This application discloses a vector sensor zero-point calibration method, device, and, apparatus, an electronic device, and a non-volatile computer-readable storage medium. The calibration method includes: acquiring reference data during two measurements of a reference vector performed by a vector sensor; acquiring a zero-point offset M.sub.0 of the vector sensor according to the reference data; acquiring original data R.sub.k of any vector measured by the vector sensor; and acquiring valid data V.sub.k according to the zero-point offset M.sub.0 and the original data R.sub.k. With the calibration method in this application, the valid data V.sub.k is obtained after a zero-point error of the original data R.sub.k is eliminated, which is more closely approximated to an actual value of a to-be-measured vector.

This application discloses a vector sensor zero-point calibration method, device, and, apparatus, an electronic device, and a non-volatile computer-readable storage medium. The calibration method includes: acquiring reference data during two measurements of a reference vector performed by a vector sensor; acquiring a zero-point offset M.sub.0 of the vector sensor according to the reference data; acquiring original data R.sub.k of any vector measured by the vector sensor; and acquiring valid data V.sub.k according to the zero-point offset M.sub.0 and the original data R.sub.k. With the calibration method in this application, the valid data V.sub.k is obtained after a zero-point error of the original data R.sub.k is eliminated, which is more closely approximated to an actual value of a to-be-measured vector.

A method may include obtaining sensor data describing a total measurable world around a motion sensor. The method may include processing the sensor data to generate a pre-compensation scan of the total measurable world around the motion sensor based on the sensor data. The method may include determining a delay between the obtaining the sensor data and the generation of the pre-compensation scan. The method may include obtaining motion data corresponding to motion of the motion sensor and generating a motion model of the motion sensor based on the motion data. The method may include generating an after-compensation scan of the motion sensor using the delay and the motion model to compensate for continued motion during the delay.

A system configured to assist a user in scanning a physical environment in order to generate a three-dimensional scan or model. In some cases, the system may include an interface to assist the user in capturing data usable to determine a scale or depth of the physical environment and to perform a scan in a manner that minimizes gaps.

A system includes a MEMS sensor having dual proof masses capable of moving independently from one another in response to forces imposed upon the proof masses. Each proof mass includes an independent set of sense contacts configured to provide output signals corresponding to the physical displacement of the corresponding sense mass. A switch system is in communication with the sense contacts. The switch system is configured to enable a sense mode and various test modes for the MEMS sensor. When the switch system enables a sense mode, output signals from the sense contacts can be combined to produce sense signals. When the switch system enables a test mode, the second contacts are electrically decoupled from one another to disassociate the output signals from one another. The independent sense contacts and switch system enable the concurrent compensation and calibration of the proof masses along two different sense axes.

A system includes a MEMS sensor having dual proof masses capable of moving independently from one another in response to forces imposed upon the proof masses. Each proof mass includes an independent set of sense contacts configured to provide output signals corresponding to the physical displacement of the corresponding sense mass. A switch system is in communication with the sense contacts. The switch system is configured to enable a sense mode and various test modes for the MEMS sensor. When the switch system enables a sense mode, output signals from the sense contacts can be combined to produce sense signals. When the switch system enables a test mode, the second contacts are electrically decoupled from one another to disassociate the output signals from one another. The independent sense contacts and switch system enable the concurrent compensation and calibration of the proof masses along two different sense axes.

A precision calibration method of attitude measuring systems is provided. The precision calibration method of attitude measuring systems includes the following steps: calibrating a zero-deviation, a scale coefficient, and a non-orthogonal angle between axes of an accelerometer to the attitude measuring system via an ellipsoid fitting model (S1); compensating original data of the accelerometer using a calculated ellipsoid parameter (S2); calibrating an electronic compass via the ellipsoid fitting model according to compensated accelerometer data (S3); compensating original electronic compass data by the calculated ellipsoid parameter (S4); calculating an attitude according to the compensated data of the accelerometer and compensated data of the electronic compass (S5). The above steps of the method have a reliable calibration result and a high precision with a less time consumption of calibration.

A precision calibration method of attitude measuring systems is provided. The precision calibration method of attitude measuring systems includes the following steps: calibrating a zero-deviation, a scale coefficient, and a non-orthogonal angle between axes of an accelerometer to the attitude measuring system via an ellipsoid fitting model (S1); compensating original data of the accelerometer using a calculated ellipsoid parameter (S2); calibrating an electronic compass via the ellipsoid fitting model according to compensated accelerometer data (S3); compensating original electronic compass data by the calculated ellipsoid parameter (S4); calculating an attitude according to the compensated data of the accelerometer and compensated data of the electronic compass (S5). The above steps of the method have a reliable calibration result and a high precision with a less time consumption of calibration.

A posture estimation method includes calculating a posture change amount of an object based on an output of an angular velocity sensor, predicting posture information of the object by using the posture change amount, limiting a bias error in a manner of limiting a bias error component of an angular velocity around a reference vector in error information, and correcting the predicted posture information of the object based on the error information, the reference vector, and an output of a reference observation sensor.

A posture estimation method includes calculating a posture change amount of an object based on an output of an angular velocity sensor, predicting posture information of the object by using the posture change amount, limiting a bias error in a manner of limiting a bias error component of an angular velocity around a reference vector in error information, and correcting the predicted posture information of the object based on the error information, the reference vector, and an output of a reference observation sensor.