CN114019954B

CN114019954B - Course installation angle calibration method, device, computer equipment and storage medium

Info

Publication number: CN114019954B
Application number: CN202111186646.XA
Authority: CN
Inventors: 宋舜辉
Original assignee: DeepRoute AI Ltd
Current assignee: DeepRoute AI Ltd
Priority date: 2021-10-12
Filing date: 2021-10-12
Publication date: 2024-02-09
Anticipated expiration: 2041-10-12
Also published as: CN114019954A

Abstract

The application relates to a heading installation angle calibration method, a heading installation angle calibration device, computer equipment and a storage medium. The method comprises the following steps: acquiring angular velocity information, vehicle wheel speed, course angle information and track angle information of each information acquisition moment in an initial gyro zero offset, a fixed distance and a driving time period; according to the initial gyro zero offset, the fixed distance, the angular velocity information, the course angle information and the vehicle wheel speed, determining a course offset corresponding to each information acquisition moment; correcting the track angle information according to the course offset, and obtaining a course installation angle corresponding to each information acquisition moment according to the corrected track angle information and the course angle information; determining a heading installation angle weight corresponding to the heading installation angle according to the wheel speed of the vehicle; and carrying out weighted average according to the heading installation angle and the heading installation angle weight to obtain a heading installation angle calibration result. By adopting the method, the heading installation angle calibration precision can be improved.

Description

Course installation angle calibration method, device, computer equipment and storage medium

Technical Field

The present disclosure relates to the field of autopilot technologies, and in particular, to a heading installation angle calibration method, apparatus, computer device, and storage medium.

Background

In the technical field of autopilot, a global navigation satellite system (GNSS, global Navigation Satellite System) and inertial navigation system combined navigation algorithm is generally adopted to estimate information such as the gesture, speed and position of an autopilot vehicle. The global navigation satellite system formed by double antennas is often adopted for estimation, and can provide position and speed information, and course information along the direction of the double antennas, so that the course information can improve the course precision of the combined navigation algorithm, and can provide a course initial value for the combined navigation system, and the system is convenient to initialize. However, there is a mounting error between the global navigation satellite system and the longitudinal axis of the vehicle, which may cause a fixed heading error in the integrated navigation system, affecting the state estimation of the autonomous vehicle, so that it is necessary to calibrate the heading mounting angle between the global navigation satellite system and the longitudinal axis of the vehicle. Wherein, the vehicle longitudinal axis refers to the longitudinal axis direction of the vehicle coordinate system.

In the conventional technology, a commonly adopted course installation angle calibration method is to directly calculate the geometric position of a double antenna by using a global navigation satellite system.

However, due to the irregular shape of the vehicle, the conventional method for calibrating the heading installation angle has measurement errors and has the problem of low accuracy of calibrating the heading installation angle.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a heading installation angle calibration method, apparatus, computer device, and storage medium capable of improving the accuracy of heading installation angle calibration.

A heading installation angle calibration method, the method comprising:

acquiring initial gyro zero offset, fixed distance, angular velocity information, vehicle wheel speed, course angle information and track angle information of each information acquisition time in a driving time period, wherein the fixed distance is the distance between a vehicle steering center and a main antenna in a global navigation satellite system;

according to the initial gyro zero offset, the fixed distance, the angular velocity information, the course angle information and the vehicle wheel speed, determining a course offset corresponding to each information acquisition moment;

correcting the track angle information according to the course offset, and obtaining a course installation angle corresponding to each information acquisition moment according to the corrected track angle information and the course angle information;

determining a heading installation angle weight corresponding to the heading installation angle according to the wheel speed of the vehicle;

And carrying out weighted average according to the heading installation angle and the heading installation angle weight to obtain a heading installation angle calibration result.

In one embodiment, determining the heading offset corresponding to each information acquisition time based on the initial gyro zero offset, the fixed distance, the angular velocity information, the heading angle information, and the vehicle wheel speed includes:

iteratively calculating the zero offset of the gyroscope corresponding to each information acquisition moment according to the initial zero offset of the gyroscope, the course angle information and the angular velocity information;

and obtaining heading offset corresponding to each information acquisition time according to the fixed distance, the gyro zero offset and angular velocity information corresponding to each information acquisition time and the vehicle wheel speed.

In one embodiment, iteratively calculating the gyro zero offset corresponding to each information acquisition time according to the initial gyro zero offset, the heading angle information and the angular velocity information includes:

taking the initial gyro zero offset as the gyro zero offset corresponding to the running initial moment, and taking the running initial moment as the current moment;

obtaining gyro zero offset corresponding to the predicted time according to the gyro zero offset and the course angle information corresponding to the current time, the course angle information corresponding to the predicted time and the angular velocity information, wherein the predicted time is the next time corresponding to the current time;

And updating the predicted time to be the current time, and estimating the gyro zero offset of the predicted time corresponding to the updated current time until the predicted time corresponding to the updated current time is the running termination time in the running time period, so as to obtain the gyro zero offset corresponding to each information acquisition time.

