CN111026081B - Error calculation method, device, equipment and storage medium - Google Patents
Error calculation method, device, equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the specification provides an error calculation method, an error calculation device, error calculation equipment and a storage medium. The method comprises the following steps: acquiring orientation data of a position acquisition unit in the driving process of a vehicle and position data acquired by the position acquisition unit; determining a driving path of the vehicle according to the position data; calculating an installation error of the position acquisition unit using the travel path and the orientation data. According to the method, the installation error of the corresponding position acquisition unit can be determined according to the position data and the orientation data in the driving process of the vehicle, so that the accuracy of the data acquired by the position acquisition unit is ensured, and the data of other units can be calibrated by using the data of the position acquisition unit.
Description
Technical Field
The embodiment of the specification relates to the technical field of automatic driving, in particular to an error calculation method, device, equipment and storage medium.
Background
In recent years, unmanned technology has been developed, and the burden on drivers may be greatly reduced in the future. Generally, in an unmanned vehicle, a sensing module for collecting surrounding environment information, a calculation module for calculating an execution strategy according to the environment information, and an execution module for performing corresponding operations on an automobile according to the execution strategy are generally included. Currently, in order to acquire the position and posture of an unmanned vehicle while traveling, position data and state data are generally acquired by a sensing module. The position data is used for indicating the position of the vehicle during driving, and the state data is used for representing information such as acceleration, angular speed and turning angle of the vehicle during driving.
The acquisition of accurate environmental information and position and state information of the sensing module is the basis for realizing the normal running of the unmanned vehicle, and therefore the sensing module needs to be calibrated before the unmanned vehicle starts to run formally. In the prior art, the state data is generally calibrated by directly using the acquired position data. However, in practical applications, due to deviation in the installation process, a certain error also exists in the acquired position data, and the corrected state data often still has an error when the state data is corrected by using the position data with insufficient accuracy, so that the unmanned vehicle cannot correctly run according to the acquired data, and a traffic accident is easily caused. Therefore, a method for determining the installation error of the sensing module in the vehicle with high accuracy is needed.
Disclosure of Invention
An object of the embodiments of the present specification is to provide an error calculation method, apparatus, device and storage medium, so as to solve the problem of how to more accurately determine an error in a sensing module in a vehicle.
In order to solve the above technical problem, an error calculation method, an apparatus, a device, and a storage medium provided in the embodiments of the present specification are specifically as follows:
an error calculation method, comprising:
acquiring orientation data of a position acquisition unit in the driving process of a vehicle and position data acquired by the position acquisition unit;
determining a driving path of the vehicle according to the position data;
calculating an installation error of the position acquisition unit using the travel path and the orientation data.
An error calculation apparatus comprising:
the data acquisition module is used for acquiring orientation data of the position acquisition unit in the running process of the vehicle and the position data acquired by the position acquisition unit;
the path determining module is used for determining a driving path of the vehicle according to the position data;
and the error calculation module is used for calculating the installation error of the position acquisition unit by utilizing the driving path and the orientation data.
An error calculation apparatus comprising a memory and a processor;
the memory to store computer instructions;
the processor to execute the computer instructions to implement the steps of: acquiring orientation data of a position acquisition unit in the driving process of a vehicle and position data acquired by the position acquisition unit; determining a driving path of the vehicle according to the position data; calculating an installation error of the position acquisition unit using the travel path and the orientation data.
A storage medium having stored thereon computer program instructions for implementing the error calculation method when executed.
As can be seen from the technical solutions provided in the embodiments of the present specification, after the position data and the orientation data during the vehicle driving process are acquired, the embodiments of the present specification determine the driving route according to the position data, and can use the driving route in combination with the orientation data to realize the calculation of the installation error corresponding to the position determination unit. According to the method, the installation error of the corresponding position acquisition unit can be determined according to the position data and the orientation data in the driving process of the vehicle, so that the accuracy of the data acquired by the position acquisition unit is ensured, and the data of other units can be calibrated by using the data of the position acquisition unit.
Drawings
In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the specification, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a method for error calculation according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of position data collected according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a position curve obtained by fitting according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a selected travel path according to an embodiment of the present disclosure;
FIG. 5 is a block diagram of an error calculation apparatus according to an embodiment of the present disclosure;
fig. 6 is a block diagram of an error calculation apparatus according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort shall fall within the protection scope of the present specification.
