CN102680002B - Online calibrating method of zero-point voltage of micro-machine gyroscope for automobile - Google Patents
Online calibrating method of zero-point voltage of micro-machine gyroscope for automobile Download PDFInfo
- Publication number
- CN102680002B CN102680002B CN201210152023.5A CN201210152023A CN102680002B CN 102680002 B CN102680002 B CN 102680002B CN 201210152023 A CN201210152023 A CN 201210152023A CN 102680002 B CN102680002 B CN 102680002B
- Authority
- CN
- China
- Prior art keywords
- gyro
- gps
- corner
- zero
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000003068 static effect Effects 0.000 claims abstract description 10
- 238000004422 calculation algorithm Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 11
- 238000009825 accumulation Methods 0.000 claims description 9
- 239000000284 extract Substances 0.000 claims description 6
- 241000209094 Oryza Species 0.000 claims description 4
- 235000007164 Oryza sativa Nutrition 0.000 claims description 4
- 235000009566 rice Nutrition 0.000 claims description 4
- 230000006870 function Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 238000012935 Averaging Methods 0.000 abstract 1
- 230000003100 immobilizing effect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 241001212149 Cathetus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000009931 harmful effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Landscapes
- Navigation (AREA)
Abstract
The invention relates to an online calibrating method of zero-point voltage of a micro-machine gyroscope for an automobile, belonging to the field of an automotive electronic technology. The method comprises the following steps of: judging whether the current zero-point voltage of the micro-machine gyroscope is out of alignment according to a GPS (Global Positioning System) azimuth angle, in-use star numbers, gyroscope output voltage and automobile speeds, which are collected in real time; if the current zero-point voltage is out of alignment, judging whether the automobile is static or not according to the automobile speeds; judging whether the automobile runs along a straight line according to the GPS position, the automobile speeds and the in-use star numbers; averaging the gyroscope output voltage obtained by immobilizing the automobile or driving the automobile along the straight line to obtain new zero-point voltage; and starting the new zero-point voltage. According to the invention, the rapid online calibration of the zero-point voltage of the micro-machine gyroscope for the automobile can be carried out; the method is simple, saves a calculation resource and has loose calibration conditions; and the online calibrating method is suitable for an automobile navigation system which has the characteristics of high cost limitation, complicated operation conditions, lower embedded type calculation capability and the like.
Description
Technical field
The invention belongs to technical field of automotive electronics, particularly a kind of online calibration method of the micromechanical gyro zero-point voltage for auto-navigation system.
Background technology
Along with the quick growth of vehicle guaranteeding organic quantity in recent years and the increasingly sophisticated of urban road network, auto-navigation system is developed rapidly, and the combined auto-navigation system application especially GPS and other motion sensors combined is commonplace.This kind of auto-navigation system is generally made up of GPS, micromechanical gyro, vehicle speed sensor, embedded computer, as shown in Figure 1, wherein, GPS provides the locating information of vehicle, comprise position, position angle and by star number etc., micromechanical gyro provides the gyro output voltage relevant to vehicle angular velocity, and vehicle speed sensor is for measuring the speed of a motor vehicle; Vehicle speed sensor is divided into multiple, all comprises the speed of a motor vehicle in the CAN information due to current most automobile, therefore directly replaces vehicle speed sensor to provide speed information by CAN in a lot of auto-navigation system; GPS, micromechanical gyro, vehicle speed sensor are all connected with embedded computer, and by the information conveyance that measures separately to embedded computer, embedded computer processes the information that each component feed is come in, such as: when GPS no signal, embedded computer utilizes the speed of a motor vehicle and gyro output voltage, runs the traveling-position that dead reckoning algorithm obtains automobile; When gps signal is good, embedded computer utilizes GPS position information, runs the travel that map-matching algorithm judges automobile.This auto-navigation system is when gps signal is good, GPS information is utilized to complete location and the navigation of automobile, when gps signal is lost, the speed of a motor vehicle that the angular velocity recorded by fusion micromechanical gyro and vehicle speed sensor are measured completes location and the navigation of automobile.
Micromechanical gyro is a kind of sensor conventional in auto-navigation system, can be used for the angular velocity of measured automobiles motion, the angle variable quantity in motor racing process can be obtained after integration, by the angle variable quantity that accumulative vehicle (is parallel to road surface) in the horizontal direction, the travel direction of vehicle can be calculated, for auto navigation provides support.The precision grade of Microcomputer for Auto tool gyro is generally civil, has advantage with low cost, but there is the shortcoming that system parameter variations is large, need often demarcation.If one of key system perameter of micromechanical gyro zero-point voltage exists error, in dead reckoning process, this error will progressively be accumulated, and causes running car orientation projection accuracy significantly to decline.