In one embodiment, obtaining the gyro zero offset corresponding to the predicted time according to the gyro zero offset corresponding to the current time, the heading angle information corresponding to the predicted time, and the angular velocity information includes:

determining a course angle difference value according to course angle information corresponding to the predicted time and course angle information corresponding to the current time;

acquiring a time interval between the current moment and the predicted moment, and determining a course change angular speed according to the time interval and a course angle difference value;

and obtaining the gyro zero offset corresponding to the predicted time according to the course change angular velocity, the angular velocity information corresponding to the predicted time and the gyro zero offset corresponding to the current time.

In one embodiment, determining a heading installation angle weight corresponding to a heading installation angle based on a wheel speed of the vehicle includes:

determining the maximum vehicle wheel speed in the driving time period according to the vehicle wheel speed;

And determining the heading installation angle weight corresponding to the heading installation angle according to the maximum vehicle wheel speed and the vehicle wheel speed corresponding to the heading installation angle.

In one embodiment, the obtaining the heading installation angle calibration result according to the heading installation angle and the heading installation angle weight comprises:

obtaining a total heading installation angle weight according to the heading installation angle weight, and determining a corresponding information acquisition time number according to the driving time period;

superposing the heading installation angle and the corresponding heading installation angle weight to obtain a superposed heading installation angle;

and obtaining a course installation angle calibration result according to the superimposed course installation angle, the total course installation angle weight and the information acquisition time.

In one embodiment, correcting the track angle information according to the heading offset, and obtaining the heading installation angle corresponding to each information acquisition time according to the corrected track angle information and the heading angle information includes:

correcting the track angle information according to the course offset to obtain corrected track angle information;

determining the angle difference between the course angle and the corrected course angle according to the course angle information and the corrected course angle information;

and obtaining a course installation angle corresponding to each information acquisition time according to the angle difference.

A heading installation angle calibration device, the device comprising:

the acquisition module is used for acquiring the initial gyro zero offset, a fixed distance and angular velocity information, vehicle wheel speed, course angle information and track angle information of each information acquisition time in a driving time period, wherein the fixed distance is the distance between a vehicle steering center and a main antenna in the global navigation satellite system;

the processing module is used for determining the course offset corresponding to each information acquisition moment according to the initial gyro zero offset, the fixed distance, the angular velocity information, the course angle information and the vehicle wheel speed;

the correction module is used for correcting the track angle information according to the course offset, and obtaining a course installation angle corresponding to each information acquisition moment according to the corrected track angle information and the course angle information;

the weight calculation module is used for determining heading installation angle weights corresponding to the heading installation angles according to the wheel speeds of the vehicles;

and the weighting calculation module is used for carrying out weighted average according to the heading installation angle and the heading installation angle weight to obtain a heading installation angle calibration result.

A computer device comprising a memory storing a computer program and a processor which when executing the computer program performs the steps of:

A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

According to the course installation angle calibration method, the device, the computer equipment and the storage medium, the course offset corresponding to each information acquisition time is determined according to the initial gyro zero offset, the fixed distance, the angular velocity information, the course angle information and the vehicle wheel speed, the course offset can be utilized to correct the course angle information, the influence of vehicle steering on the course angle is reduced, the course installation angle corresponding to each information acquisition time is obtained according to the corrected course angle information and the course angle information, the course installation angle can be estimated directly according to the relation between the course angle and the course angle, the influence of measurement errors is avoided, the course installation angle weight corresponding to the course installation angle is determined according to the vehicle wheel speed, the high-precision course installation angle calibration result can be obtained by utilizing weighted average of the course installation angle and the course installation angle weight, and the course installation angle calibration precision is improved.

Drawings

FIG. 1 is a flow diagram of a heading installation angle calibration method in one embodiment;

FIG. 2 is a parameter diagram of a heading installation angle calibration method in one embodiment;

FIG. 3 is a flow chart of a heading installation angle calibration method in another embodiment;

FIG. 4 is a flow chart of a heading installation angle calibration method in yet another embodiment;

FIG. 5 is a block diagram of a heading angle calibration device in one embodiment;

fig. 6 is an internal structural diagram of a computer device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

In one embodiment, as shown in fig. 1, a heading installation angle calibration method is provided, and this embodiment is illustrated by applying the method to a server, it is understood that the method may also be applied to a terminal, and may also be applied to a system including a terminal and a server, and implemented through interaction between the terminal and the server. The terminal may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, portable wearable devices and intelligent driving vehicle computing platforms, and the server may be implemented by a separate server or a server cluster formed by a plurality of servers. In this embodiment, the method includes the steps of:

Step 102, obtaining the initial gyro zero offset, a fixed distance and angular velocity information, vehicle wheel speed, course angle information and track angle information of each information acquisition time in a driving time period, wherein the fixed distance is the distance between a vehicle steering center and a main antenna in a global navigation satellite system.

The initial gyro zero offset is calculated according to the measured value of the Z-axis angular velocity of the inertial measurement unit when the vehicle is stationary, and the calculated Z-axis gyro zero offset of the inertial measurement unit is identical to the measured value of the Z-axis angular velocity of the inertial measurement unit. For example, when the Z-axis angular velocity measurement is w, the initial gyro zero bias bg=w. The fixed distance is the distance between the steering center of the vehicle and the main antenna in the global navigation satellite system, and can be measured by a ruler or a laser range finder. For example, as shown in fig. 2, the vehicle steering center may be specifically a vehicle rear wheel center, and the fixed distance may specifically be a distance (i.e., R in the drawing) between the vehicle rear wheel center and a main antenna in the global navigation satellite system.