An embodiment of a method for calibrating a sensing module in the present specification is described below with reference to fig. 1, where an execution subject of the method is a computing device, and specifically, the computing device may interact with a sensing module on an autonomous vehicle, and is configured to acquire data acquired by the sensing module and calibrate the sensing module. The method specifically comprises the following steps:
s110: acquiring orientation data of a position acquisition unit in the driving process of a vehicle and orientation data of the position data acquired by the position acquisition unit.
During the running process of the automatic driving vehicle, corresponding data can be acquired through a sensing module arranged on the automatic driving vehicle. The sensing module is applied to a scene of detecting the self state and the surrounding environment, and the vehicle is used for acquiring the environmental information around the vehicle and the state information of the vehicle, wherein the state information of the vehicle can include the current position of the vehicle, the driving direction of the vehicle, the current acceleration, the current angular velocity and the like of the vehicle. Based on the data acquired by the sensing module, the instruction which the vehicle should execute currently can be determined and the vehicle can be controlled according to the instruction.
The sensing module position acquisition unit can comprise a position acquisition unit. The position acquisition unit may be configured to acquire position data. Specifically, the position acquisition unit may include a GNSS (global navigation satellite system) dual antenna, a GPS (global positioning system), or the like.
The position data is used for indicating the position of the position acquisition unit, namely indicating the position of the vehicle.
Specifically, the method for acquiring the position data by the position acquisition unit may acquire coordinates of the position acquisition unit by performing signal communication with a satellite or other positioning communication equipment, and use the coordinates as position data; in the case of determining the initial position of the position acquisition unit, the movement position information may be acquired by acquiring the movement state of the position acquisition unit, and the position of the position acquisition unit may be determined and used as the position data. The manner of acquiring the position data in practical application is not limited to the above example, and is not described herein again.
The orientation data is data indicating an orientation of the position acquisition unit, and when the position acquisition unit is disposed on the vehicle, the orientation data may also be used to indicate a forward direction of the vehicle.
Specifically, according to the method for acquiring the orientation data by the position acquisition unit, the orientation of the position acquisition unit may be determined according to the position and the direction of the received satellite signal, or an antenna may be disposed in the sensing module, and the orientation direction of the antenna is set to be the advancing direction of the vehicle, that is, the real-time orientation direction of the antenna is acquired as the orientation data.
In practical applications, due to the influence of factors such as installation errors of the position acquisition unit and deviations of internal parts of the position acquisition unit, certain errors may exist in data directly measured by the position acquisition unit. If the data measured by the position acquisition unit is directly applied, the decision made to control the vehicle may have a deviation, which may affect the normal running of the vehicle, and therefore, an error in the position acquisition unit needs to be determined.
The position data and the orientation data may be at least one set of data acquired according to a preset acquisition frequency in a period, that is, the position data and the orientation data acquired at a plurality of acquisition points in the measurement process. To illustrate with a specific example, the position acquisition unit is provided on a vehicle that travels on a specified route. The acquisition frequency of the position acquisition unit is set to be 100hz, namely the position data and the orientation data of the vehicle at the current position are acquired every 0.1 second, the data are sequentially acquired within five minutes in the driving process of the vehicle according to the acquisition frequency, and finally 3000 groups of data are acquired to be used as the basis for subsequently calibrating the position acquisition unit. Of course, the manner of acquiring the data is not limited, and for example, the data may be acquired at intervals based on the position data and the orientation data.
S120: and determining the driving path of the vehicle according to the position data.
The driving path is used for displaying the motion trail of the position acquisition unit, and when the position acquisition unit is arranged on the vehicle, the driving path is used for representing the motion trail of the vehicle. The driving path may include all or part of the movement track of the position acquisition unit in the process of acquiring data, and when the acquisition time corresponding to the position data is combined, the information such as the speed and the turning angle corresponding to each point on the driving track of the vehicle can be obtained according to the position data.
In one embodiment, a position curve may be obtained by fitting the position data, and then a driving path may be selected from the position curve according to a preset screening condition.
