A method for calibrating a first coordinate system of a three-axle acceleration sensor, which is fixedly is arranged in a vehicle, to a second coordinate system of the vehicle and device for the calibration

摘要

The present invention relates to a method for calibrating a first coordinate system of a three-axle acceleration sensor (20), which is fixedly in a vehicle (5) is arranged, on a second coordinate system of the vehicle (5). In this case, first, second and third acceleration values (21, 22, 23) along a first, second and third axis (xl, y, zl) within a first time period (t1) is detected and then low-pass filtered. Then, a normalized gravitational vector is determined, which leads to a certain point in time (tx) within the first time period (t1) is present, if the vehicle (5) for determining time (tx) is not moved. Subsequently, a normalized motion vector, which within a second time period (t2) is present, if the vehicle (5) during the second time period (t2) is moved, as a function of filtered first, second and third acceleration values (24, 25, 26) within the second period of time (t2) is determined, whereby the second time period (t2) within the first time period (t1) is. Thereupon, a rotation matrix as a function of the normalized gravitational vector and the standardized movement vector is determined and, finally, the first coordinate system on the second coordinate system in a function of the rotation matrix calibrated.In addition, the invention relates to a device (10) with a three-axle acceleration sensor (20) and a processing unit (30), wherein the apparatus (10) are firmly attached to a vehicle (5) is arranged and the processing unit (30) is adapted to carry out a method according to the invention.n="23"