CN103017776A - Application of gyroscope-free inertial positioning and attitude measuring unit in vehicle intelligent driver assistant system - Google Patents
Application of gyroscope-free inertial positioning and attitude measuring unit in vehicle intelligent driver assistant system Download PDFInfo
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- CN103017776A CN103017776A CN2012105240534A CN201210524053A CN103017776A CN 103017776 A CN103017776 A CN 103017776A CN 2012105240534 A CN2012105240534 A CN 2012105240534A CN 201210524053 A CN201210524053 A CN 201210524053A CN 103017776 A CN103017776 A CN 103017776A
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Abstract
The invention relates to an application of a gyroscope-free inertial positioning and attitude measuring unit in a vehicle intelligent driver assistant system. The gyroscope-free inertial positioning and attitude measuring unit comprises a accelerometer, a signal conditioning AD (analog-to-digital) conversion module, a data storing and processing module, a data transmission module and a PC (personal computer), wherein specific force signals output by the accelerometer are firstly transmitted through a signal conditioning circuit, converted into voltage signals suitable for AD part input range; then, the sample data output by the AD module is cached, and transmitted by a DSP (digital signal processor) to resolve and process; and at last, the resolved navigation information is transmitted to the PC to further process, analyze and display. The gyroscope-free inertial positioning and attitude measuring unit is low in cost, and high in precision, and can be used as a subsystem in the intelligent driver assistant system.
Description
Technical field
The present invention relates to a kind of without gyroscopic inertia location and the application of Attitude Measuring Unit in the Vehicular intelligent DAS (Driver Assistant System).
Background technology
The progress of society is had higher requirement to comfortableness, security and the energy-conserving and environment-protective of automobile.And Measurement of Vehicle State System for Intelligent Assistant Drive Vehicle is devoted to improve the comfortableness of automobile, security and good people's car interactive environment, being an important component part in the intelligent transportation system given priority to of present various countries, also is the study hotspot of world car engineering field and the new power that auto industry increases.Measurement of Vehicle State System for Intelligent Assistant Drive Vehicle is a kind of collection environment sensing, programmed decision-making, and the auxiliary function of driving of many grades is in the system ensemble of one.It concentrates technology such as having adopted computing machine, modern sensing, information fusion, communication, artificial intelligence and automatic control, is typical new and high technology synthesis.
At present, what the location of using in the Vehicular intelligent DAS (Driver Assistant System) and Attitude Measuring Unit used is traditional inertial navigation system, usually adopt the method for infinitesimal analysis, namely recorded the linear acceleration of vehicle by accelerometer, then integration obtains speed, displacement obtains complete car status information with the vehicle angular velocity information that uses gyroscope survey to obtain simultaneously.In traditional inertial navigation system, cheap gyroscope lacks the needed precision of precision navigation, though and high-precision gyroscope can provide the vehicle real-time status information of pinpoint accuracy, its price costliness very.
Summary of the invention
In order to overcome the shortcoming of prior art, the invention provides that a kind of its cost is low without gyroscopic inertia location and the application of Attitude Measuring Unit in the Vehicular intelligent DAS (Driver Assistant System), precision is high, can be used as a sub-systems of intelligent DAS (Driver Assistant System).
The present invention solves the technical scheme that its technical matters takes: it comprises accelerometer, sqignal conditioning AD modular converter, data storage and processing module, data transmission module and PC; The ratio force signal of accelerometer output at first passes through signal conditioning circuit, convert the voltage signal that is fit to AD device input range to, the sampled data of AD output is temporary through buffer memory, transfer to DSP and resolve processing, to resolve at last some navigation informations that obtain, send PC to, further process, analyze, show.
Cost of the present invention is low, not only can be used as a sub-systems of intelligent DAS (Driver Assistant System), is the intelligent vehicle car status information of high-speed cruising, has extremely wide application prospect and very large marketable value.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is the accelerometer position embodiment schematic diagram that the present invention is based on square INS;
Fig. 2 is that the present invention is without the workflow diagram of gyroscopic inertia location and attitude measurement system;
Fig. 3 is the general frame of data acquisition of the present invention and processing module;
Fig. 4 is core algorithm process flow diagram of the present invention.
Embodiment
As shown in Figure 1, the present invention adopts the inertial measurement system based on the regular cube type.Design is accelerometer of center arrangement of each face of the regular cube of 2L in the length of side.The positive tetrahedron that the sensor orientation of accelerometer has consisted of a rule along diagonal and these diagonal line of each face, and take the center of square as true origin.
