting the gyroscope, the method further comprises: When it is detected that the system operating state of the mobile terminal is an awake state, acquiring second calibration data; Calibrate the gyroscope according to the second calibration data; The angle change value of the mobile terminal during the falling process is determined by the calibrated gyroscope. 7. A gyroscope calibration device, characterized in that it comprises a start-up unit, an acquisition unit and a determination unit, wherein: The starting unit is used to start the gyroscope when it is detected that the mobile terminal is in a falling state; the acquisition unit, configured to acquire pre-stored first calibration data of the gyroscope when it is detected that the system operating state of the mobile terminal is a sleep state; The determining unit is configured to acquire multiple sets of angle data collected by the gyroscope according to the first calibration data, and determine the angle change value of the mobile terminal during the falling process by using the multiple sets of angle data. 8. The device according to claim 7, wherein the determining unit is further configured to: after detecting that the mobile terminal is in a falling state, determine an initial angle of the mobile terminal when the mobile terminal is dropped according to an acceleration sensor; The determining unit is further configured to: after acquiring multiple sets of angle data collected by the gyroscope according to the first calibration data, and determining the angle change value of the mobile terminal during the falling process by using the multiple sets of angle data , determining the impact angle of the mobile terminal when the mobile terminal hits the ground during the falling process according to the initial angle of the mobile terminal and the angle change value. 9 . The device according to claim 7 or 8 , wherein, in the aspect of acquiring the pre-stored first calibration data of the gyroscope, the acquiring unit is specifically configured to: acquire the target environment parameter of the mobile terminal, the The target environmental parameters include position parameters and temperature parameters; and the reference environmental parameters corresponding to the pre-stored multiple sets of calibration data are inquired, and the calibration data corresponding to the reference environmental parameters matching the target environmental parameters is determined as the first calibration data . 10. A mobile terminal, comprising: a processor, a memory, and one or more programs; the one or more programs are stored in the memory and configured to be executed by the processor , the program comprising instructions for performing the steps in the method as described in any one of claims 1-6. 11. A computer-readable storage medium, characterized by storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform the method according to any one of claims 1-6, the computer Including mobile terminals.

Images