The driving time period refers to the time required for the vehicle to complete one complete driving. For example, the driving time period may specifically refer to the time required for the vehicle to move from stationary to stationary. The information acquisition time is the time when angular velocity information, vehicle wheel speed, course angle information and track angle information are acquired. For example, the information acquisition time may be an acquisition time point determined according to a preset acquisition interval. The angular velocity information refers to the angular velocity obtained by the inertial measurement unit. The wheel speed of the vehicle refers to a measured value (v_car in fig. 2) obtained by a sensor that measures the wheel speed of the vehicle. For example, the sensor for measuring the wheel speed of the vehicle may be specifically referred to as a wheel speed meter, and the wheel speed of the vehicle may be obtained through a vehicle OBD (On Board Diagnostics, on-board self-diagnostic system) interface.

As shown in fig. 2, the global navigation satellite system includes a main antenna and a secondary antenna (the positions of the main antenna and the secondary antenna are respectively represented by two circles in fig. 2, wherein the circle near the center of the rear wheel represents the position of the secondary antenna, the circle far the center of the rear wheel represents the position of the main antenna), the main antenna is used for position measurement, speed measurement and track angle measurement, the secondary antenna is used for course angle measurement, the included angle between the connecting line of the two antenna installation positions (i.e. the vector from the antenna to the main antenna) and the forward direction is the course angle (i.e. the heading angle in fig. 2), the course angle can be obtained by measuring the global navigation satellite system, and the principle can be understood that the latitude and longitude positions of the main antenna and the secondary antenna are respectively measured, and the latitude and longitude difference value of the two positions is the tangent value of the course angle.

The principle of the method is that the relative speed of the main antenna and the satellite can be calculated through the Doppler effect between the antenna of the global navigation satellite system and the satellite, the speed of the satellite can be calculated through analyzing satellite signals, and when a sufficient number of satellites (at least four satellites) exist, the east speed and the north speed of the main antenna of the global navigation satellite system can be calculated, so that the angle between the speed vector of the main antenna of the global navigation satellite system and the forward direction, namely the track angle (the circle angle in fig. 2) can be obtained, and meanwhile, the speed vector of the main antenna of the global navigation satellite system (V_GNSS in fig. 2) is also obtained.

It should be noted that, the difference between the course angle and the track angle is: the course angle is the included angle between the connecting line of the double-antenna installation position and the right east, the difference between the connecting line and the vehicle orientation is a fixed constant, and the course angle is the included angle between the motion direction of the main antenna and the right east, and is irrelevant to the vehicle orientation.

Specifically, when the heading installation angle is required to be calibrated, the server can acquire initial gyro zero offset, fixed distance, angular velocity information, vehicle wheel speed, heading angle information and track angle information of each information acquisition time in the driving time period.

And 104, determining the heading offset corresponding to each information acquisition moment according to the initial gyro zero offset, the fixed distance, the angular velocity information, the heading angle information and the vehicle wheel speed.

Wherein, when the vehicle starts to move, there is a small angular velocity of the vehicle, which causes the speed direction of the main antenna of the global navigation satellite system to be not strictly parallel to the longitudinal axis of the vehicle, i.e. the middle v_gnss and v_car in fig. 2 are not parallel, but there is a heading offset (i.e. the angle alpha in fig. 2), and the reason for this heading offset is: on the one hand, the vehicle has a speed parallel to the vehicle direction and can be directly measured by a wheel speed meter, namely V_CAR, on the other hand, since the vehicle has an angular speed in motion, the rotation center of the vehicle is the center of a rear axle of the vehicle, the angular speed can cause a right-direction speed in the direction of a main antenna, and the speed of the main antenna of the global navigation satellite system is the sum speed of the wheel speed and the right-direction speed of the vehicle, so that the speed deviation caused by the angular speed of the vehicle needs to be calculated.

Specifically, the server iteratively calculates the gyro zero offset corresponding to each information acquisition time according to the initial gyro zero offset, the fixed distance and the angular velocity information, and then determines the right velocity generated in the main antenna direction corresponding to each information acquisition time according to the fixed distance, the gyro zero offset corresponding to each information acquisition time and the angular velocity information, and obtains the heading offset corresponding to each information acquisition time by using the right velocity and the vehicle wheel speed. The iterative calculation of the gyro zero offset corresponding to each information acquisition time means that the gyro zero offset corresponding to the running initial time is determined according to the initial gyro zero offset, the gyro zero offset at the next time is determined according to the gyro zero offset corresponding to the running initial time, and the gyro zero offset at the next time is calculated according to the gyro zero offset at the next time until the gyro zero offset corresponding to the running ending time is calculated, so that the iterative calculation is completed. The next time point refers to a next time point corresponding to the next time point.

And 106, correcting the track angle information according to the course offset, and obtaining a course installation angle corresponding to each information acquisition time according to the corrected track angle information and the course angle information.

The heading installation angle refers to an angle between a dual antenna connection line and a longitudinal axis of a vehicle in the global navigation satellite system, namely, a GNSS installation angle in fig. 2.

Specifically, after the course offset is obtained, the server corrects the course angle information according to the course offset, and obtains the angle difference between the course angle and the corrected course angle according to the corrected course angle information and the course angle information, and the angle difference is used as a course installation angle.