The zero-point voltage of micromechanical gyro refers to the output voltage of micromechanical gyro under zero input state, also claims offset output, and the average being commonly used in zero input state lower long period output voltage represents.
Traditional micromechanical gyro zero-point voltage scaling method divides static demarcating and dynamic calibration two kinds.Static demarcating method is demarcated it before micromechanical gyro is installed, due to the characteristic of zero-point voltage error and micromechanical gyro and condition of work relevant, meeting real-time change in vehicle operation, such scaling method cannot meet the use needs of auto-navigation system.
Dynamic calibrating method can be demarcated gyro zero-point voltage in vehicle operation.Comprise gyro temperature drift compensation model calibration method of setting up (" a kind of method based on computing gyroscope parameter online in the automobile navigation of GPS/DR ", " electron device " the 1st phase in 2007), the method sets up the relational model of gyroscope zero point drift and temperature variation, utilize temperature sensor measurement environment temperature, and then estimate that zero point drift amount goes forward side by side rower calmly, the method needs reload temperature sensor, constrains its application.Kalman filtering method (parameters revision of measuring sensor " in the Integrated Navigation for Land Vehicle positioning system ", " BJ University of Aeronautics & Astronautics's journal " 08 phase in 2003), gyro zero point drift is carried out kalman filtering as parameter by the method, method precision is higher, but algorithm is complicated, be not suitable for for the lower auto-navigation system embedded computer of computing power.Utilize the method for electronic chart auxiliary calibration (on-line proving of sensor parameters " in the vehicle-mounted dead reckoning system ", " observation and control technology ", 12 phases in 2008), the method utilizes GPS to carry out gyro Zero calibration in conjunction with electronic chart, vehicle-mounted odometer, demarcate and carry out in both cases, one when being stationary vehicle, judged the stationary state of vehicle by odometer, when after stationary vehicle a period of time, the average of gyro output voltage is adopted to demarcate gyro zero-point voltage; Two be its straight line travel time, judged the straight travel state of vehicle in conjunction with electronic chart by GPS information, first selected long straight on electronic chart and the section that observation condition is good is as demarcation region, when vehicle drives on this section, the average of GPS azimuthal variation amount and variance is adopted to judge whether vehicle linearly travels, when judging that vehicle adopts the average of gyro output voltage to demarcate gyro zero-point voltage on selected section during straight-line travelling.For ensureing the judgement precision of straight-line travelling, this algorithm needs the linear section that chosen in advance GPS observation condition is good, just calibration process is started when vehicle drives to those sections, application limitation is very large, meanwhile, this algorithm depends on the road information in electronic chart, cannot demarcate when not enabling true navigation, itself there is error in electronic chart, can lower the accuracy of judgement; In addition, this algorithm does not propose appropriate zero-point voltage misalignment determination methods, and when zero-point voltage non-misalignment, demarcation can cause the computing resource waste of auto-navigation system embedded computer.
To sum up, it is comparatively complicated that dynamic calibrating method main at present also exists calibration algorithm respectively, or need to install additional sensors additional, or the problems such as higher are required to vehicle operating condition, be difficult to be applicable to that there is the feature auto-navigation systems such as cost restriction is high, service condition is complicated, embedding assembly ability is lower.
Therefore, traditional at present gyro zero-point voltage scaling method all cannot meet the requirement of auto-navigation system to precision, speed and real-time that gyro zero-point voltage is demarcated completely.
Summary of the invention
The object of the invention is the weak point for overcoming prior art, a kind of online calibration method of Microcomputer for Auto tool gyro zero-point voltage is proposed, this method can carry out the quick on-line proving of Microcomputer for Auto tool gyro zero-point voltage, and method is succinct, save computational resource, demarcation condition is loose, is applicable to the auto-navigation system with features such as cost restriction are high, service condition is complicated, embedding assembly ability is lower.
