CN103299160A - Method and device for determining motion parameters of moving objects - Google Patents

Method and device for determining motion parameters of moving objects Download PDF

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Publication number
CN103299160A
CN103299160A CN2011800638801A CN201180063880A CN103299160A CN 103299160 A CN103299160 A CN 103299160A CN 2011800638801 A CN2011800638801 A CN 2011800638801A CN 201180063880 A CN201180063880 A CN 201180063880A CN 103299160 A CN103299160 A CN 103299160A
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China
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acceleration
specific rotation
spatial axes
measured value
mems
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CN2011800638801A
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G.阿诺尔德
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Siemens AG
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Siemens AG
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/02—Details
    • G01C9/08—Means for compensating acceleration forces due to movement of instrument

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Gyroscopes (AREA)

Abstract

The invention relates to a method for determining motion parameters of moving objects, in particular for rail vehicles, and to a corresponding device. In order to be able to dispense with expensive gyroscopes, according to the invention the acceleration of the object along at least one of the three spatial axes (X, Y, Z) is measured by means of MEMS (micro-electromechanical systems) acceleration sensors and/or the rotational speed of the object about at least one of the three spatial axes (X, Y, Z) is measured by means of MEMS gyro sensors. For each digital or digitized rotational speed measured value (GyroY') in relation to a spatial axis (X) rotated through 90 DEG, trailing and/or leading mean values (MwGXn and/or MwGXv) based on the associated standard deviation (StabwGXn and/or StabGXv) compared with a threshold value (SgX) are used for offset correction of the rotational speed measured value (GyroY').