And 108, determining the heading installation angle weight corresponding to the heading installation angle according to the wheel speed of the vehicle.

Specifically, the server may determine a maximum vehicle wheel speed within the driving time period according to the vehicle wheel speed, so as to determine a heading installation angle weight corresponding to the heading installation angle according to the maximum vehicle wheel speed and the vehicle wheel speed corresponding to the heading installation angle.

And 110, carrying out weighted average according to the heading installation angle and the heading installation angle weight to obtain a heading installation angle calibration result.

Specifically, the server performs weighted average on the heading installation angle and the corresponding heading installation angle weight to obtain a heading installation angle calibration result, wherein the heading installation angle calibration result is the heading installation angle after weighted average.

According to the course installation angle calibration method, the course offset corresponding to each information acquisition time is determined according to the initial gyro zero offset, the fixed distance, the angular velocity information, the course angle information and the vehicle wheel speed, the course angle information can be corrected by using the course offset, the influence of vehicle steering on the course angle is reduced, the course installation angle corresponding to each information acquisition time is obtained according to the corrected course angle information and the course angle information, the course installation angle can be estimated directly according to the relation between the course angle and the course angle, the influence of measurement errors is avoided, the course installation angle weight corresponding to the course installation angle is determined according to the vehicle wheel speed, the course installation angle and the course installation angle weight can be weighted and averaged, the course installation angle calibration result with high precision is obtained, and the course installation angle calibration precision is improved.

Specifically, the server takes the initial gyro zero offset as the gyro zero offset corresponding to the initial driving moment, determines the gyro zero offset at the next moment according to the gyro zero offset, the course angle information and the course angle information corresponding to the next moment and the angular velocity information corresponding to the initial driving moment, calculates the gyro zero offset at the next moment according to the gyro zero offset, the course angle information and the angular velocity information corresponding to the next moment, and completes iterative calculation until the gyro zero offset corresponding to the driving ending moment is calculated. The next time point refers to a next time point corresponding to the next time point.

Specifically, the server calculates the right speed generated in the main antenna direction corresponding to each information acquisition time according to the fixed distance, the gyro zero offset and the angular speed information corresponding to each information acquisition time, and obtains the heading offset corresponding to each information acquisition time by using the right speed and the vehicle wheel speed. The formula for calculating the heading offset may be alpha (k) =atan ((w-bg (k))) R/v_car, where k represents the information acquisition time, w is the angular velocity information, bg is the gyro zero offset, R is the fixed distance, and v_car is the vehicle wheel speed.

In this embodiment, by iteratively calculating the gyro zero offset corresponding to each information acquisition time according to the initial gyro zero offset, the heading angle information and the angular velocity information, real-time updating of the gyro zero offset can be achieved, errors of the gyro zero offset are reduced, and the heading offset corresponding to each information acquisition time is obtained according to the fixed distance, the gyro zero offset corresponding to each information acquisition time, the angular velocity information and the wheel speed of the vehicle, so that the calculation of the heading offset corresponding to each information acquisition time is achieved.

Specifically, since the gyro zero offset may change after the vehicle moves, it is necessary to update the gyro zero offset corresponding to each information acquisition time by using heading angle information. The server takes the initial gyro zero offset as the gyro zero offset corresponding to the running initial time, and takes the running initial time as the current time to start iterative computation. During iterative computation, the server obtains the gyro zero offset corresponding to the predicted time according to the gyro zero offset, the course angle information and the angular velocity information corresponding to the current time, updates the predicted time to the current time, and continues to iteratively compute the gyro zero offset of the predicted time corresponding to the updated current time until the predicted time corresponding to the updated current time is the running ending time in the running time period, so as to obtain the gyro zero offset corresponding to each information acquisition time.

In this embodiment, by obtaining the gyro zero offset corresponding to the driving initial time by using the initial gyro zero offset first, and then starting iterative calculation of the gyro zero offset corresponding to each information acquisition time by using the driving initial time as the current time, updating of the gyro zero offset corresponding to each information acquisition time can be achieved, so that the angular velocity measurement accuracy of the inertial measurement unit can be improved by using the updated gyro zero offset.

Specifically, when obtaining the gyro zero offset corresponding to the predicted time, the server will determine a heading angle difference value according to the heading angle information corresponding to the predicted time and the heading angle information corresponding to the current time, then acquire a time interval between the current time and the predicted time, determine a heading change angular velocity according to the time interval and the heading angle difference value, calculate an angular velocity difference value between the heading change angular velocity and the angular velocity information corresponding to the predicted time, and obtain the gyro zero offset corresponding to the predicted time according to the angular velocity difference value, the gyro zero offset corresponding to the current time and a preset gyro zero offset update coefficient, where the preset gyro zero offset update coefficient can be set as needed to be a numerical value between 0 and 1.

For example, the calculation formula of the gyro zero offset corresponding to the prediction time may be:

bg (k+1) =beta+bg (k) + (1-beta) ((heading (k+1) -heading (k))/t-w), where k+1 represents a predicted time, k represents a current time, bg (k+1) is a gyro zero bias corresponding to the predicted time, beta is a preset gyro zero bias update coefficient, bg (k) is a gyro zero bias corresponding to the current time, heading (k+1) is heading angle information corresponding to the predicted time, heading (k) is heading angle information corresponding to the current time, t is a time interval, and w is angular velocity information corresponding to the predicted time.