For reaching above object, the present invention proposes a kind of online calibration method of Microcomputer for Auto tool gyro zero-point voltage, it is characterized in that, comprises the following steps:
First judge whether the on-line proving carrying out micromechanical gyro zero-point voltage, when user closes online calibrating function, then terminate, otherwise go to step 1), the cycle of operation T of on-line proving algorithm is a GPS information receiving cycle, and the unit of T is second;
1) micromechanical gyro zero-point voltage misalignment judges: according to the GPS position angle of Real-time Collection, judging current micromechanical gyro zero-point voltage whether misalignment by star number, gyro output voltage, the speed of a motor vehicle, if accumulate t second, the GPS azimuthal variation amount that 1<t<300, GPS position angle and gyro output voltage obtain and gyro angle variable quantity meet following threshold condition: GPS azimuthal variation amount is less than θ
1degree, 0< θ
1<10, described t second, the interior gyro angle variable quantity calculated according to micromechanical gyro output voltage was greater than θ simultaneously
2degree, 0< θ
2<10, and repeat N continuously
mdescribed threshold condition is all met, 0<N during secondary step 1)
m<10, then current zero-point voltage misalignment, goes to step 2); Otherwise go back to step 1) to continue to judge current zero-point voltage whether misalignment;
2) the new zero-point voltage of micromechanical gyro calculates: judge that whether vehicle is static according to the speed of a motor vehicle, according to GPS location, the speed of a motor vehicle and judging by star number whether vehicle linearly travels, if stationary vehicle t
ssecond, 1<t
s<600, or linearly travel t
dsecond, 1<t
d<600, by described stationary vehicle t
ssecond or linearly travel t
dsecond gyro output voltage be averaged and obtain new zero-point voltage, then enable new zero-point voltage, go to step 3), otherwise go back to step 2) continue to calculate the new zero-point voltage of micromechanical gyro;
3) demarcate successfully, empty track buffer queue; Wait for that the new zero-point voltage of next on-line proving micromechanical gyro calculates cycle of operation arrival, go to step 1).
Feature of the present invention and beneficial effect:
This method utilizes vehicle-mounted GPS equipment common in auto-navigation system and vehicle speed sensor, carry out the quick on-line proving of Microcomputer for Auto tool gyro zero-point voltage, according to online calibration method of the present invention, can in vehicle travel process, first micromechanical gyro zero-point voltage misalignment is judged, again automatic Calibration is carried out to the key parameter zero-point voltage of micromechanical gyro when zero-point voltage misalignment, computational resource can be saved, and improve the measuring accuracy of micromechanical gyro angular velocity, the angular velocity recorded for using it calculates the movement locus of automobile, the accuracy improving auto navigation provides the foundation.This method is applicable to the auto-navigation system with features such as cost restriction are high, service condition is complicated, embedding assembly ability is lower.
Accompanying drawing explanation
Fig. 1 is the structural representation of auto-navigation system of the present invention;
Fig. 2 is the schematic flow sheet of micromechanical gyro zero-point voltage scaling method of the present invention;
Fig. 3 is the FB(flow block) that the micromechanical gyro zero-point voltage misalignment in Fig. 2 judges;
Fig. 4 is the FB(flow block) that the new zero-point voltage of micromechanical gyro in Fig. 2 calculates that cathetus travels the calculating of new zero-point voltage.
Embodiment
Below in conjunction with drawings and Examples, describe the present invention in detail.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.
Auto-navigation system structure of the present invention as shown in Figure 1, form primarily of GPS, micromechanical gyro, vehicle speed sensor, embedded computer, the auto-navigation system of this kind of structure is comparatively general, the pass of its each parts and online calibration method of the present invention is: GPS provides bus location information, comprises GPS location, with star number, GPS position angle; Micromechanical gyro provides the gyro output voltage relevant to automobile angular velocity; Vehicle speed sensor (being replaced by CAN) provides the speed of a motor vehicle; Embedded computer runs online calibration method, merges the information of each sensor, completes the on-line proving of micromechanical gyro zero-point voltage.In described auto-navigation system, the precision of each parts is lower, and the parts of existing auto-navigation system substantially all meet accuracy requirement.
