CN103308071A - Collection method for zero voltage of micro-electromechanical gyro of GPS (Global Positioning System)/INS (Inertial Navigation System) positioning and navigation device - Google Patents
Collection method for zero voltage of micro-electromechanical gyro of GPS (Global Positioning System)/INS (Inertial Navigation System) positioning and navigation device Download PDFInfo
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Abstract
The invention discloses a collection method for zero voltage of a micro-electromechanical gyro of a GPS (Global Positioning System)/INS (Inertial Navigation System) positioning and navigation device. The collection method is characterized in that GPS/INS positioning information is comprehensively utilized to perform dynamic on-line correction on the zero voltage of the micro-electromechanical gyro, and the correction method is divided into a static correction method and a dynamic correction method. The static correction method comprises the following steps of: (a) static INS detection: whether an automobile is in a static state or not is detected; (b) state accumulation: an accumulator ascends if the automobile is detected to be in the static state in step a; (c) static correction condition detection: whether step b reaches a threshold capable of being collected or not is detected; and (d) zero correction: the zero voltage of the gyro is corrected by a static low-pass filtering algorithm. The collection method has the beneficial effects that the operation is simple; each INS module does not need to be corrected independently; the correction is performed directly by upper software; the correction accuracy is high; the dynamic correction can be performed in an automobile running process according to a state of an external environment; and the response to the external environment is fast and accurate.
Description
Technical field
The present invention relates to a kind of bearing calibration of automobile navigation apparatus, particularly a kind of GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage bearing calibration.
Background technology
Gps system is the mainstream technology on the present vehicle mounted guidance market, and it is wireless signal compute location information via satellite, has the whole world, round-the-clock, high precision, the real-time advantage such as location.But because the rectilinear propagation characteristic of wireless signal, its dynamic property and antijamming capability are relatively poor, and when the GPS receiver was near tunnel or high building, satellite-signal was blocked, and impact is accurately located even can't be located.
INS(Inertial Navigation System inertial navigation system) have the independent navigation ability, can independently provide the locating navigation informations such as speed, angle and position, anti-external interference ability is strong.INS is applied in the gps system, has namely produced GPS/INS combined positioning and navigating system.This combined system can when the GPS location navigation is affected, position navigation by INS.
INS comprises rate sensor, acceleration transducer and three modules of micro-electro-mechanical gyroscope, the speed of rate sensor measuring vehicle, and the inclination angle of acceleration transducer measuring vehicle, micro-electro-mechanical gyroscope is by the angular velocity of output voltage measuring vehicle.So the error of INS when location navigation comprises rate error and angular error.The method of INS measuring vehicle angle is: after micro-electro-mechanical gyroscope is fixed on the vehicle, export in real time the micro-electro-mechanical gyroscope output voltage relevant with vehicle angular velocity, the diagonal angle rate integrating can obtain angle variable quantity, by accumulative total vehicle angle variable quantity of (being parallel to the road surface) aspect horizontal, can calculate the travel direction of vehicle.If there is error in one of the key system perameter of micro-electro-mechanical gyroscope zero-point voltage, in the dead reckoning process, this error will progressively be accumulated, and causes Vehicle Driving Cycle orientation projection accuracy significantly to descend.
The zero-point voltage of micro-electro-mechanical gyroscope is to be in complete output voltage when static at the microelectromechanicgyroscope gyroscope instrument chip.Traditional micro-electro-mechanical gyroscope zero-point voltage assay method is respectively it to be demarcated before each microelectromechanicgyroscope gyroscope instrument chip is installed, because zero-point voltage is relevant with characteristic and the condition of work (temperature etc.) of micro-electro-mechanical gyroscope, can real-time change in the driving process of vehicle, the defectives such as there is complicated operation in the method, takes time and effort, precision deficiency.
Therefore, how utilizing external information to come the zero-point voltage value of dynamic calibration micro-electro-mechanical gyroscope, is that GPS/INS combined positioning and navigating system improves navigation accuracy and reduces one of production complexity technical barrier to be solved.