The position curve is the motion track of the position acquisition unit in the data acquisition process. Since the position data acquired by the sensing module is the position data corresponding to each position point on the vehicle running track, a position curve can be obtained by fitting the position data. Under the condition of combining the acquisition time corresponding to the position data, according to the position curve, the information of the speed, the tangential direction, the acceleration, the rotation angle and the like of each part of the position acquisition unit on the position curve can be obtained, and further the calculation of the error information in the subsequent process of the orientation data is realized.
However, during the process of acquiring data by the position acquisition unit, a situation that the vehicle moves in a large range may occur, for example, when the vehicle moves at an excessively high speed or turns are excessively large, the accuracy of the acquired data may be affected to some extent. Therefore, when the position acquisition unit is calibrated, the position curve can be screened, and the position curve meeting the preset screening condition is selected as the driving path.
The preset screening condition may include that the speed corresponding to the position curve is within a calibration speed interval. From the position data, the speed of each part on the position curve can be determined. For example, in the case of acquiring position data at a frequency of 100hz, adjacent position data are acquired at intervals of 0.1s, and by determining the interval between adjacent position data, the velocity of the sensing module between the adjacent position data can be calculated. The speed of each section of the position curve can be determined by the method, and then the position curve corresponding to the speed in the calibration speed interval is obtained as the driving path according to the preset calibration speed interval.
The preset screening condition may further include that the curvature of the position curve is within a range of the calibration curvature interval. The curvature of the curve may be used to indicate the magnitude of the curve curvature, and the application to the sensing module may indicate the magnitude of the corner of the sensing module. When the rotating angle of the sensing module is too large in the moving process, the obtained data change amount is large, and the accuracy of the data is not easy to guarantee, so that a position curve with the curvature meeting the calibration curvature interval range can be set as a driving path under the condition that the calibration curvature interval is set in advance.
A specific example is used for illustration, as shown in fig. 2, which is a schematic diagram of position data acquired by using a sensing module. In the example, the position data is acquired at each certain interval while marking the acquisition time of the respective position data. As shown in fig. 3, a position curve is obtained by fitting the position data. The corresponding speed of each part in the position curve can be further determined according to the recording time of each position data, and meanwhile, the curvature of each part of the position curve can be obtained according to the position curve. And screening the speed and the curvature corresponding to the position curve according to preset screening conditions, and taking the position curve meeting the preset screening conditions as a driving path, as shown in fig. 4. With the aid of the travel path, the calculation of the error of the position detection unit can be carried out in a subsequent step.
S130: calculating an installation error of the position acquisition unit using the travel path and the orientation data.
When the orientation information is acquired by using the position acquisition unit, the acquired orientation is not the same as the actual advancing direction of the vehicle because the position acquisition unit may have deviation in the installation process.
The method of calculating the error may be determining a travel path heading from the travel path. The running path orientation may be an orientation of a tangent line on the running path, and the motion direction of the vehicle in the actual running process can be indirectly obtained according to the track orientation information. And comparing the driving path orientation with the orientation data in sequence, thereby determining at least one orientation error. In particular, the orientation error may be a difference in angle between the trajectory orientation information and the orientation data.
The mounting error of the position detection unit can be calculated from the at least one orientation error. Specifically, the mounting error of the position detecting unit may be calculated by obtaining an average value corresponding to the orientation error as the error of the position detecting unit. The way of calculating the error of the position acquisition unit in practical application is not limited to the above example, and is not limited thereto.
In one embodiment, a state acquisition unit is also provided on the vehicle. The state acquisition unit may be configured to acquire state data, and specifically, the state acquisition unit may include an IMU (inertial measurement unit), an acceleration sensor, a gyroscope, and the like, and acquire the state data by measuring data such as acceleration and angular velocity.
The state data can be used for representing information such as acceleration and angular velocity of the state acquisition unit, and when the state acquisition unit is arranged on the vehicle, the state data can be used for representing the current states of whether the vehicle is at a fuel door or a brake, whether the vehicle is at a turn and the like. Therefore, the state data may include at least one of acceleration data and angular velocity data. Specifically, the state data may be acquired by providing an acceleration sensor and an angular velocity sensor in the state acquisition unit.