The present invention adopts the overall procedure of the micromechanical gyro zero-point voltage scaling method of said system, as shown in Figure 2, comprises the following steps:
First the on-line proving carrying out micromechanical gyro zero-point voltage is judged whether, when user closes online calibrating function, then terminate (exiting flow process), otherwise go to step 1), the cycle of operation T of on-line proving algorithm is a GPS information receiving cycle (unit is second);
1) micromechanical gyro zero-point voltage misalignment judges 100: according to the GPS position angle of Real-time Collection, by star number, gyro output voltage, the speed of a motor vehicle judge current micromechanical gyro zero-point voltage whether misalignment (this step calculates 200 enable and provide foundation for new zero-point voltage, avoid when current zero-point voltage not misalignment the double counting new zero-point voltage auto-navigation system embedded computer computing resource waste that causes, compared with new zero-point voltage computational algorithm, the calculated amount of misalignment evaluation algorithm is very little, the computational resource of auto-navigation system embedded computer can be saved), if the GPS azimuthal variation amount that accumulation t second (1<t<300) GPS position angle and gyro output voltage obtain and gyro angle variable quantity meet following threshold condition: GPS azimuthal variation amount is less than θ
1degree (0< θ
1<10), described t second, the interior gyro angle variable quantity calculated according to micromechanical gyro output voltage was greater than θ simultaneously
2degree (0< θ
2and repeat N continuously <10),
msecondary (0<N
m<10) all meet described threshold condition during step 1), then current zero-point voltage misalignment, goes to step 2), otherwise go back to step 1) and continue to judge current zero-point voltage whether misalignment,
2) the new zero-point voltage of micromechanical gyro calculates 200: judge that whether vehicle is static according to the speed of a motor vehicle, according to GPS location, the speed of a motor vehicle and judging by star number whether vehicle linearly travels, if stationary vehicle t
ssecond (1<t
s<600) or linearly t is travelled
dsecond (1<t
d<600), by described stationary vehicle t
ssecond or linearly travel t
dsecond gyro output voltage be averaged and obtain new zero-point voltage, then enable new zero-point voltage, go to step 3), otherwise go back to step 2) continue to calculate the new zero-point voltage of micromechanical gyro;
3) demarcate successfully, empty track buffer queue; Wait for that the new zero-point voltage of next on-line proving micromechanical gyro calculates cycle of operation arrival, go to step 1).Above-mentioned steps 1) micromechanical gyro zero-point voltage misalignment judge 100 specific embodiment flow process, as shown in Figure 3, comprise the following steps:
11) calculate adjoint point GPS corner and adjoint point gyro corner 101: calculate adjoint point GPS corner according to adjacent GPS position angle, calculate such as formula
wherein,
for adjoint point GPS corner,
with
be respectively t
i-1and t
ithe GPS position angle in moment, these two position angles adjacent and
in time early than
according to t
i-1moment is to t
ithe gyro output voltage in moment calculates adjoint point gyro corner, such as formula
wherein Δ θ is adjoint point gyro corner, u
kfor t
i-1moment is to t
ithe gyro output voltage in moment, N is t
i-1moment is to t
ithe gyro output voltage number in moment, 1≤k≤N, k and N is positive integer, U
dfor the current zero-point voltage of gyro, S is gyro scaling factor (systematic parameter of micromechanical gyro);
12) judge adjoint point GPS corner availability 102: according to the GPS position angle of two described in step 11) corresponding judging by star number and the speed of a motor vehicle whether GPS corner can be used; (judge that adjoint point GPS corner availability 102 can ensure that the adjoint point GPS corner accuracy participating in misalignment judgement is higher, and then improve the accuracy of misalignment judgement.If) described two GPS position angles corresponding be all not less than N by star number
c(N
c>4, such as N
c=9), the speed of a motor vehicle in corresponding moment is all greater than V metre per second (m/s) (V>0, such as V=13), then determination step 11) in the adjoint point GPS corner that obtains can use, go to step 13), otherwise go to step 11);
13) adjoint point GPS corner and adjoint point gyro corner join the team 103: available adjoint point GPS corner and adjoint point gyro corner are inserted the queue of GPS corner and the queue of gyro corner respectively, this GPS corner queue and the queue of gyro corner are used for adjoint point GPS corner and the adjoint point gyro corner of buffer memory t second (1<t<300, such as t=20) duration; Queue length is the harmful effect that t/T(adopts the adjoint point GPS corner of described duration can reduce certain adjoint point GPS angular errors to cause misalignment judgment accuracy.) if corner queue is filled with, then go to step 14), otherwise go to step 11);
14) misalignment judges 104: by all adjoint point GPS corner summations in the queue of GPS corner, obtain accumulation GPS corner, by all adjoint point gyro corner summations in the queue of gyro corner, obtains accumulation gyro corner, if accumulation GPS corner is less than θ
1degree (0< θ
1<10, such as θ
1=1.7), accumulation gyro corner is greater than θ
2degree (0< θ
2<10, such as θ
2=2.8), then appearance deviation is judged, if repeat N continuously