Summary of the invention
Goal of the invention of the present invention is: for the problem of above-mentioned existence, provide the bearing calibration of a kind of GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage.The dynamic correcting method of micro-electro-mechanical gyroscope zero-point voltage in the GPS/INS combined positioning and navigating system.GPS/INS combined positioning and navigating system comprises CPU element, INS module and is used for receiving the gps receiver of longitude and latitude signal.The INS module comprises the micro-electro-mechanical gyroscope unit of rate detecting unit, 3-axis acceleration sensor and the measuring vehicle angular velocity of measurement of vehicle speed.
The technical solution used in the present invention is such:
The bearing calibration of a kind of GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage is characterized in that, utilizes the GPS/INS locating information that the zero-point voltage of micro-electro-mechanical gyroscope is carried out dynamic reviser online.
Further, the bearing calibration of described GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage may further comprise the steps:
Whether a) the INS stationary vehicle detects: detect vehicle and remain static;
B) state is cumulative: be stationary state if detect vehicle among the step a, then totalizer increases progressively;
C) the static shift correction condition detects: whether detecting step b reaches the threshold values that can proofread and correct;
D) static shift correction: adopt static low-pass filtering algorithm to proofread and correct the gyroscope zero-point voltage.
Further, the bearing calibration of described GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage may further comprise the steps:
A) the INS intact stability detects and is cumulative: whether stablely detect vehicle-state, and steady state (SS) is added up;
B) INS vehicle rectilinear motion detects and is cumulative: detect whether linear running of vehicle, and rectilinear motion is added up;
C) GPS vehicle rectilinear motion detects and is cumulative: utilize GPS to detect whether linear running of vehicle, and rectilinear motion is added up;
D) the dynamic calibration condition detects: whether the state accumulation result among detecting step a, b, the c reaches correctable condition;
E) dynamic calibration: adopt dynamic low-pass filtering algorithm to proofread and correct the gyroscope zero-point voltage.
Further, described static shift correction is to utilize 3-axis acceleration sensor to detect the difference of acceleration with the last acceleration that gets access to of vehicle horizontal direction and vertical direction, if the difference of horizontal direction is less than 0.4 meter every square second, and the difference of vertical direction is less than 1.2 meters every square second, then thinks current stationary vehicle.
Further, the described static shift correction condition of step c detect for the stationary vehicle number of times greater than 3 times, and the magnitude of angular velocity of twice of front and back is when changing less than 0.2 degree per second.
Further, described straight-line travelling detects as utilizing rate detecting unit to detect the vehicle operating range, utilizes gyro unit to detect the angle changing of vehicle, if angle changes less than 1.5 degree in 100 meters the operating range, then thinks when the vehicle in front straight-line travelling.
Further, the described GPS straight-line travelling of steps d detects as being that positioning states, the speed of a motor vehicle during less than 1 degree per second, gather continuous GPS information greater than 30Km/h, vehicle angular velocity 5 times at gps system.If the orientation angle that these 5 GPS are ordered differs less than 3 degree, think that then vehicle works as the forward position straight-line travelling.
Further, described step b detects the vehicle stabilization number of times greater than 8 times, step c detect vehicle along the straight-line travelling number of times more than or equal to 5 times, steps d detect vehicle along the straight-line travelling number of times more than or equal to 1 time, and current gyro unit detects the magnitude of angular velocity of vehicle less than 0.16 degree per second, then adopts dynamic low-pass filtering algorithm to proofread and correct the gyroscope zero-point voltage.
