CN111272194B - Method for calibrating gyroscope on trailer - Google Patents
Method for calibrating gyroscope on trailer Download PDFInfo
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- CN111272194B CN111272194B CN202010102640.9A CN202010102640A CN111272194B CN 111272194 B CN111272194 B CN 111272194B CN 202010102640 A CN202010102640 A CN 202010102640A CN 111272194 B CN111272194 B CN 111272194B
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- carriage
- trailer
- gyroscopes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Gyroscopes (AREA)
Abstract
The application discloses a calibrating method of gyroscopes on a trailer, which relates to the field of trailers, and judges whether the running speed is greater than a set first threshold value by acquiring the current running speed of the trailer in real time, if so, each carriage of the trailer is determined to run on the same straight line and the running angles of carriages acquired by each gyroscope in each carriage are cleared, so that the gyroscopes are calibrated, the problem of judging how to run on the same straight line of each carriage is effectively solved, the effective calibration of the gyroscopes in the carriages is realized, and the gyroscopes are ensured to normally and stably provide accurate angle data.
Description
Technical Field
The application relates to the field of trailers, in particular to a method for calibrating a gyroscope on a trailer.
Background
Aiming at the current trailer, under the working condition that one locomotive drives a plurality of carriages, how to judge that each carriage runs on the same straight line and effectively calibrate gyroscopes in the carriages is not better solved at present.
Disclosure of Invention
In order to solve the defects in the prior art, the embodiment of the application provides a method for calibrating a gyroscope on a trailer, which comprises the following steps:
acquiring the current running speed of the trailer in real time;
and judging whether the running speed is greater than a set first threshold value, if so, determining that all carriages of the trailer run on the same straight line currently, clearing carriage running angles obtained by all gyroscopes in all carriages, and calibrating the gyroscopes.
Preferably, the method further comprises:
acquiring the rotation angle of a steering wheel of the trailer in real time;
if the time that the rotation angle is maintained at zero degree is greater than the set second threshold value, determining that all carriages of the trailer run on the same straight line currently and clearing the carriage running angles obtained by all gyroscopes in all carriages, and calibrating the gyroscopes.
Preferably, the method further comprises:
acquiring a carriage running angle acquired by gyroscopes in a trailer carriage according to the set frequency;
respectively calculating the carriage running angles acquired by gyroscopes in the trailer carriage and the difference between the carriage running angles acquired by the gyroscopes in the trailer carriage;
if the difference between the carriage running angle acquired by the gyroscopes in the trailer carriage and the carriage running angle acquired by the gyroscopes in the trailer carriage is larger than a set third threshold value, determining that the current carriage running angles acquired by the two gyroscopes deviate due to external interference;
and eliminating the running angles of the carriage acquired by the current two gyroscopes, rewriting the running angles of the carriage acquired by the two gyroscopes into the running angles of the carriage, and reserving the running angles of the carriage acquired before.
The calibrating method of the gyroscope on the trailer provided by the embodiment of the application has the following beneficial effects:
the method effectively solves the problem of judging how to operate each carriage on the same straight line, realizes the effective calibration of the gyroscopes in the carriages, and ensures that the gyroscopes normally and stably provide accurate angle data.
Detailed Description
The present application will be specifically described with reference to the following specific examples.
The method for calibrating the gyroscope on the trailer provided by the embodiment of the application comprises the following steps:
s101, acquiring the current running speed of the trailer in real time.
As a specific example, the running speed of the trailer may be obtained in real time by installing a GPS locator in the trailer.
S102, judging whether the running speed is greater than a set first threshold value, if so, determining that all carriages of the trailer run on the same straight line currently, clearing carriage running angles obtained by all gyroscopes in all carriages, and calibrating the gyroscopes.
As a specific example, in the case where the vehicle is traveling at a high speed, it is impossible for the vehicle to make a turn. Only at low speeds is the vehicle likely to turn. Therefore, if the entire trailer exceeds a certain vehicle speed (80 km/h), then all carriages of the trailer are considered to run on the same straight line, and all gyroscopes on the carriages are cleared at this time to complete the calibration.
Optionally, the method further comprises:
acquiring the rotation angle of a steering wheel of the trailer in real time;
if the time that the rotation angle is maintained at zero is greater than the set second threshold value, determining that all carriages of the trailer run on the same straight line currently, clearing the carriage running angle acquired by each gyroscope in all carriages, and calibrating the gyroscopes.
As a specific example, the rotation angle of the steering wheel of the vehicle may be extracted through the CAN bus of the trailer. If this rotation angle is maintained in the zero degree direction for more than ten seconds, it is assumed that the trailer and each trailer of the trailer are traveling in a straight line. In this case, all gyroscopes on the trailer are cleared.
Optionally, the method further comprises:
acquiring a carriage running angle acquired by gyroscopes in a trailer carriage according to the set frequency;
respectively calculating the carriage running angles acquired by gyroscopes in the trailer carriage and the difference between the carriage running angles acquired by the gyroscopes in the trailer carriage;
if the difference between the carriage running angle acquired by the gyroscopes in the trailer carriage and the carriage running angle acquired by the gyroscopes in the trailer carriage is larger than a set third threshold value, determining that the current carriage running angles acquired by the two gyroscopes deviate due to external interference;
and eliminating the running angles of the carriage acquired by the current two gyroscopes, rewriting the running angles of the carriage acquired by the two gyroscopes into the running angles of the carriage, and reserving the running angles of the carriage acquired before.
As a specific example, a gyroscope is considered to be operating properly if the difference between the cabin operating angle acquired by the gyroscope in the trailer cabin and the cabin operating angle acquired by the gyroscope in the trailer cabin is less than 5 degrees. If the angle exceeds 5 degrees, the gyroscope is considered to be interfered by the outside, and the gyroscope does not work normally and needs to be corrected.
According to the calibrating method for the gyroscope on the trailer, provided by the embodiment of the application, the current running speed of the trailer is obtained in real time, whether the running speed is larger than the set first threshold value is judged, if yes, the running angles of carriages of the trailer, which are obtained by all gyroscopes in all carriages, are determined to run on the same straight line, and the gyroscope is calibrated, so that the problem of judging how to run all carriages on the same straight line is effectively solved, the effective calibration of the gyroscope in the carriages is realized, and the gyroscope is ensured to normally and stably provide accurate angle data.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
It will be appreciated that the relevant features of the methods and apparatus described above may be referenced to one another.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, the present application is not directed to any particular programming language. It will be appreciated that the teachings of the present application described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present application.
Furthermore, the memory may include volatile memory, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), in a computer readable medium, the memory including at least one memory chip.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (3)
1. A method of calibrating a gyroscope on a trailer, comprising:
acquiring the current running speed of the trailer in real time;
judging whether the running speed is greater than a set first threshold value, if so, determining that all carriages of the trailer run on the same straight line currently and clearing carriage running angles obtained by all gyroscopes in all carriages, and calibrating the gyroscopes;
acquiring the rotation angle of a steering wheel of the trailer in real time;
if the time that the rotation angle is maintained at zero degree is greater than the set second threshold value, determining that all carriages of the trailer run on the same straight line currently and clearing the carriage running angles obtained by all gyroscopes in all carriages, and calibrating the gyroscopes.
2. The method of calibrating a gyroscope on a trailer according to claim 1, further comprising:
acquiring a carriage running angle acquired by gyroscopes in a trailer carriage according to the set frequency;
respectively calculating the carriage running angles acquired by gyroscopes in the trailer carriage and the difference between the carriage running angles acquired by the gyroscopes in the trailer carriage;
if the difference between the carriage running angle acquired by the gyroscopes in the trailer carriage and the carriage running angle acquired by the gyroscopes in the trailer carriage is larger than a set third threshold value, determining that the current carriage running angles acquired by the two gyroscopes deviate due to external interference;
and eliminating the running angles of the carriage acquired by the current two gyroscopes, rewriting the running angles of the carriage acquired by the two gyroscopes into the running angles of the carriage, and reserving the running angles of the carriage acquired before.
3. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of any of claims 1-2 when the computer program is executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010102640.9A CN111272194B (en) | 2020-02-19 | 2020-02-19 | Method for calibrating gyroscope on trailer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010102640.9A CN111272194B (en) | 2020-02-19 | 2020-02-19 | Method for calibrating gyroscope on trailer |
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| CN111272194A CN111272194A (en) | 2020-06-12 |
| CN111272194B true CN111272194B (en) | 2023-08-25 |
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Citations (12)
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|---|---|---|---|---|
| JPH0392713A (en) * | 1989-09-04 | 1991-04-17 | Sumitomo Electric Ind Ltd | Removal of offset of gyroscope |
| JPH04208808A (en) * | 1990-11-30 | 1992-07-30 | Sumitomo Electric Ind Ltd | Apparatus for correcting offset of revolving angular velocity sensor |
| JPH0626865A (en) * | 1992-04-20 | 1994-02-04 | Sumitomo Electric Ind Ltd | Vehicle-bearing correcting apparatus |
| JPH0642976A (en) * | 1992-02-10 | 1994-02-18 | Sumitomo Electric Ind Ltd | Offset correction apparatus of gyro |
| JPH06294652A (en) * | 1993-04-09 | 1994-10-21 | Clarion Co Ltd | Drift correction system for gyro |
| JPH07190797A (en) * | 1993-12-27 | 1995-07-28 | Suzuki Motor Corp | Gyro correction device for vehicle |
| CN102607596A (en) * | 2012-03-07 | 2012-07-25 | 北京航空航天大学 | Strapdown flexible gyro dynamic random drift error testing method based on difference GPS (global position system) observation |
| CN104422465A (en) * | 2013-09-09 | 2015-03-18 | 上海博泰悦臻电子设备制造有限公司 | Car-mounted gyroscope coefficient correction method and car-mounted gyroscope coefficient correction device as well as car-mounted navigation system |
| RU2584372C1 (en) * | 2014-03-07 | 2016-05-20 | Форд Глобал Технолоджис, ЛЛК | System and method of calibrating assistance during reverse motion of vehicle with trailer |
| CN106443745A (en) * | 2016-10-27 | 2017-02-22 | 广州日滨科技发展有限公司 | Course angle correction method and device |
| DE102018001865A1 (en) * | 2018-03-08 | 2018-09-20 | Daimler Ag | Method and device for transmitting sensor data between a tractor and at least one trailing trailer |
| WO2019004538A1 (en) * | 2017-06-30 | 2019-01-03 | 현대엠엔소프트 주식회사 | Inertial sensor calibration method |
-
2020
- 2020-02-19 CN CN202010102640.9A patent/CN111272194B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0392713A (en) * | 1989-09-04 | 1991-04-17 | Sumitomo Electric Ind Ltd | Removal of offset of gyroscope |
| JPH04208808A (en) * | 1990-11-30 | 1992-07-30 | Sumitomo Electric Ind Ltd | Apparatus for correcting offset of revolving angular velocity sensor |
| JPH0642976A (en) * | 1992-02-10 | 1994-02-18 | Sumitomo Electric Ind Ltd | Offset correction apparatus of gyro |
| JPH0626865A (en) * | 1992-04-20 | 1994-02-04 | Sumitomo Electric Ind Ltd | Vehicle-bearing correcting apparatus |
| JPH06294652A (en) * | 1993-04-09 | 1994-10-21 | Clarion Co Ltd | Drift correction system for gyro |
| JPH07190797A (en) * | 1993-12-27 | 1995-07-28 | Suzuki Motor Corp | Gyro correction device for vehicle |
| CN102607596A (en) * | 2012-03-07 | 2012-07-25 | 北京航空航天大学 | Strapdown flexible gyro dynamic random drift error testing method based on difference GPS (global position system) observation |
| CN104422465A (en) * | 2013-09-09 | 2015-03-18 | 上海博泰悦臻电子设备制造有限公司 | Car-mounted gyroscope coefficient correction method and car-mounted gyroscope coefficient correction device as well as car-mounted navigation system |
| RU2584372C1 (en) * | 2014-03-07 | 2016-05-20 | Форд Глобал Технолоджис, ЛЛК | System and method of calibrating assistance during reverse motion of vehicle with trailer |
| CN106443745A (en) * | 2016-10-27 | 2017-02-22 | 广州日滨科技发展有限公司 | Course angle correction method and device |
| WO2019004538A1 (en) * | 2017-06-30 | 2019-01-03 | 현대엠엔소프트 주식회사 | Inertial sensor calibration method |
| DE102018001865A1 (en) * | 2018-03-08 | 2018-09-20 | Daimler Ag | Method and device for transmitting sensor data between a tractor and at least one trailing trailer |
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| CN111272194A (en) | 2020-06-12 |
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