Description

Be used for determining the method and apparatus of motion motion of objects parameter
Technical field
The present invention relates to a kind of method for the kinematic parameter of determining motion object, particularly rail vehicle, and a kind of relevant device therewith.
Background technology
Object about at least one the kinematic parameter in three spatial axes, such as acceleration and inclination angle (Neigung), for example be used for location or the navigation of object.Be well known that the use gyrocompass, but it bothers extremely and be expensive, thereby can not adopt in a lot of fields.MEMS(Micro-Electro-Mechanical-System, microelectromechanical systems) sensor is more cheap far away, and it is for example as the acceleration transducer at air bag control.But determine object about the gyroscopic sensors (Gyrosensor) at the inclination angle of axle as being used for, its application is problematic, because the inclination angle only can be determined by measuring the anglec of rotation that is called specific rotation discretely cumulatively.Therefore measured specific rotation must very accurately be determined by addition constantly and its.Yet function causes MEMS to have great biasing and drift error.
Summary of the invention
The technical problem to be solved in the present invention is, provides a kind of for the method and apparatus of determining kinematic parameter, and it has realized the high precision under the situation of less expense.
According to this method, above-mentioned technical matters solves by the following, namely at least one in three spatial axes is by MEMS(Micro-Electro-Mechanical-System) acceleration transducer measures acceleration and/or at least one specific rotation by MEMS gyroscopic sensors measuring object in three spatial axes, wherein about the spatial axes with 90 ° of rotations, for specific rotation measured value each numeral or digitized, according to affiliated and standard deviation threshold, after using and/or mean value before, be used for the bias correction of specific rotation measured value.
Above-mentioned technical matters also solves by the device that is used for this method of execution, at least one MEMS acceleration transducer wherein is set be used for to be determined to be used for determining specific rotation around at least one of three spatial axes along at least one acceleration and/or at least one MEMS gyroscopic sensors of three spatial axes, measured value its numeral or digitized sends to for the control device that calculates kinematic parameter via storage medium, wherein arrange according to about with after the spatial axes of 90 ° of rotations and mean value before and affiliated, come device for the bias correction of specific rotation measured value with the standard deviation of threshold.
Just can adopt simple MEMS sensor to calculate the inclination angle by this bias correction, for example at rail vehicle.
Be in when motion at object to be seen, gather along one, the acceleration of two or three spatial axes by the MEMS acceleration transducer, object is in this acceleration.Preferably, by the MEMS gyroscopic sensors simultaneously acquisition target equally around total rotation of, two or all three spatial axes.Can adopt single MEMS sensor and the MEMS sensor of multiaxis for the collection of acceleration and specific rotation.Also can use the MEMS sensor that monitors all six-freedom degrees.Simultaneity until to a certain degree data acquisition is indispensable.If the MEMS sensor has the output signal of simulation, then it is converted to the output signal of numeral by A/D converter.Wherein always also there is following possibility in numeral or the digitized measured value of storage acceleration and specific rotation, namely needn't monitor all axles.
According to claim 2, for numeral or digitized acceleration measurement, with standard deviation and threshold afterwards and before, if wherein at least one in two standard deviations be lower than threshold value and in case of necessity acceleration measurement be lower than the corresponding peak acceleration in the inclination angle of allowing with maximum, then acceleration measurement is used for the inclination angle and calculates.Avoided the specific rotation of accumulation in this way to a certain extent and measured, though the propagation to biasing and drift influence can not be got rid of according to claim 1 is minimum in the specific rotation of this accumulation is measured.Only observe the non-acceleration measurement of determining cumulatively.But the precondition of this preferred algorithm is, do not have acceleration at direction of primary motion, but with constant speed movement.In case determine acceleration, the specific rotation measured value with bias correction according to claim 1 then must be provided immediately again.Therefore determine specific rotation the time and its storage has crucial meaning.
If index contour in advance in observed motion of objects track, then according to claim 3, in order to identify curve, adopt the cross dip that causes around the specific rotation measured value of vertical spatial axes and for the curve of calculating object, adopt the specific rotation measured value around direction of primary motion of object.Can determine the influence of the cross dip in curve in this way, inside under the situation of the stock rail outside or that tilt in a lateral direction that causes of centrifugal force for example, and be used for proofreading and correct the inclination angle and calculate.
Description of drawings
The present invention is further illustrated for the contrast accompanying drawing below.In the accompanying drawing:
Fig. 1 shows the primary clustering according to device of the present invention,
Fig. 2 shows for first scheme of determining kinematic parameter,
Fig. 3 shows for the alternative plan of determining kinematic parameter,
Fig. 4 shows for calculating the positively biased algorithm of lieutenant colonel at the inclination angle,
Fig. 5 show for the algorithm that calculates the inclination angle by acceleration measurement and
Fig. 6 shows for the algorithm of proofreading and correct the inclination angle under the situation of curve driving.
Embodiment
Fig. 1 shows the MEMS sensor 1 with single-sensor, and this single-sensor is used for determining accekeration AccX, AccY, AccZ and specific rotation value GyroX, GyroY and GyroZ for three spatial axes X, Y, Z respectively.Analogue value AccX, AccY, AccZ, GyroX, GyroY and GyroZ provide discrete measured value AccX ', AccY ', AccZ ', GyroX ', GyroY ' and GyroZ ' further to handle being used for by A/D converter 2 digitizings and at outgoing side.Described measured value AccX ', AccY ', AccZ ', GyroX ', GyroY ' and GyroZ ' at first be transferred to arbitrarily storage medium 3 and then in analytical equipment 4 kinematic parameter 5 for calculation expectation utilize different algorithms to analyze.In Fig. 4,5 and 6, analytical algorithm has been shown.
In principle, second algorithm shown in Figure 5 is preferred, as shown in Figure 2.In this second algorithm, only need accekeration Acc just can determine the kinematic parameter 5 of expectation.Accekeration Acc can differently provide according to non-accumulation method by MEMS sensor 1 with specific rotation.Only in the time can not using algorithm two, for producing wrong specific rotation measured value Gyro just for calculating kinematic parameter 5 at the algorithm one shown in Fig. 4 and Fig. 6 and three required being easier to.
But also possiblely be, put upside down method flow and permission and Gyro algorithm one and/or three according to Fig. 2 and carry out Acc algorithm two abreast, as shown in Figure 3, and then just about making judgement for calculating the algorithm that kinematic parameter 5 will use.
Explain algorithm one according to process flow diagram shown in Figure 4 below.This algorithm one is necessary for biasing and drift compensation in determining based on the specific rotation of MEMS-Gyro sensor.Be the example interpretation algorithms with the inclination angle on the direction of the main direction of motion of motion object.The application of algorithm is not subjected to the restriction of this situation certainly, but can use in any spatial axes.In order when calculating the inclination angle by specific rotation, disturbing effect to be minimized, be that zero migration (biasing) and zero point drift minimize, about the regular time section, consider before the time point t of current observation and observe afterwards, around standard deviation S tabwGXv and the StabwGXn of specific rotation of axle that has rotated 90 ° level with respect to direction of primary motion.If at least one among two standard deviation S tabwGXv and the StabwGXn is lower than the threshold value SgX of regulation, then send straight-line signal, this rectilinear motion can be to accelerate or constant.Specific rotation is zero under the situation of such motion.At the official hour section, calculate before and afterwards mean value MwGXv and MwGXn.This mean value MwGXv and MwGXn are illustrated in before the time point t of current observation and biasing afterwards.If only among two standard deviation S tabwGXv and the StabwGXn is lower than threshold value SgX, then only consider relevant mean value MwGXv or MwGXn.If two standard deviation S tabwGXv and StabwGXn are lower than threshold value SgX, then form mean value again by two mean value MwGXv and MwGXn.The final mean value of determining (mean value afterwards, mean value before or the mean value that is drawn by both) can be used for the current biasing of compensation now thus.At this, compensation can be carried out according to the different stage that calculate at the inclination angle, namely about specific rotation, the angle of calculating or the inclination angle of calculating.Produce the synchroballistic of each current biasing in this way.Finally, also compensate for disturbances influence thus, i.e. offset drift.
In the algorithm two shown in Fig. 5, only need acceleration measurement AccX ' for inclination angle calculating.For this reason, determine before current acceleration measured value AccX ' and afterwards to compare about the standard deviation S tabwAXv of certain period of time and StabwAXn and with threshold value SaX.If at least one among two standard deviation S tabwAXv and the StabwAXn is lower than this threshold value SaX, this means that then object is in following state, be constant along the speed of observing axle namely.Only has the inclination angle calculating of employing in the stage of constant speed by acceleration analysis.It is the method for non-accumulation, and mistake can not propagated thus.Therefore, the simultaneity to the measurement of acceleration and specific rotation is extremely important for this algorithm.Finish and begin to accelerate if having the stage of constant speed, then must employ the specific rotation measurement immediately and calculate the inclination angle.
Additionally also can consider following situation, namely not allow to surpass inclination maximum.Correspondingly also there is the boundary value at the permission of acceleration in this inclination maximum.The inclination angle allows bigger than inclination maximum under the situation that constant linear is accelerated.Just there are two threshold values that will consider, namely are used for the threshold value SaX of standard deviation and the threshold value MaxAX of the acceleration that is used for being produced by inclination maximum.Therefore, at least one among current acceleration value and two standard deviation S tabwAXv or the StabwAXn must be less than threshold value SaX or MaxAX separately, in order to can use acceleration analysis to calculate the inclination angle.
Algorithm shown in Fig. 6 is used for the influence at compensate for lateral inclination angle.If object is around curvilinear motion, then its in many cases with cross dip, namely relevant with the inclination angle around the axle of direction of primary motion.This cross dip can at the extra curvature side-draw to, for example produced by centrifugal force, perhaps at the inboard orientation of curve, for example in too high curve for maximum through speed.Both of these case has caused the measurable specific rotation around spatial axes level, vertical with direction of primary motion.At this, in curve, cross dip is directly depended in the influence of rotation.Because the specific rotation around this spatial axes vertical with direction of primary motion calculates for the inclination angle on direction of primary motion, so producing wrong inclination angle value under the situation of curve driving in algorithm one, it must be compensated.Cross dip is naturally only at the offset that allows to cause offset under the situation of curve or only allow under the situation at curve to consider constantly to calculate.Can not consider transverse acceleration in this case, because because the accekeration that cross dip causes superposes by transverse acceleration, this causes curve driving.
In order to identify curve, must observe around the rotation GyroZ ' of vertical Z axle.Adopt the specific rotation that centers on direction of primary motion to measure in order to calculate cross dip.Because measuring, this specific rotation needs the calculating accumulated again, so also must adopt the algorithm one with corresponding axis reference at this.The inclination angle of Ji Suaning is used for stemming from when compensation is calculated at the inclination angle mistake of cross dip like this.
Three algorithms of Fig. 4, Fig. 5 and Fig. 6 have been realized accurately and reliably calculating of kinematic parameter.Just make to adopt with the gyrostat of the revolving gear element with rotation by described algorithm and compare cheap MEMS technology.

Claims (4)

1. one kind is used for determining the motion object, the method of the kinematic parameter of rail vehicle particularly, it is characterized in that, along three spatial axes (X, Y, Z) at least one in is by MEMS(Micro-Electro-Mechanical-System) acceleration transducer measures acceleration and/or around three spatial axes (X, Y, Z) at least one in is by the specific rotation of MEMS gyroscopic sensors measuring object, wherein about the spatial axes (X) with 90 ° of rotations, for specific rotation measured value each numeral or digitized (GyroY '), according to affiliated, the standard deviation (StabwGXn and/or StabwGXv) of comparing with threshold value (SgX), after using and/or mean value before (MwGXn and/or MwGXv) be used for the bias correction of specific rotation measured value (GyroY ').
2. method according to claim 1, it is characterized in that, for numeral or digitized acceleration measurement (AccX '), standard deviation (StabwAXv and StabwAXn) afterwards and before is compared with threshold value (SaX), if wherein at least one in two standard deviations (StabwAXv and/or StabwAXn) be lower than threshold value (SaX) and in case of necessity acceleration measurement (AccX ') be lower than the corresponding peak acceleration in the inclination angle of allowing with maximum (MaxAX), then acceleration measurement (AccX ') is used for the inclination angle and calculates.
3. each described method in requiring according to aforesaid right, it is characterized in that, in order to identify curve, adopt around the specific rotation measured value (GyroZ ') of vertical spatial axes (Z) and for the cross dip that is caused by curve of calculating object, adopt around the specific rotation measured value (GyroX ') of the direction of primary motion of object.
4. one kind is used for carrying out the device that requires each described method according to aforesaid right, it is characterized in that, at least one MEMS acceleration transducer is set to be used for determining along three spatial axes (X, Y, the acceleration of at least one Z) and/or at least one MEMS gyroscopic sensors are used for determining around three spatial axes (X, Y, the specific rotation of at least one Z), measured value its numeral or digitized (AccX ', AccY ', AccZ ', GyroX ', GyroY ', GyroZ ') sends to for the control device (4) that calculates kinematic parameter via storage medium (3), wherein arrange according to about with the spatial axes (X) of 90 ° of rotations afterwards and mean value before (MwGXn and MwGXv) and affiliated, the standard deviation (StabwGXn and StabwGXv) of comparing with threshold value (SgX) comes the device for the bias correction of specific rotation measured value (GyroY ').
CN2011800638801A 2010-11-26 2011-11-11 Method and device for determining motion parameters of moving objects Pending CN103299160A (en)

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PCT/EP2011/069945 WO2012069324A1 (en) 2010-11-26 2011-11-11 Method and device for determining motion parameters

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CN105445493A (en) * 2016-01-16 2016-03-30 中车青岛四方机车车辆股份有限公司 A motor turning detection and identification apparatus in a condition of small turning angles and a method thereof
CN107358051A (en) * 2017-07-18 2017-11-17 前海随身宝（深圳）科技有限公司 Motion state of terminal analysis method, mobile terminal and readable storage medium storing program for executing
CN109278755A (en) * 2018-10-09 2019-01-29 浙江力邦合信智能制动系统股份有限公司 Vehicle road gradient calculation method and system
CN110254469A (en) * 2018-05-31 2019-09-20 广州市奥特创通测控技术有限公司 Railway wheelset monitoring net calibration method based on long-distance metering transmitting and internet
CN110968087A (en) * 2018-09-30 2020-04-07 百度（美国）有限责任公司 Vehicle control parameter calibration method and device, vehicle-mounted controller and unmanned vehicle
CN112240829A (en) * 2019-07-01 2021-01-19 斯凯孚公司 Device for detecting defects of rotating equipment

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CN105445493A (en) * 2016-01-16 2016-03-30 中车青岛四方机车车辆股份有限公司 A motor turning detection and identification apparatus in a condition of small turning angles and a method thereof
CN107358051A (en) * 2017-07-18 2017-11-17 前海随身宝（深圳）科技有限公司 Motion state of terminal analysis method, mobile terminal and readable storage medium storing program for executing
CN110254469A (en) * 2018-05-31 2019-09-20 广州市奥特创通测控技术有限公司 Railway wheelset monitoring net calibration method based on long-distance metering transmitting and internet
CN110968087A (en) * 2018-09-30 2020-04-07 百度（美国）有限责任公司 Vehicle control parameter calibration method and device, vehicle-mounted controller and unmanned vehicle
CN109278755A (en) * 2018-10-09 2019-01-29 浙江力邦合信智能制动系统股份有限公司 Vehicle road gradient calculation method and system
CN109278755B (en) * 2018-10-09 2021-04-06 浙江力邦合信智能制动系统股份有限公司 Vehicle road surface gradient calculation method and system
CN112240829A (en) * 2019-07-01 2021-01-19 斯凯孚公司 Device for detecting defects of rotating equipment

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Application publication date: 20130911