In this embodiment, the heading angle information corresponding to the predicted time and the heading angle information corresponding to the current time are used to determine the heading angle difference value, then the time interval between the current time and the predicted time is obtained, the heading change angular velocity is determined according to the time interval and the heading angle difference value, and then the gyro zero offset corresponding to the predicted time is obtained according to the heading change angular velocity, the angular velocity information corresponding to the predicted time and the gyro zero offset corresponding to the current time, so that the gyro zero offset can be updated.

Specifically, the server may determine a maximum vehicle wheel speed in the driving time period according to the vehicle wheel speed, and further may determine a heading installation angle weight corresponding to the heading installation angle according to a quotient of the vehicle wheel speed corresponding to the heading installation angle and the maximum vehicle wheel speed. For example, the formula for calculating the heading installation angle weight may be: m (k) =v_car (k)/MAX (v_car), where m (k) is a heading installation angle weight, v_car (k) is a vehicle wheel speed corresponding to the heading installation angle, and MAX (v_car) is a maximum vehicle wheel speed.

In this embodiment, by determining the maximum vehicle wheel speed in the running period from the vehicle wheel speed, the heading installation angle weight corresponding to the heading installation angle can be determined from the maximum vehicle wheel speed and the vehicle wheel speed corresponding to the heading installation angle.

The information collection time number refers to the number of times of information collection. For example, if 10 information acquisitions are performed in the driving time period, 10 information acquisitions are performed at 10 corresponding information acquisitions, and the number of information acquisitions is 10.

Specifically, when weighted averaging is performed, the server obtains a total heading installation angle weight according to the heading installation angle weight, determines a corresponding information acquisition time number according to a driving time period, superimposes the heading installation angle and the corresponding heading installation angle weight to obtain a superimposed heading installation angle, and obtains a heading installation angle calibration result according to the superimposed heading installation angle, the total heading installation angle weight and the information acquisition time number. For example, the formula of the weighted average may be specifically: Σm (K) gnss_align (K)/(m×k), wherein M (K) is a heading installation angle weight, gnss_align (K) is a heading installation angle, M is a total heading installation angle weight, and K is an information acquisition time number.

In this embodiment, the total heading installation angle weight and the information acquisition time number are calculated first, and the heading installation angle and the corresponding heading installation angle weight are superimposed to obtain the superimposed heading installation angle, so that the determination of the heading installation angle calibration result can be realized according to the superimposed heading installation angle, the total heading installation angle weight and the information acquisition time number.

Specifically, the server corrects the track angle information according to the course offset, superimposes the course offset to the track angle to obtain corrected track angle information, determines the angle difference between the course angle and the corrected track angle according to the course angle information and the corrected track angle information, and obtains the course installation angle corresponding to each information acquisition time according to the angle difference. For example, the calculation formula of the heading installation angle may specifically be: gnss_align (k) =leading (k) -coarse (k) -alpha (k), where k represents information acquisition time, gnss_align (k) represents heading installation angle, leading (k) represents heading angle, coarse (k) is track angle, and alpha (k) is heading offset.

In this embodiment, the course angle information is corrected by using the course offset, so that the influence of the vehicle steering on the course angle can be reduced, and an accurate course installation angle corresponding to each information acquisition time can be obtained.

In one embodiment, as shown in fig. 3, a method for calibrating a heading installation angle of the present application is illustrated by a schematic flow chart, and the method for calibrating the heading installation angle specifically includes the following steps:

when the course installation angle is required to be calibrated, the server firstly acquires the initial gyro zero offset, a fixed distance, and angular velocity information, vehicle wheel speed, course angle information and track angle information of each information acquisition time in a driving time period, wherein the fixed distance is the distance between the vehicle steering center and a main antenna in the global navigation satellite system. According to the initial gyro zero offset, the fixed distance, the angular velocity information, the course angle information and the vehicle wheel speed, the course offset corresponding to each information acquisition time (namely, the speed caused by calculating the angular velocity and the course offset caused by calculating the angular velocity) is determined, the course angle information is corrected according to the course offset, the course installation angle corresponding to each information acquisition time is obtained according to the corrected course angle information and the course angle information (namely, the GNSS installation angle is calculated), the course installation angle weight corresponding to the course installation angle is determined according to the vehicle wheel speed, and the course installation angle is weighted and averaged according to the course installation angle and the course installation angle weight, so that the course installation angle calibration result (namely, the GNSS installation angle weighted average) is obtained. Determining the heading offset corresponding to each information acquisition time according to the initial gyro zero offset, the fixed distance, the angular velocity information, the heading angle information and the vehicle wheel speed refers to iteratively calculating the gyro zero offset corresponding to each information acquisition time (i.e. updating the gyro zero offset) according to the initial gyro zero offset, the heading angle information and the angular velocity information, and obtaining the heading offset corresponding to each information acquisition time according to the fixed distance, the gyro zero offset corresponding to each information acquisition time, the angular velocity information and the vehicle wheel speed.