As shown in Figure 2, the present invention includes accelerometer, sqignal conditioning AD modular converter, data storage and processing module, data transmission module and PC.Working-flow is: the ratio force signal of accelerometer output converts the voltage signal that is fit to AD device input range at first by signal conditioning circuit.The sampled data of AD output is temporary through buffer memory, transfers to DSP and resolves processing, will resolve at last some navigation informations that obtain, and sends PC to, further processes, analyzes, shows.
As shown in Figure 3, be the system hardware General layout Plan.Interface relationship and the control signal trend of hardware have wherein been identified.Externally signaling interface comprises PC data exchange interface and specific force signaling interface altogether.The PC data exchange interface comprises that outside control command to system and the navigation information that system has been resolved output to outer PC.The specific force signaling interface is the original measurement signal that system is resolved.
The control signal trend: (1) line is that dsp processor carries out communication by RS422 serial ports and outside, two-way RS422 level; (2) line is the power down save routine that DSP writes FLASH, the automatically operation that powers on during in order to official test; (3)-(6) line is the SDRAM read-write control that is used for the interim storage of data when debugging; (7)-(10) line is the logic control of system's reference clock; (11)-(13) line is for carrying out the AD sampling to the simulating signal of outside; (14)-(16) line is the read-write control of data temporary storage FIFO;
As shown in Figure 4, be the core algorithm schematic diagram of system.At first acceierometer sensor is carried out modeling, draw its physical model and mathematical model, thereby draw the preliminary expression formula of accelerometer output.Then propose to be used for describing vehicle axis system (rigid body ∑) with respect to rotation matrix F (t) and the antisymmetric matrix Ω of inertial coordinates system motion, make that any motion of point can both be by describing with respect to the vectorial RI (t) of inertial reference system translation and rotation matrix F (t) on the vehicle axis system.Based on the accelerometer placement policies of regular cube type, can derive state equation and the output equation of system.The accelerometer of further having derived is exported formula, and the rotary manipulation characteristic has been carried out theoretical proof.Provable feasibility condition without gyro ceremony inertial navigation system arranges that namely matrix J has left inverse matrix, finally derives state equation and the output equation of system.
Claims (1)
1. one kind without gyroscopic inertia location and the application of Attitude Measuring Unit in the Vehicular intelligent DAS (Driver Assistant System), and it is characterized in that: it comprises accelerometer, sqignal conditioning AD modular converter, data storage and processing module, data transmission module and PC; The ratio force signal of accelerometer output at first passes through signal conditioning circuit, convert the voltage signal that is fit to AD device input range to, the sampled data of AD output is temporary through buffer memory, transfer to DSP and resolve processing, to resolve at last some navigation informations that obtain, send PC to, further process, analyze, show.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012105240534A CN103017776A (en) | 2012-12-07 | 2012-12-07 | Application of gyroscope-free inertial positioning and attitude measuring unit in vehicle intelligent driver assistant system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012105240534A CN103017776A (en) | 2012-12-07 | 2012-12-07 | Application of gyroscope-free inertial positioning and attitude measuring unit in vehicle intelligent driver assistant system |
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| CN103017776A true CN103017776A (en) | 2013-04-03 |
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| CN2012105240534A Pending CN103017776A (en) | 2012-12-07 | 2012-12-07 | Application of gyroscope-free inertial positioning and attitude measuring unit in vehicle intelligent driver assistant system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109271880A (en) * | 2018-08-27 | 2019-01-25 | 深圳清创新科技有限公司 | Vehicle checking method, device, computer equipment and storage medium |
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|---|---|---|---|---|
| CN1687709A (en) * | 2005-05-12 | 2005-10-26 | 吉林大学 | System for measuring motion state of automobile |
| CN2901249Y (en) * | 2005-05-12 | 2007-05-16 | 吉林大学 | Meassuring system for automobile moving state |
| CN102092408A (en) * | 2010-12-15 | 2011-06-15 | 河北汉光重工有限责任公司 | Railway locomotive auxiliary driving device |
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2012
- 2012-12-07 CN CN2012105240534A patent/CN103017776A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1687709A (en) * | 2005-05-12 | 2005-10-26 | 吉林大学 | System for measuring motion state of automobile |
| CN2901249Y (en) * | 2005-05-12 | 2007-05-16 | 吉林大学 | Meassuring system for automobile moving state |
| CN102092408A (en) * | 2010-12-15 | 2011-06-15 | 河北汉光重工有限责任公司 | Railway locomotive auxiliary driving device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109271880A (en) * | 2018-08-27 | 2019-01-25 | 深圳清创新科技有限公司 | Vehicle checking method, device, computer equipment and storage medium |
| CN109271880B (en) * | 2018-08-27 | 2021-08-24 | 深圳一清创新科技有限公司 | Vehicle detection method, device, computer equipment and storage medium |
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Application publication date: 20130403 |