After the installation error of the position acquisition unit is determined, the installation error of the state acquisition unit can be determined according to the installation error of the position acquisition unit. Because the speed of each part of the running path can be obtained according to the running path under the condition of combining the position data, the acceleration data corresponding to each part of the running path can be determined according to the position data; and corresponding angular velocity data can be acquired according to the change situation of the orientation data. Therefore, on the basis that the position data and the orientation data are accurate, the state data can be calibrated by using the position data and the orientation data.
In one embodiment, after the installation error of the position acquisition unit is obtained, the position acquisition unit may be calibrated by using the error of the position acquisition unit, and the calibrated position acquisition unit is used to acquire calibration position data. The calibration position data is high in accuracy, and the error obtained by calculating the error of the state acquisition unit by using the calibration position data can be guaranteed to be high in accuracy.
The sensing module can be calibrated by combining the position data to calculate at least one calibration orientation data in the driving process of the vehicle based on the installation error of the position acquisition unit; calculating orientation data to be calibrated corresponding to the state acquisition unit by using the state data; and determining the installation error of the state acquisition unit based on the difference value of the calibration orientation data and the orientation data to be calibrated. A specific example is used for explaining, after the corresponding vehicle driving direction is determined according to the data acquired by the position acquisition unit, the vehicle driving direction is calibrated by combining the error of the position acquisition unit calculated before, and a more accurate calibration driving direction is obtained; the vehicle running direction measured by the state acquisition unit is compared with the calibration running direction, and the installation error of the state acquisition unit can be determined by solving the difference value. Accordingly, in the case where a plurality of sets of calibration traveling directions and corresponding vehicle traveling directions are included, the average value of the calculated differences may be found as the mounting error corresponding to the state acquisition unit. The specific installation error determination method may be adjusted in combination with practical applications, which is not limited in this description embodiment.
In one embodiment, the position acquisition unit may also have a single antenna acquisition mode and a dual antenna acquisition mode. The position data and the orientation data are acquired by utilizing the two antennas simultaneously in a double-antenna acquisition mode, so that the higher accuracy of the position data can be ensured; the position data and the orientation data are collected by only one antenna in the single-antenna mode, so that the uniqueness of the orientation data is ensured, and finally measured data cannot be interfered by the difference between the orientations of the two antennas.
Therefore, when the installation error of the position acquisition unit is determined, the position acquisition unit can be used for acquiring the position data and the orientation data in a dual-antenna acquisition mode, so that the accuracy of the measured position data and the accuracy of the error of the calculated position acquisition unit are ensured; after determining the error of the position detection unit, the position detection unit is calibrated by using the error. After calibration, the position acquisition unit in the single-antenna acquisition mode can be used for acquiring position data and orientation data, so that more accurate calibration position data and calibration orientation data are obtained, and accurate calculation of installation errors of the state acquisition unit is realized.
The position acquisition unit and the state acquisition unit are not necessarily installed at the same position, but the data acquired by directly acquiring the data of the position acquisition unit and the state acquisition unit from the same unit in the subsequent process may cause deviation of the final calculation result. Therefore, before calculating the error of the state acquisition unit, the relative position between the position acquisition unit and the state acquisition unit can also be acquired. The relative position may include a spacing in a horizontal plane between the position acquisition unit and the state acquisition unit, and a relative direction therebetween. By obtaining the relative position, the error of the state acquisition unit can be calculated in a subsequent process by using the position data and the state data in combination with the error of the position acquisition unit.
Because the distance between the position acquisition unit and the state acquisition unit in the vertical direction can affect the measurement result, but the error in the vertical direction is difficult to be applied to the correction of subsequent numerical values, therefore, after the vertical error of the position acquisition unit and the state acquisition unit in the vertical direction is measured by an instrument, the position acquisition unit and the state acquisition unit can be adjusted directly according to the vertical error, and then the relative position between the position acquisition unit and the state acquisition unit is measured.
The above method for calibrating the sensing module is described with a specific scenario example. The autonomous vehicle is provided with a GNSS dual antenna device for acquiring position data and orientation data and an IMU for acquiring status data. And driving the automobile to run after the GNSS double-antenna equipment and the IMU are started, and acquiring position data, orientation data and state data in the running process of the automobile. And determining the driving track of the automobile according to the acquired position data, screening the track, and removing the part with overlarge rotation angle or overlarge speed in the track. The orientation data are calibrated by using the screened driving path, the installation error of the GNSS dual-antenna equipment is determined, the GNSS dual-antenna equipment is adjusted based on the installation error, and the accuracy of the data acquired by the GNSS dual-antenna equipment is ensured.