msecondary (0<N
m<10, such as N
m=3) all there is described deviation during step 1), then judge current micromechanical gyro zero-point voltage misalignment, go to step 2), empty the queue of GPS corner and the queue of gyro corner simultaneously; So far, micromechanical gyro zero-point voltage misalignment judges that 100 terminate;
Above-mentioned steps 2) judge that whether vehicle is static according to the speed of a motor vehicle, according to GPS location, the speed of a motor vehicle with judging by star number whether vehicle linearly travels, for: first carry out the new zero-point voltage of stationary vehicle and calculate 210, if stationary vehicle new zero-point voltage calculating 210 fails calculate new zero-point voltage, then carry out the new zero-point voltage of straight-line travelling and calculate 220; Specific embodiment step is as follows:
21) the new zero-point voltage of stationary vehicle calculates 210: judging that whether vehicle is static according to the speed of a motor vehicle, such as, when the speed of a motor vehicle is less than Vs metre per second (m/s) (0<Vs<1, Vs=0.01), is then stationary vehicle, if stationary vehicle duration is greater than t
ssecond (1<t
s<600, such as t
s=30) time, be averaged by the gyro output voltage in the stationary vehicle time period, the output voltage average value obtained, as new zero-point voltage calibration value, goes to step 3); Otherwise go to step 22);
22) the new zero-point voltage of straight-line travelling calculates 220: judge whether vehicle linearly travels according to GPS location and the speed of a motor vehicle, if vehicle linearly travels t
dsecond (1<t
d<600, such as t
d=30), be averaged by gyro output voltage corresponding for straight-line travelling section, the output voltage average value obtained, as new zero-point voltage calibration value, goes to step 3), otherwise go to step 21);
Above-mentioned steps 22) the new zero-point voltage of straight-line travelling calculate 220 specific embodiment flow process, as shown in Figure 4, comprise the following steps:
221) judge GPS location availability 221: according to GPS location corresponding judging GPS location availability by star number and the speed of a motor vehicle, be not less than N if described by star number
d(N
d>4, such as N
d=9), and the described speed of a motor vehicle be greater than V
dmetre per second (m/s) (V
d>0, such as V
d=10), then judge that this GPS location can be used, go to step 222), otherwise go to step 21); (judge that GPS location availability can ensure that the GPS location precision participating in straight-line travelling judgement is higher, vehicle operating range is longer, improves straight-line travelling judgment accuracy.）
222) track buffer memory 222: added up by adjoint point gyro corresponding to moment corresponding to available GPS location, this GPS location, this GPS location voltage and the adjoint point gyro number that adds up inserts track buffer queue, and track length of buffer queue is not less than M, M=t
d/ T(wherein, t
dfor step 22) described in its straight line running time, T is GPS information receiving cycle, and both units are second; The adjoint point gyro voltage that adds up refers to gyro output voltage sum between the moment that moment corresponding to current available GPS location is corresponding with a upper GPS location, and adjoint point gyro adds up, number refers to the gyro output voltage number between these two moment);
223) continuous path extracts 223: from track buffer queue, extract M the track buffer storage length lower limit M described in (step 222)) continuous print GPS location (continuous print GPS location refers to that moment corresponding to these GPS location is not interrupted continuously), if extract successfully, then go to step 224), otherwise go to step 21);
224) straight line judges 224: carry out coordinate conversion to M the continuous print GPS location extracted, unit is converted to rice by longitude and latitude, least square method is adopted to carry out fitting a straight line and calculate the mean distance of all GPS location to fitting a straight line afterwards, if mean distance is less than d rice (0<d<1, such as d=0.08), then think that vehicle driving trace corresponding to M continuous print GPS location is straight line, go to step 225), otherwise go to step 21);
225) gyro average voltage 225: add up voltage and adjoint point gyro of the adjoint point gyro corresponding according to straight-line travelling section adds up number, calculates the mean value of gyro output voltage in described straight-line travelling process, as new zero-point voltage calibration value, goes to step 3.
Vehicle-mounted microcomputer tool gyro online calibration method of the present invention can be dynamic auto in vehicle travel process the zero-point voltage of demarcation micromechanical gyro, this scaling method is succinct, save computational resource, demarcation condition is loose, be applicable to auto-navigation system demarcates real-time and precision demand to micromechanical gyro zero-point voltage, for the movement locus using gyro angular velocity to calculate automobile, the accuracy improving auto navigation provides the foundation.
Although illustrate and describe embodiments of the invention, for the ordinary skill in the art, be appreciated that and can carry out multiple change, amendment, replacement and modification to these embodiments without departing from the principles and spirit of the present invention, scope of the present invention is by claims and equivalency thereof.