Further, described static low-pass filtering algorithm is proofreaied and correct as adopting formula, newV=a0 * curV+a1 * xn1_1+a2 * xn2_1 – b1 * yn1_1 – b2 * yn2_1; Xn1_1, xn2_1, yn1_1 and yn2_1 are set as 4 history value, and initial value is made as gyrostatic initial zero voltage; Coefficient a0, a1, a2, b1, b2 are respectively: a0=0.0014; A1=0.0029; A2=0.0014; B1=-1.918570; B2=0.924502; The static zero-point voltage of curV for detecting in real time after the correction, upgrades history value: upgrade history value: xn2_1=xn1_1; Xn1_1=curV; Yn2_1=yn1_1; Yn1_1=newV;
Further, described dynamic low-pass filtering algorithm is proofreaied and correct as adopting formula, newV=0.998 * yn1_1+0.002 * curV; The dynamic zero point voltage of curV for detecting in real time after the correction, upgrades history value: yn2_1=yn1_1; Yn1_1=newV.
In sum, owing to having adopted technique scheme, the invention has the beneficial effects as follows:
1) simple to operate.Because the zero-point voltage of micro-electro-mechanical gyroscope is relevant with himself characteristic and condition of work, traditional bearing calibration need to be proofreaied and correct for each micro-electro-mechanical gyroscope module, and need under different temperature, measure its zero-point voltage value, need to expend a large amount of time and efforts.Dynamic correcting method provided by the invention does not then need above operation, dynamically realizes trimming process by upper layer software (applications) in the Vehicle Driving Cycle process.
2) pinpoint accuracy more.Traditional bearing calibration has been carried out the zero-point voltage under the different temperatures for each micro-electro-mechanical gyroscope module and has been set.Because the zero-point voltage of micro-electro-mechanical gyroscope and the correlativity of himself characteristic, in use, the zero-point voltage value under the specified temp also may change.Therefore, traditional bearing calibration deviation may occur being worth only to being worth disposable correction zero point zero point in subsequent process.Dynamic correcting method provided by the invention then can carry out dynamic calibration in real time, has effectively avoided this problem.
Description of drawings
Fig. 1 is zero correction process flow diagram under the stationary state;
Fig. 2 is zero correction process flow diagram under the motion state.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail.
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
Embodiment 1:
As shown in Figure 1, the bearing calibration of a kind of GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage may further comprise the steps:
A) the INS vehicle stationary state detects: utilize 3-axis acceleration sensor to detect the difference of acceleration with the last acceleration that gets access to of vehicle horizontal direction and vertical direction, if the difference of horizontal direction is less than 0.4 meter every square second, and the difference of vertical direction is less than 1.2 meters every square second, then thinks current stationary vehicle;
B) state is cumulative: add up when above-mentioned steps is detected vehicle stationary state;
C) the static shift correction condition detects: when detecting the stationary vehicle number of times by steps A greater than 3 times, and the magnitude of angular velocity of twice of front and back adopts static low-pass filtering algorithm to proofread and correct the gyroscope zero-point voltage when changing less than 0.2 degree per second;
D) static shift correction: utilize formula, newV=a0 * curV+a1 * xn1_1+a2 * xn2_1 – b1 * yn1_1 – b2 * yn2_1 proofreaies and correct the micro-electro-mechanical gyroscope zero-point voltage; Xn1_1, xn2_1, yn1_1 and yn2_1 are set as 4 history value, and initial value is made as the initial zero voltage of micro-electro-mechanical gyroscope; Coefficient a0, a1, a2, b1, b2 are respectively: a0=0.0014; A1=0.0029; A2=0.0014; B1=-1.918570; B2=0.924502; The static zero-point voltage of curV for detecting in real time after the correction, upgrades history value: upgrade history value: xn2_1=xn1_1; Xn1_1=curV; Yn2_1=yn1_1; Yn1_1=newV.
The beneficial effect of the present embodiment is: vehicle can carry out zero correction to micro-electro-mechanical gyroscope when static, at needs micro-electro-mechanical gyroscope is not taken out, and proofreaies and correct sign with professional instrument.Be more convenient for using.
Embodiment 2:
As shown in Figure 2, the bearing calibration of a kind of GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage may further comprise the steps:
A) the INS intact stability detects and is cumulative: utilize the gyro unit of INS detect vehicle current magnitude of angular velocity and with the difference of last angular velocity, if magnitude of angular velocity is less than 0.8 degree per second, and difference is then thought current vehicle stabilization less than 0.2 degree per second; And steady state (SS) added up;
B) INS vehicle rectilinear motion detects and is cumulative: utilize the rate detecting unit of INS to detect the vehicle operating range, utilize gyro unit to detect the angle changing of vehicle, if angle changes less than 1.5 degree in 100 meters the operating range, then think when the vehicle in front straight-line travelling; And rectilinear motion added up;
C) GPS vehicle rectilinear motion detects and is cumulative; Be that positioning states, the speed of a motor vehicle during less than 1 degree per second, gather continuous GPS information greater than 30Km/h, vehicle angular velocity 5 times at gps system.If the orientation angle that these 5 GPS are ordered differs less than 3 degree, think that then vehicle works as the forward position straight-line travelling; And this rectilinear motion added up;
D) the dynamic calibration condition detects: when step a detects the vehicle stabilization number of times greater than 8 times, step b detect vehicle along the straight-line travelling number of times more than or equal to 5 times, step c detect vehicle along the straight-line travelling number of times more than or equal to 1 time, and current gyro unit detects the magnitude of angular velocity of vehicle less than 0.16 degree per second, then adopts dynamic low-pass filtering algorithm to proofread and correct the gyroscope zero-point voltage;
E) dynamic calibration: utilize formula newV=0.998 * yn1_1+0.002 * curV that micromotor gyroscope zero-point voltage is proofreaied and correct; The dynamic zero point voltage of curV for detecting in real time after the correction, upgrades history value: yn2_1=yn1_1; Yn1_1=newV.
The beneficial effect of the present embodiment is: vehicle still can be implemented zero correction in stable motion process, need not to stop to proofread and correct, further practicality.
The above only is preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage bearing calibration is characterized in that, utilizes the GPS/INS locating information that the zero-point voltage of micro-electro-mechanical gyroscope is carried out dynamic reviser online.
2. GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage according to claim 1 bearing calibration is characterized in that: may further comprise the steps:
A) INS Static Detection: utilize INS to detect vehicle and whether remain static;
B) state is cumulative: be stationary state if detect vehicle among the step a, then totalizer increases progressively;
C) the static shift correction condition detects: whether detecting step b reaches the threshold values that can proofread and correct;
D) static shift correction: adopt static low-pass filtering algorithm to proofread and correct the gyroscope zero-point voltage.
3. GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage according to claim 1 bearing calibration is characterized in that: may further comprise the steps:
Whether a) the INS intact stability detects and is cumulative: utilize INS to detect vehicle-state stable, and steady state (SS) is added up;
B) INS vehicle rectilinear motion detects and is cumulative: utilize INS to detect whether linear running of vehicle, and rectilinear motion is added up;
C) GPS vehicle rectilinear motion detects and is cumulative: utilize GPS to detect whether linear running of vehicle, and rectilinear motion is added up;
D) the dynamic calibration condition detects: whether the state accumulation result among detecting step a, b, the c reaches correctable condition;
E) dynamic calibration: adopt dynamic low-pass filtering algorithm to proofread and correct the gyroscope zero-point voltage.
4. GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage according to claim 2 bearing calibration, it is characterized in that: described INS Static Detection is to utilize 3-axis acceleration sensor to detect the difference of acceleration with the last acceleration that gets access to of vehicle horizontal direction and vertical direction, if the difference of horizontal direction is less than 0.4 meter every square second, and the difference of vertical direction is less than 1.2 meters every square second, then thinks current stationary vehicle.
5. GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage according to claim 2 bearing calibration, it is characterized in that: the described static shift correction condition of step c detect for the stationary vehicle number of times greater than 3 times, and the magnitude of angular velocity of twice of front and back is when changing less than 0.2 degree per second.
6. GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage according to claim 2 bearing calibration, it is characterized in that: described straight-line travelling detects as utilizing rate detecting unit to detect the vehicle operating range, utilize gyro unit to detect the angle changing of vehicle, if angle changes less than 0.5 degree in 100 meters the operating range, then think when the vehicle in front straight-line travelling.
7. GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage according to claim 3 bearing calibration, it is characterized in that: the described GPS straight-line travelling of steps d detects as being that positioning states, the speed of a motor vehicle are greater than 30Km/h, vehicle angular velocity during less than 1 degree per second at gps system, gather continuous GPS information 5 times, if the orientation angle that these 5 GPS are ordered differs less than 3 degree, think that then vehicle works as the forward position straight-line travelling.
8. GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage according to claim 3 bearing calibration, it is characterized in that: described step b detects the vehicle stabilization number of times greater than 8 times, step c detect vehicle along the straight-line travelling number of times more than or equal to 5 times, steps d detect vehicle along the straight-line travelling number of times more than or equal to 1 time, and current gyro unit detects the magnitude of angular velocity of vehicle less than 0.16 degree per second, then adopts dynamic low-pass filtering algorithm to proofread and correct the gyroscope zero-point voltage.
9. GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage according to claim 2 bearing calibration, it is characterized in that: described static low-pass filtering algorithm is proofreaied and correct as adopting formula, newV=a0 * curV+a1 * xn1_1+a2 * xn2_1 – b1 * yn1_1 – b2 * yn2_1; Xn1_1, xn2_1, yn1_1 and yn2_1 are set as 4 history value, and initial value is made as gyrostatic initial zero voltage; Coefficient a0, a1, a2, b1, b2, its value is respectively: a0=0.0014; A1=0.0029; A2=0.0014; B1=-1.918570; B2=0.924502; The static zero-point voltage of curV for detecting in real time after the correction, upgrades history value: upgrade history value: xn2_1=xn1_1; Xn1_1=curV; Yn2_1=yn1_1; Yn1_1=newV.
10. GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage according to claim 2 bearing calibration is characterized in that: described dynamic low-pass filtering algorithm is proofreaied and correct as adopting formula, newV=0.998 * yn1_1+0.002 * curV; The dynamic zero point voltage of curV for detecting in real time after the correction, upgrades history value: yn2_1=yn1_1; Yn1_1=newV.
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| CN105737853A (en) * | 2016-02-04 | 2016-07-06 | 中国科学院电子学研究所 | Method for calibrating drifting of robot inertial navigation system |
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| CN106643793A (en) * | 2016-11-24 | 2017-05-10 | 北京小鸟看看科技有限公司 | Virtual reality helmet and device and method for detecting calibration effect of gyroscope sensor in virtual reality helmet |
| CN107741240A (en) * | 2017-10-11 | 2018-02-27 | 成都国卫通信技术有限公司 | A kind of combined inertial nevigation system self-adaption Initial Alignment Method suitable for communication in moving |
| CN110065462A (en) * | 2018-01-24 | 2019-07-30 | 现代自动车株式会社 | The air bag igniting control system and its control method of vehicle |
| CN110065462B (en) * | 2018-01-24 | 2022-05-03 | 现代自动车株式会社 | Ignition control system for safety air bag of vehicle and control method thereof |
| CN109506678A (en) * | 2018-12-29 | 2019-03-22 | 中国电子科技集团公司第二十六研究所 | Gyroscope dynamic self-checking method in inertial measurement combination based on MEMS |
| CN109506678B (en) * | 2018-12-29 | 2020-09-15 | 中国电子科技集团公司第二十六研究所 | Dynamic self-checking method for gyroscope in inertia measurement combination based on micro-electro-mechanical system |
| CN111536999A (en) * | 2020-05-27 | 2020-08-14 | 浙江中星光电子科技有限公司 | Zero voltage calibration method, device, equipment and medium of gyroscope |
| CN111536999B (en) * | 2020-05-27 | 2023-03-31 | 浙江中星光电子科技有限公司 | Zero voltage calibration method, device, equipment and medium of gyroscope |
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