After the GNSS double-antenna equipment is calibrated, the GNSS double-antenna equipment and the IMU are started, the automobile is driven again to run, the position data, the orientation data and the state data in the running process of the automobile are collected again, and the collected state data are calibrated according to the collected position data and orientation data. Under the condition that the position data and the orientation data have higher accuracy, the error of the state data can be determined more accurately, and the IMU is calibrated based on the error of the state data, so that more accurate error calculation is realized.
Based on the introduction of the embodiment of the method and the scene example, it can be seen that the method not only can accurately calculate the error of the position acquisition module in the automatic driving vehicle, but also can calculate the error of the state acquisition unit on the basis of ensuring the accuracy of the position acquisition module, thereby ensuring the accurate calibration of the sensing module in the vehicle, and further ensuring the normal running of the automatic driving vehicle in the subsequent application process.
An error calculation apparatus according to the present disclosure is described below with reference to fig. 5, where the apparatus is disposed in an autonomous vehicle, and the apparatus specifically includes:
a data acquiring module 510, configured to acquire orientation data of a position acquiring unit during a vehicle driving process and position data acquired by the position acquiring unit;
a path determining module 520, configured to determine a driving path of the vehicle according to the position data;
an error calculation module 530 for calculating an installation error of the position collection unit using the travel path and the orientation data.
As shown in fig. 6, the present specification further provides an error calculation device. The error calculation device may include a memory and a processor.
In this embodiment, the memory may be implemented in any suitable manner. For example, the memory may be a read-only memory, a mechanical hard disk, a solid state disk, a U disk, or the like. The memory may be used to store computer instructions.
In this embodiment, the processor may be implemented in any suitable manner. For example, the processor may take the form of, for example, a microprocessor or processor and a computer-readable medium that stores computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, an embedded microcontroller, and so forth. The processor may execute the computer instructions to perform the steps of: acquiring orientation data of a position acquisition unit in the driving process of a vehicle and position data acquired by the position acquisition unit; determining a driving path of the vehicle according to the position data; calculating an installation error of the position acquisition unit using the travel path and the orientation data.
This specification also provides one embodiment of a computer storage medium. The computer storage medium includes, but is not limited to, a Random Access Memory (RAM), a Read-Only Memory (ROM), a Cache (Cache), a Hard Disk (HDD), a Memory Card (Memory Card), and the like. The computer storage medium stores computer program instructions. The computer program instructions when executed implement: the program instructions or modules of the embodiments corresponding to fig. 1 in this description.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Language Description Language), traffic, pl (core unified Programming Language), HDCal, JHDL (Java Hardware Description Language), langue, Lola, HDL, laspam, hardbyscript Description Language (vhr Description Language), and the like, which are currently used by Hardware compiler-software (Hardware Description Language-software). It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
From the above description of the embodiments, it is clear to those skilled in the art that the present specification can be implemented by software plus a necessary general hardware platform. Based on such understanding, the technical solutions of the present specification may be essentially or partially implemented in the form of software products, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and include instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments of the present specification.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The description is operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet-type devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
While the specification has been described with examples, those skilled in the art will appreciate that there are numerous variations and permutations of the specification that do not depart from the spirit of the specification, and it is intended that the appended claims include such variations and modifications that do not depart from the spirit of the specification.
Claims (12)
1. An error calculation method, characterized in that the method comprises:
acquiring orientation data of a position acquisition unit in the driving process of a vehicle and position data acquired by the position acquisition unit;
determining a driving path of the vehicle according to the position data; wherein, include: fitting according to the position data to obtain a position curve; selecting a driving path in the position curve based on a preset screening condition; the selecting of the driving path in the position curve based on the preset screening condition comprises the following steps: determining a curve speed corresponding to the position curve according to the position data and the acquisition time corresponding to the position data; selecting a position curve of the corresponding curve speed in the calibration speed interval as a driving path;
calculating an installation error of the position acquisition unit using the travel path and the orientation data.
2. The method of claim 1, wherein the selecting a travel path in the position profile based on a preset filtering condition comprises:
and selecting a position curve with the corresponding curvature within the calibration curvature interval as a driving path.
3. The method of claim 1, wherein said calculating an installation error of said position acquisition unit using said travel path and said orientation data comprises:
determining the direction of a driving path according to the driving path;
comparing the travel path orientation with the orientation data to obtain at least one orientation error;
and calculating the installation error of the position acquisition unit according to the at least one orientation error.
4. The method of claim 1, wherein a status acquisition unit is also provided on the vehicle; after the calculating the installation error of the position acquisition unit by using the driving path and the orientation data, the method further comprises the following steps:
acquiring state data acquired by the state acquisition unit;
and calculating the installation error of the state acquisition unit by combining the installation error of the position acquisition unit and utilizing the position data and the state data.
5. The method of claim 4, wherein the status data comprises at least one of: acceleration data, angular velocity data.
6. The method of claim 4, wherein prior to calculating the installation error of the status acquisition unit using the travel path and the status data in conjunction with the installation error of the location acquisition unit, further comprising:
acquiring the relative position between the position acquisition unit and the state acquisition unit;
correspondingly, the calculating the installation error of the state acquisition unit by using the driving path and the state data in combination with the installation error of the position acquisition unit comprises:
and calculating the installation error of the state acquisition unit by combining the installation error of the position acquisition unit and the relative position and utilizing the driving path and the state data.
7. The method of claim 4, wherein said calculating the installation error of the status acquisition unit using the position data and the status data in combination with the installation error of the position acquisition unit comprises:
calculating at least one calibration orientation data during the driving of the vehicle in combination with the position data based on the installation error of the position acquisition unit;
calculating orientation data to be calibrated corresponding to the state acquisition unit by using the state data;
and determining the installation error of the state acquisition unit based on the difference value of the calibration orientation data and the orientation data to be calibrated.
8. The method of claim 4, wherein after acquiring the status data collected by the status collection unit, further comprising:
acquiring calibration position data acquired by the position acquisition unit; the calibration position data comprises position data acquired by the position acquisition unit after the position acquisition unit is calibrated according to the error of the position acquisition unit;
and calculating the installation error of the state acquisition unit by using the calibration position data and the state data.
9. The method of claim 8, wherein the position acquisition unit has a single antenna acquisition mode and a dual antenna acquisition mode;
the position data comprises position data acquired by the position acquisition unit in a dual-antenna acquisition mode;
the calibration position data includes position data acquired by the position acquisition unit in a single antenna acquisition mode.
10. An error calculation apparatus, characterized in that the apparatus comprises:
the data acquisition module is used for acquiring orientation data of the position acquisition unit in the running process of the vehicle and the position data acquired by the position acquisition unit;
the path determining module is used for determining a driving path of the vehicle according to the position data; wherein, include: fitting according to the position data to obtain a position curve; selecting a driving path in the position curve based on a preset screening condition; the selecting of the driving path in the position curve based on the preset screening condition comprises the following steps: determining a curve speed corresponding to the position curve according to the position data and the acquisition time corresponding to the position data; selecting a position curve of the corresponding curve speed in the calibration speed interval as a driving path;
and the error calculation module is used for calculating the installation error of the position acquisition unit by utilizing the driving path and the orientation data.
11. An error calculation apparatus comprising a memory and a processor;
the memory to store computer instructions;
the processor to execute the computer instructions to implement the steps of: acquiring orientation data of a position acquisition unit in the driving process of a vehicle and position data acquired by the position acquisition unit; determining a driving path of the vehicle according to the position data; wherein, include: fitting according to the position data to obtain a position curve; selecting a driving path in the position curve based on a preset screening condition; the selecting of the driving path in the position curve based on the preset screening condition comprises the following steps: determining a curve speed corresponding to the position curve according to the position data and the acquisition time corresponding to the position data; selecting a position curve of the corresponding curve speed in the calibration speed interval as a driving path; calculating an installation error of the position acquisition unit using the travel path and the orientation data.
12. A storage medium having computer program instructions stored thereon which, when executed, implement the method steps of any of claims 1-9.
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| US11077825B2 (en) | 2019-12-16 | 2021-08-03 | Plusai Limited | System and method for anti-tampering mechanism |
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