Claims (3)
1. an online calibration method for Microcomputer for Auto tool gyro zero-point voltage, is characterized in that, comprise the following steps:
First judge whether the on-line proving carrying out micromechanical gyro zero-point voltage, when user closes online calibrating function, then terminate, otherwise go to step 1), the cycle of operation T of on-line proving algorithm is a GPS information receiving cycle, and the unit of T is second;
1) micromechanical gyro zero-point voltage misalignment judges: according to the GPS position angle of Real-time Collection, judging current micromechanical gyro zero-point voltage whether misalignment by star number, gyro output voltage, the speed of a motor vehicle, if accumulate t second, the GPS azimuthal variation amount that 1<t<300, GPS position angle and gyro output voltage obtain and gyro angle variable quantity meet following threshold condition: GPS azimuthal variation amount is less than θ
1degree, 0< θ
1<10, described t second, the interior gyro angle variable quantity calculated according to micromechanical gyro output voltage was greater than θ simultaneously
2degree, 0< θ
2<10, and repeat N continuously
mdescribed threshold condition is all met, 0<N during secondary step 1)
m<10; Then current zero-point voltage misalignment, goes to step 2); Otherwise go back to step 1) continue to judge current zero-point voltage whether misalignment;
2) the new zero-point voltage of micromechanical gyro calculates: judge that whether vehicle is static according to the speed of a motor vehicle, according to GPS location, the speed of a motor vehicle and judging by star number whether vehicle linearly travels, if stationary vehicle t
ssecond, 1<t
s<600, or linearly travel t
dsecond, 1<t
d<600, by described stationary vehicle t
ssecond or linearly travel t
dsecond gyro output voltage be averaged and obtain new zero-point voltage, then enable new zero-point voltage, go to step 3), otherwise go back to step 2) continue to calculate the new zero-point voltage of micromechanical gyro;
3) demarcate successfully, empty track buffer queue; Wait for that the new zero-point voltage of next on-line proving micromechanical gyro calculates cycle of operation arrival, go to step 1);
Described step 1) micromechanical gyro zero-point voltage misalignment judge idiographic flow, comprise the following steps:
11) calculate adjoint point GPS corner and adjoint point gyro corner: calculate adjoint point GPS corner according to adjacent GPS position angle, calculate such as formula
wherein,
for adjoint point GPS corner,
with
be respectively t
i-1and t
ithe GPS position angle in moment, these two position angles adjacent and
in time early than
according to t
i-1moment is to t
ithe gyro output voltage in moment calculates adjoint point gyro corner, such as formula
wherein Δ θ is adjoint point gyro corner, u
kfor t
i-1moment is to t
ithe gyro output voltage in moment, N is t
i-1moment is to t
ithe gyro output voltage number in moment, 1≤k≤N, k and N is positive integer, U
dfor the current zero-point voltage of gyro, S is gyro scaling factor;
12) judge adjoint point GPS corner availability: according to step 11) in two GPS position angles corresponding judging by star number and the speed of a motor vehicle whether GPS corner can be used; If what two GPS position angles were corresponding is all being not less than N by star number
c, N
c>4, the speed of a motor vehicle in corresponding moment is all greater than V metre per second (m/s), V>0, then determination step 11) in the adjoint point GPS corner that obtains can use, go to step 13), otherwise go to step 11);
13) adjoint point GPS corner and adjoint point gyro corner are joined the team: available adjoint point GPS corner and adjoint point gyro corner are inserted the queue of GPS corner and the queue of gyro corner respectively, this GPS corner queue and the queue of gyro corner are used for buffer memory t second, 1<t<300, the adjoint point GPS corner of duration and adjoint point gyro corner; Queue length is t/T; If corner queue is filled with, then go to step 14), otherwise go to step 11);
14) misalignment judges: by all adjoint point GPS corner summations in the queue of GPS corner, obtain accumulation GPS corner, by all adjoint point gyro corner summations in the queue of gyro corner, obtains accumulation gyro corner, if accumulation GPS corner is less than θ
1degree, 0< θ
1<10, accumulation gyro corner is greater than θ
2degree, 0< θ
2<10, then judge appearance deviation, if repeat N continuously
mdescribed deviation is all there is, 0<N during secondary step 1)
m<10, then judge current micromechanical gyro zero-point voltage misalignment, go to step 2); Empty the queue of GPS corner and the queue of gyro corner simultaneously.