In one embodiment, as shown in fig. 4, the heading installation angle calibration method of the present application is illustrated by a schematic flow chart, and specifically includes the following steps:

step 402, obtaining the initial gyro zero offset, a fixed distance and angular velocity information, vehicle wheel speed, course angle information and track angle information of each information acquisition time in a driving time period, wherein the fixed distance is the distance between a vehicle steering center and a main antenna in a global navigation satellite system;

step 404, taking the initial gyro zero offset as the gyro zero offset corresponding to the initial running time and taking the initial running time as the current time;

step 406, determining a course angle difference value according to the course angle information corresponding to the predicted time and the course angle information corresponding to the current time;

step 408, obtaining a time interval between the current time and the predicted time, and determining a course change angular velocity according to the time interval and the course angle difference;

step 410, obtaining a gyro zero offset corresponding to a predicted time, which is the next time corresponding to the current time, according to the heading change angular velocity, the angular velocity information corresponding to the predicted time and the gyro zero offset corresponding to the current time;

Step 412, updating the predicted time to the current time, estimating the gyro zero offset of the predicted time corresponding to the updated current time, until the predicted time corresponding to the updated current time is the driving termination time in the driving time period, and obtaining the gyro zero offset corresponding to each information acquisition time;

step 414, obtaining heading offset corresponding to each information acquisition time according to the fixed distance, the gyro zero offset and angular velocity information corresponding to each information acquisition time and the vehicle wheel speed;

step 416, correcting the track angle information according to the course offset to obtain corrected track angle information;

step 418, determining the angle difference between the course angle and the corrected course angle according to the course angle information and the corrected course angle information;

step 420, obtaining a course installation angle corresponding to each information acquisition moment according to the angle difference;

step 422, determining the maximum vehicle wheel speed in the driving time period according to the vehicle wheel speed;

step 424, determining a heading installation angle weight corresponding to the heading installation angle according to the maximum vehicle wheel speed and the vehicle wheel speed corresponding to the heading installation angle;

step 426, obtaining a total heading installation angle weight according to the heading installation angle weight, and determining a corresponding information acquisition time number according to the driving time period;

Step 428, superposing the heading installation angle and the corresponding heading installation angle weight to obtain a superposed heading installation angle;

and 430, obtaining a course installation angle calibration result according to the superimposed course installation angle, the total course installation angle weight and the information acquisition time.

It should be understood that, although the steps in the flowcharts related to the above embodiments are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least a part of the steps in the flowcharts related to the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages performed is not necessarily sequential, but may be performed alternately or alternately with at least a part of the steps or stages in other steps or other steps.

In one embodiment, as shown in fig. 5, there is provided a heading installation angle calibration device, including: an acquisition module 502, a processing module 504, a correction module 506, a weight calculation module 508, and a weight calculation module 510, wherein:

The acquisition module 502 is configured to acquire angular velocity information, vehicle wheel speed, heading angle information, and track angle information at each information acquisition time in an initial gyro zero offset, a fixed distance, and a driving time period, where the fixed distance is a distance between a vehicle steering center and a main antenna in a global navigation satellite system;

the processing module 504 is configured to determine a heading offset corresponding to each information acquisition time according to the initial gyro zero offset, the fixed distance, the angular velocity information, the heading angle information, and the wheel speed of the vehicle;

the correction module 506 is configured to correct the track angle information according to the heading offset, and obtain a heading installation angle corresponding to each information acquisition time according to the corrected track angle information and the heading angle information;

the weight calculation module 508 is configured to determine a heading installation angle weight corresponding to a heading installation angle according to a wheel speed of the vehicle;

the weighted calculation module 510 is configured to perform weighted average according to the heading installation angle and the heading installation angle weight, so as to obtain a heading installation angle calibration result.

According to the course installation angle calibration device, the course offset corresponding to each information acquisition time is determined according to the initial gyro zero offset, the fixed distance, the angular velocity information, the course angle information and the vehicle wheel speed, the course offset can be utilized to correct the course angle information, the influence of vehicle steering on the course angle is reduced, the course installation angle corresponding to each information acquisition time is obtained according to the corrected course angle information and the course angle information, the course installation angle can be estimated directly according to the relation between the course angle and the course angle, the influence of measurement errors is avoided, the course installation angle weight corresponding to the course installation angle is determined according to the vehicle wheel speed, the course installation angle calibration result with high accuracy can be obtained by utilizing weighted average of the course installation angle and the course installation angle weight, and the course installation angle calibration accuracy is improved.

In one embodiment, the processing module is further configured to iteratively calculate a gyro zero offset corresponding to each information acquisition time according to the initial gyro zero offset, the heading angle information, and the angular velocity information, and obtain a heading offset corresponding to each information acquisition time according to the fixed distance, the gyro zero offset corresponding to each information acquisition time, the angular velocity information, and the vehicle wheel speed.

In one embodiment, the processing module is further configured to use the initial gyro zero offset as a gyro zero offset corresponding to a driving initial time, and use the driving initial time as a current time, obtain the gyro zero offset corresponding to the predicted time according to the gyro zero offset, the heading angle information and the heading angle information corresponding to the predicted time and the angular velocity information, update the predicted time to the current time, estimate the gyro zero offset of the predicted time corresponding to the updated current time, and obtain the gyro zero offset corresponding to each information acquisition time until the predicted time corresponding to the updated current time is a driving end time in the driving time period.

In one embodiment, the processing module is further configured to determine a heading angle difference value according to the heading angle information corresponding to the predicted time and the heading angle information corresponding to the current time, obtain a time interval between the current time and the predicted time, determine a heading change angular velocity according to the time interval and the heading angle difference value, and obtain a gyro zero offset corresponding to the predicted time according to the heading change angular velocity, the angular velocity information corresponding to the predicted time, and the gyro zero offset corresponding to the current time.

In one embodiment, the weight calculation module is further configured to determine a maximum vehicle wheel speed in the driving time period according to the vehicle wheel speed, and determine a heading installation angle weight corresponding to the heading installation angle according to the maximum vehicle wheel speed and the vehicle wheel speed corresponding to the heading installation angle.

In one embodiment, the weighting calculation module is further configured to obtain a total heading installation angle weight according to the heading installation angle weight, determine a corresponding information acquisition time according to the driving time period, superimpose the heading installation angle and the corresponding heading installation angle weight to obtain a superimposed heading installation angle, and obtain a heading installation angle calibration result according to the superimposed heading installation angle, the total heading installation angle weight and the information acquisition time.

In one embodiment, the correction module is further configured to correct the track angle information according to the heading offset, obtain corrected track angle information, determine an angle difference between the heading angle and the corrected track angle according to the heading angle information and the corrected track angle information, and obtain a heading installation angle corresponding to each information acquisition time according to the angle difference.

For specific embodiments of the heading installation angle calibration device, reference may be made to the above embodiments of the heading installation angle calibration method, which are not described herein. The above-mentioned each module in the course installation angle calibration device can be implemented by all or part of software, hardware and combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 6. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer equipment is used for storing data such as initial gyro zero offset, fixed distance and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program when executed by a processor implements a heading installation angle calibration method.

It will be appreciated by those skilled in the art that the structure shown in fig. 6 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:

In one embodiment, the processor when executing the computer program further performs the steps of: and iteratively calculating the zero bias of the gyroscope corresponding to each information acquisition time according to the initial zero bias of the gyroscope, the course angle information and the angular velocity information, and obtaining the course offset corresponding to each information acquisition time according to the fixed distance, the zero bias of the gyroscope corresponding to each information acquisition time, the angular velocity information and the wheel speed of the vehicle.

In one embodiment, the processor when executing the computer program further performs the steps of: and taking the initial gyro zero offset as the gyro zero offset corresponding to the initial running time, taking the initial running time as the current time, obtaining the gyro zero offset corresponding to the predicted time according to the gyro zero offset, the course angle information and the angular velocity information corresponding to the current time, updating the predicted time to the current time as the next time according to the predicted time, estimating the gyro zero offset of the predicted time corresponding to the updated current time until the predicted time corresponding to the updated current time is the running ending time in the running time period, and obtaining the gyro zero offset corresponding to each information acquisition time.

In one embodiment, the processor when executing the computer program further performs the steps of: and determining a course angle difference value according to course angle information corresponding to the predicted time and course angle information corresponding to the current time, acquiring a time interval between the current time and the predicted time, determining a course change angular velocity according to the time interval and the course angle difference value, and obtaining a gyro zero offset corresponding to the predicted time according to the course change angular velocity, the angular velocity information corresponding to the predicted time and the gyro zero offset corresponding to the current time.

In one embodiment, the processor when executing the computer program further performs the steps of: and determining the maximum vehicle wheel speed in the driving time period according to the vehicle wheel speed, and determining the heading installation angle weight corresponding to the heading installation angle according to the maximum vehicle wheel speed and the vehicle wheel speed corresponding to the heading installation angle.

In one embodiment, the processor when executing the computer program further performs the steps of: and according to the heading installation angle weight, obtaining a total heading installation angle weight, determining a corresponding information acquisition time number according to a driving time period, superposing the heading installation angle and the corresponding heading installation angle weight to obtain a superposed heading installation angle, and according to the superposed heading installation angle, the total heading installation angle weight and the information acquisition time number, obtaining a heading installation angle calibration result.

In one embodiment, the processor when executing the computer program further performs the steps of: correcting the track angle information according to the course offset to obtain corrected track angle information, determining the angle difference between the course angle and the corrected track angle according to the course angle information and the corrected track angle information, and obtaining a course installation angle corresponding to each information acquisition time according to the angle difference.

In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:

In one embodiment, the computer program when executed by the processor further performs the steps of: and iteratively calculating the zero bias of the gyroscope corresponding to each information acquisition time according to the initial zero bias of the gyroscope, the course angle information and the angular velocity information, and obtaining the course offset corresponding to each information acquisition time according to the fixed distance, the zero bias of the gyroscope corresponding to each information acquisition time, the angular velocity information and the wheel speed of the vehicle.

In one embodiment, the computer program when executed by the processor further performs the steps of: and taking the initial gyro zero offset as the gyro zero offset corresponding to the initial running time, taking the initial running time as the current time, obtaining the gyro zero offset corresponding to the predicted time according to the gyro zero offset, the course angle information and the angular velocity information corresponding to the current time, updating the predicted time to the current time as the next time according to the predicted time, estimating the gyro zero offset of the predicted time corresponding to the updated current time until the predicted time corresponding to the updated current time is the running ending time in the running time period, and obtaining the gyro zero offset corresponding to each information acquisition time.

In one embodiment, the computer program when executed by the processor further performs the steps of: and determining a course angle difference value according to course angle information corresponding to the predicted time and course angle information corresponding to the current time, acquiring a time interval between the current time and the predicted time, determining a course change angular velocity according to the time interval and the course angle difference value, and obtaining a gyro zero offset corresponding to the predicted time according to the course change angular velocity, the angular velocity information corresponding to the predicted time and the gyro zero offset corresponding to the current time.

In one embodiment, the computer program when executed by the processor further performs the steps of: and determining the maximum vehicle wheel speed in the driving time period according to the vehicle wheel speed, and determining the heading installation angle weight corresponding to the heading installation angle according to the maximum vehicle wheel speed and the vehicle wheel speed corresponding to the heading installation angle.

In one embodiment, the computer program when executed by the processor further performs the steps of: and according to the heading installation angle weight, obtaining a total heading installation angle weight, determining a corresponding information acquisition time number according to a driving time period, superposing the heading installation angle and the corresponding heading installation angle weight to obtain a superposed heading installation angle, and according to the superposed heading installation angle, the total heading installation angle weight and the information acquisition time number, obtaining a heading installation angle calibration result.

In one embodiment, the computer program when executed by the processor further performs the steps of: correcting the track angle information according to the course offset to obtain corrected track angle information, determining the angle difference between the course angle and the corrected track angle according to the course angle information and the corrected track angle information, and obtaining a course installation angle corresponding to each information acquisition time according to the angle difference.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims

1. A heading installation angle calibration method, the method comprising:

acquiring initial gyro zero offset, fixed distance and angular velocity information, vehicle wheel speed, course angle information and track angle information of each information acquisition time in a running time period, wherein the fixed distance is the distance between a vehicle steering center and a main antenna in a global navigation satellite system;

determining a heading offset corresponding to each information acquisition moment according to the initial gyro zero offset, the fixed distance, the angular velocity information, the heading angle information and the vehicle wheel speed;

taking the quotient of the vehicle wheel speed corresponding to the course installation angle and the maximum vehicle wheel speed as a course installation angle weight corresponding to the course installation angle;

2. The method of claim 1, wherein determining a heading offset corresponding to each information acquisition time based on the initial gyro zero offset, the fixed distance, the angular velocity information, the heading angle information, and the vehicle wheel speed comprises:

iteratively calculating the zero bias of the gyroscope corresponding to each information acquisition moment according to the initial zero bias of the gyroscope, the course angle information and the angular velocity information;

3. The method of claim 2, wherein iteratively calculating a gyro zero bias corresponding to each information acquisition time based on the initial gyro zero bias, the heading angle information, and the angular velocity information comprises:

Taking the initial gyro zero offset as a gyro zero offset corresponding to the running initial moment, and taking the running initial moment as the current moment;

obtaining gyro zero offset corresponding to the predicted time according to gyro zero offset and course angle information corresponding to the current time, course angle information corresponding to the predicted time and angular velocity information, wherein the predicted time is the next time corresponding to the current time;

and updating the predicted time to be the current time, estimating the gyro zero offset of the predicted time corresponding to the updated current time, and obtaining the gyro zero offset corresponding to each information acquisition time until the predicted time corresponding to the updated current time is the running termination time in the running time period.

4. The method of claim 3, wherein obtaining the gyro zero offset corresponding to the predicted time based on the gyro zero offset corresponding to the current time, the heading angle information, and the heading angle information and the angular velocity information corresponding to the predicted time comprises:

Acquiring a time interval between the current time and the predicted time, and determining a course change angular speed according to the time interval and the course angle difference value;

5. The method of claim 1, wherein said obtaining a heading installation angle calibration result from a weighted average of the heading installation angle and the heading installation angle weight comprises:

6. The method of claim 1, wherein the correcting the track angle information according to the heading offset, and obtaining a heading installation angle corresponding to each information acquisition time according to the corrected track angle information and the heading angle information, comprises:

7. A heading installation angle calibration device, characterized in that the device comprises:

the acquisition module is used for acquiring the initial gyro zero offset, a fixed distance and angular velocity information, vehicle wheel speed, course angle information and track angle information of each information acquisition time in a running time period, wherein the fixed distance is the distance between a vehicle steering center and a main antenna in the global navigation satellite system;

the processing module is used for determining a heading offset corresponding to each information acquisition moment according to the initial gyro zero offset, the fixed distance, the angular velocity information, the heading angle information and the vehicle wheel speed;

The weight calculation module is used for determining the maximum vehicle wheel speed in the driving time period according to the vehicle wheel speed, and taking the quotient of the vehicle wheel speed corresponding to the course installation angle and the maximum vehicle wheel speed as the course installation angle weight corresponding to the course installation angle;

and the weighted calculation module is used for carrying out weighted average according to the course installation angle and the course installation angle weight to obtain a course installation angle calibration result.

8. The apparatus of claim 7, wherein the processing module is further configured to iteratively calculate a gyro zero offset corresponding to each information acquisition time based on the initial gyro zero offset, the heading angle information, and the angular velocity information, and obtain a heading offset corresponding to each information acquisition time based on the fixed distance, the gyro zero offset corresponding to each information acquisition time, the angular velocity information, and a vehicle wheel speed.

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.