2. the method for claim 1, it is characterized in that, described step 2) judge that whether vehicle is static according to the speed of a motor vehicle, according to GPS location, the speed of a motor vehicle with judging that by star number whether vehicle linearly travels be: first carry out the new zero-point voltage of stationary vehicle and calculate, if the new zero-point voltage of stationary vehicle calculates to fail calculate new zero-point voltage, then carry out the new zero-point voltage of straight-line travelling and calculate; Concrete steps are as follows:
21) the new zero-point voltage of stationary vehicle calculates: judge that whether vehicle is static according to the speed of a motor vehicle, when the speed of a motor vehicle is less than Vs metre per second (m/s), 0<Vs<1 is then stationary vehicle, if stationary vehicle duration is greater than t
sduring second, 1<t
s<600, is averaged the gyro output voltage in the stationary vehicle time period, and the output voltage average value obtained, as new zero-point voltage calibration value, goes to step 3); Otherwise go to step 22);
22) the new zero-point voltage of straight-line travelling calculates: judge whether vehicle linearly travels according to GPS location and the speed of a motor vehicle, if vehicle linearly travels t
dsecond, 1<t
d<600, is averaged gyro output voltage corresponding for straight-line travelling section, and the output voltage average value obtained, as new zero-point voltage calibration value, goes to step 3), otherwise go to step 21).
3. method as claimed in claim 2, is characterized in that, described step 22) the idiographic flow that calculates of the new zero-point voltage of straight-line travelling, comprise the following steps:
221) judge GPS location availability: according to GPS location corresponding judging GPS location availability by star number and the speed of a motor vehicle, be not less than N if described by star number
d, N
d>4, and the described speed of a motor vehicle is greater than V
dmetre per second (m/s), V
d>0, then judge that this GPS location can be used, go to step 222), otherwise go to step 21);
222) track buffer memory: added up by adjoint point gyro corresponding to moment corresponding to available GPS location, this GPS location, this GPS location voltage and the adjoint point gyro number that adds up inserts track buffer queue, and track length of buffer queue is not less than M, M=t
d/ T; Wherein, t
dfor its straight line running time, T is GPS information receiving cycle, and both units are second;
223) continuous path extracts: from track buffer queue, extract M continuous print GPS location, if extract successfully, then go to step 224), otherwise go to step 21);
224) straight line judges: carry out coordinate conversion to M the continuous print GPS location extracted, unit is converted to rice by longitude and latitude, least square method is adopted to carry out fitting a straight line and calculate the mean distance of all GPS location to fitting a straight line afterwards, if mean distance is less than d rice, 0<d<1, then think that vehicle driving trace corresponding to M continuous print GPS location is straight line, go to step 225), otherwise go to step 21);
225) gyro average voltage: add up voltage and adjoint point gyro of the adjoint point gyro corresponding according to straight-line travelling section adds up number, calculates the mean value of gyro output voltage in described straight-line travelling process, as new zero-point voltage calibration value, goes to step 3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210152023.5A CN102680002B (en) | 2012-05-16 | 2012-05-16 | Online calibrating method of zero-point voltage of micro-machine gyroscope for automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210152023.5A CN102680002B (en) | 2012-05-16 | 2012-05-16 | Online calibrating method of zero-point voltage of micro-machine gyroscope for automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102680002A CN102680002A (en) | 2012-09-19 |
| CN102680002B true CN102680002B (en) | 2015-05-06 |
Family
ID=46812281
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210152023.5A Active CN102680002B (en) | 2012-05-16 | 2012-05-16 | Online calibrating method of zero-point voltage of micro-machine gyroscope for automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102680002B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103217176B (en) * | 2013-05-06 | 2016-04-27 | 南京智真电子科技有限公司 | A kind of method eliminating MEMS gyro drift |
| CN103438899B (en) * | 2013-08-22 | 2017-07-07 | 深圳市宇恒互动科技开发有限公司 | The method and system of the error that compensation inertial measurement system is produced during exercise |
| CN103994776B (en) * | 2014-05-04 | 2017-02-22 | 广州日滨科技发展有限公司 | Method and device for determining vehicle pulse coefficient based on GNSS satellite positioning data |
| CN107796387B (en) * | 2016-08-30 | 2021-03-16 | 富士通株式会社 | Positioning method, positioning device and electronic equipment |
| CN108111173B (en) * | 2017-12-27 | 2021-03-26 | 东软集团股份有限公司 | Track compression method and device, storage medium and electronic equipment |
| JP7139729B2 (en) * | 2018-06-29 | 2022-09-21 | オムロン株式会社 | Cultivation system and illuminance control method in cultivation system |
| CN111707289B (en) * | 2020-05-19 | 2022-06-07 | 深圳银星智能集团股份有限公司 | Mobile robot, sensor calibration method and computer readable storage medium |
| CN113284186B (en) * | 2021-04-13 | 2022-04-15 | 武汉光庭信息技术股份有限公司 | Inertial navigation attitude and vanishing point-based camera calibration method and system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101246023A (en) * | 2008-03-21 | 2008-08-20 | 哈尔滨工程大学 | Closed-loop calibration method of micro-mechanical gyroscope inertial measuring component |
| CN101419080A (en) * | 2008-06-13 | 2009-04-29 | 哈尔滨工程大学 | The zero speed correcting method of mini quick-connecting inertia measurement system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10317159B4 (en) * | 2003-04-14 | 2007-10-11 | Litef Gmbh | Method for compensating a zero error in a Coriolis gyro |
| DE10317158B4 (en) * | 2003-04-14 | 2007-05-10 | Litef Gmbh | Method for determining a zero error in a Coriolis gyro |
-
2012
- 2012-05-16 CN CN201210152023.5A patent/CN102680002B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101246023A (en) * | 2008-03-21 | 2008-08-20 | 哈尔滨工程大学 | Closed-loop calibration method of micro-mechanical gyroscope inertial measuring component |
| CN101419080A (en) * | 2008-06-13 | 2009-04-29 | 哈尔滨工程大学 | The zero speed correcting method of mini quick-connecting inertia measurement system |
Non-Patent Citations (3)
| Title |
|---|
| 尹爱昌,张哲,胡晨.基于GPS/DR的车辆导航中在线计算陀螺仪参数的一种方法.《电子器件》.2007,第30卷(第1期),第177-179页. * |
| 潘金艳,朱长纯,樊建民.微机械陀螺零位误差的研究.《西安交通大学学报》.2006,第40卷(第4期),第480-483页. * |
| 高鹏,富立,范跃祖.车辆组合导航定位系统中测量元件的参数修正.《北京航空航天大学学报》.2003,第29卷(第8期),第730-733页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102680002A (en) | 2012-09-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102680002B (en) | Online calibrating method of zero-point voltage of micro-machine gyroscope for automobile | |
| CN101493335B (en) | GPS/DR combined navigation method and device | |
| CN102981173B (en) | Self-adapting correction method for mileage calculation | |
| Tao et al. | Lane marking aided vehicle localization | |
| CN102372000B (en) | Device and system for acquiring parking lot parameters | |
| CN103162689B (en) | The assisted location method of auxiliary vehicle positioning system and vehicle | |
| CN103558617B (en) | Positioning method and device | |
| Jo et al. | Real-time road-slope estimation based on integration of onboard sensors with GPS using an IMMPDA filter | |
| CN100578153C (en) | Calibration method for vehicle speed measuring instrument | |
| WO2014192276A1 (en) | Travel route information generation device | |
| CN105892464A (en) | Special car automatic driving system based on fixed routes and driving method for same | |
| CN103149580A (en) | Global position system (GPS)/inertial navigation system (INS) combined navigation method based on strong tracking kalman filter (STKF) and wavelet neural network (WNN) | |
| CN105675006B (en) | A kind of route deviation detection method | |
| CN101201255A (en) | Vehicle combined navigation system based on intelligent navigation algorithm | |
| CN102607596B (en) | Strapdown flexible gyro dynamic random drift error testing method based on difference GPS (global position system) observation | |
| CN103047995A (en) | GPS (global positioning system) terminal mileage statistical method based on satellite positioning technology | |
| CN104898139A (en) | Vehicle positioning excursion-correcting method and device | |
| CN103625475B (en) | A kind of vehicle side inclination angle based on recurrence least square and pitch angle method of estimation | |
| CN102608641A (en) | Vehicle-mounted combined navigation system based on single-axis gyroscope and single-axis accelerometer and method | |
| JPWO2010113246A1 (en) | Fuel consumption estimation device, fuel consumption estimation method, fuel consumption estimation program, and recording medium | |
| CN102706364B (en) | Online calibration method of scaling factors of micromachining gyroscope for vehicle | |
| CN106248392A (en) | The method of testing of a kind of unmanned vehicle lane change time and device | |
| CN102608643A (en) | Combined vehicle position measurement method | |
| CN112378410A (en) | Vehicle driving blind area calibration method, device, equipment and storage medium | |
| CN102997916B (en) | A kind of method of autonomous raising positioning and orientation system inertial attitude calculation accuracy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |