CN105629990B - A kind of calibration method and device of unmanned vehicle - Google Patents
A kind of calibration method and device of unmanned vehicle Download PDFInfo
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Abstract
The invention discloses a kind of calibration method of unmanned vehicle and devices, this method comprises: periodically acquiring the first navigational parameter of unmanned vehicle and the second navigational parameter according to the collection period of parameter；According to the first navigational parameter and the second navigational parameter, the offset component of unmanned vehicle is determined；Generate the corresponding offset calibration amount of offset component；The offset of unmanned vehicle is calibrated by offset calibration amount.In this way, being no longer needed for user does analysis and judgement, the calibration of offset is automatically performed by parameter acquisition, so that calibration process is simple and accurate.
Description
Technical field
This application involves unmanned vehicle technical field more particularly to the calibration methods and device of a kind of unmanned vehicle.
Background technique
With popularizing for more rotary wind type unmanned vehicles, more and more people start to understand and nobody flies using more rotary wind types
Row device.But due to multi-rotor aerocraft still a kind of new things itself, thus using when still have many inconveniences.
So those play the aircraft player veterans of model plane class origin, it can think that present aircraft is very simple
Dan Liao, it is only necessary to which, by simple debugging, who can come up just to perform one section of flight.But in fact, for from not in contact with excessively winged
For the new hand of row device, some habitual base calibration work of veterans, for new hand, and very big obstacle.
For example, it due to the difference by ground magnetic environment, aircraft Conservation environment, is usually opened in each unmanned vehicle
When dynamic, needing to fly to it controls situation and calibrates, and otherwise, even by remote controler, there is no do not give unmanned vehicle to issue
The instruction of any movement, unmanned vehicle itself may be as system noise be lasting to some direction drift flight.
The principle of this calibration is in fact also very simple, that is, to allow user to start unmanned vehicle and it is allowed suitably highly to hover in the sky
When, observation unmanned vehicle is winged either with or without side is carried out to any direction, if any, user only needs on a remote control, to lead to
Preset aligning key is crossed, opposite direction compensation is carried out.However, it is clear that this method cause calibration process cumbersome and for
The operation requirement for flying hand is also relatively high.
Summary of the invention
The present invention provides a kind of calibration method of unmanned vehicle and devices, carry out manually in the prior art to solve
Unmanned vehicle offset calibration method is relatively complicated and problem that accuracy is relatively low.
Its specific technical solution is as follows:
A kind of calibration method of unmanned vehicle, which comprises
According to the collection period of parameter, the first navigational parameter and the second navigation ginseng of unmanned vehicle are periodically acquired
Number；
According to first navigational parameter and the second navigational parameter, the offset component of the unmanned vehicle is determined,
In, the offset component is offset of the unmanned vehicle towards a direction；
Generate the corresponding offset calibration amount of the offset component；
The offset of the unmanned vehicle is calibrated by the offset calibration amount.
Optionally, the first navigational parameter and the second navigational parameter of unmanned vehicle are periodically acquired, comprising:
Detect whether there is the instruction unmanned vehicle control instruction mobile in horizontal plane, wherein the horizontal plane is mobile
Including back-and-forth motion and transverse shifting；
Instruction unmanned vehicle then periodically acquires unmanned flight in the mobile control instruction of horizontal plane if it does not exist
The first navigational parameter and the second navigational parameter of device.
Optionally, according to first navigational parameter and the second navigational parameter, the offset of the unmanned vehicle is determined
Component, comprising:
Obtain the second position coordinate in the first position coordinate and the second navigational parameter in first navigational parameter；
Determine coordinate difference and the unmanned vehicle in water according to the first position coordinate and second position coordinate
The moving direction of the reference axis of plane, wherein the coordinate difference characterizes amount of movement of the unmanned vehicle on standard coordinate axis；
Using the coordinate difference and the moving direction as the offset component.
Optionally, the corresponding offset calibration amount of the offset component is generated, comprising:
Obtain each value in the coordinate difference and the ratio result between collection period, wherein the collection period is
Difference between first moment and second moment；
Using the ratio result reversed with the moving direction as the offset calibration amount.
Optionally, after being calibrated by the offset calibration amount to the offset of the unmanned vehicle, the side
Method further include:
At the third moment, the third place coordinate is obtained；
According to the third place coordinate and the second position coordinate, current offset component is determined；
Determine whether the current offset component is greater than preset threshold；
If so, being calibrated according to the current offset component to the unmanned vehicle；
If it is not, then stopping calibrating the unmanned vehicle.
Optionally, the method also includes:
According to first in first navigational parameter towards the second direction in data and second navigational parameter
Data determine spin parameters, wherein the spin parameters are unmanned vehicle with the rotation angle of central point；
According to the spin parameters, spin calibrator quantity is determined；
Spin calibration is carried out to the unmanned vehicle according to the spin calibrator quantity.
A kind of calibrating installation of unmanned vehicle, comprising:
Acquisition module periodically acquires the first navigational parameter of unmanned vehicle for the collection period according to parameter
And second navigational parameter；
Determining module, for determining the unmanned vehicle according to first navigational parameter and the second navigational parameter
Offset component, wherein the offset component be the unmanned vehicle towards a direction offset；
Generation module, for generating the corresponding offset calibration amount of the offset component；
Calibration module, for being calibrated by the offset calibration amount to the offset of the unmanned vehicle.
Optionally, the acquisition module, specifically for detecting whether to have instruction unmanned vehicle in horizontal plane movement
Control instruction indicates that unmanned vehicle in the mobile control instruction of horizontal plane, then periodically acquires nobody and flies if it does not exist
The first navigational parameter and the second navigational parameter of row device.
Optionally, the determining module, specifically for obtain first position coordinate in first navigational parameter and
Second position coordinate in second navigational parameter；According to the first position coordinate and second position coordinate determine coordinate difference with
And the unmanned vehicle is in the moving direction of the reference axis of horizontal plane；Using the coordinate difference and the moving direction as institute
State offset component, wherein the coordinate difference characterizes amount of movement of the unmanned vehicle on standard coordinate axis.
Optionally, the generation module, specifically for obtaining each value in the coordinate difference and between collection period
Ratio result；Using the ratio result reversed with the moving direction as the offset calibration amount, wherein the acquisition week
Difference of the phase between first moment and second moment.
In calibration method provided by the present invention, according to the collection period of parameter, periodically acquisition unmanned vehicle
First navigational parameter and the second navigational parameter；According to the first navigational parameter and the second navigational parameter, unmanned vehicle is determined
Offset component；Generate the corresponding offset calibration amount of offset component；The offset of unmanned vehicle is carried out by offset calibration amount
Calibration.In this way, being no longer needed for user does analysis and judgement, the school of offset is automatically performed by parameter acquisition
It is quasi-, so that the calibration process of unmanned vehicle is simpler and accurate.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the calibration method of unmanned vehicle in the embodiment of the present invention；
Fig. 2 is the method flow diagram that offset component is determined in the embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of the calibrating installation of unmanned vehicle in the embodiment of the present invention.
Specific embodiment
The embodiment of the invention provides a kind of calibration methods of unmanned vehicle, this method comprises: according to the acquisition of parameter
Period periodically acquires the first navigational parameter of unmanned vehicle and the second navigational parameter；According to the first navigational parameter and
Second navigational parameter determines the offset component of unmanned vehicle；Generate the corresponding offset calibration amount of offset component；By deviating school
Quasi- amount calibrates the offset of unmanned vehicle.In this way, being no longer needed for user does analysis and judgement, pass through
Parameter acquisition is automatically performed the calibration of offset, so that calibration process is simple and accurate.
Technical solution of the present invention is described in detail below by attached drawing and specific embodiment, it should be understood that this hair
Particular technique feature in bright embodiment and embodiment is only illustrated technical solution of the present invention, rather than limits,
In the case where not conflicting, the particular technique feature in the embodiment of the present invention and embodiment be can be combined with each other.
It is as shown in Figure 1 a kind of calibration method of unmanned vehicle in the embodiment of the present invention, this method comprises:
S101 periodically acquires the first navigational parameter and the second boat of unmanned vehicle according to the parameter acquisition period
Row parameter；
For first, for unmanned vehicle, it can be understood as the flight on two faces, it may be assumed that fly on horizontal plane
Flight on capable and vertical plane.Such as XYZ three-axis reference is divided the space into, then unmanned vehicle is in horizontal plane
On flight be exactly the flight on XOY horizontal plane, the flight on the face XOZ YOZ that flight on the vertical plane is just.
If unmanned vehicle moves along the x-axis, then unmanned vehicle be horizontal flight, if unmanned vehicle is moved along Y-axis, then nobody
Aircraft is front and back flight.
Satellite positioning and navigation device is provided on unmanned vehicle, which can detecte unmanned vehicle
Current position coordinates.
Certainly, device is led except through satellite positioning to determine except the current position coordinates of unmanned vehicle, can also lead to
Visual pattern identification method is crossed to confirm.That is, being known when unmanned vehicle is in an environment by visual pattern
Otherwise, which is by determining the current coordinate position of unmanned vehicle apart from the closer reference substance of unmanned vehicle.
Above-mentioned two ways can determine the current coordinate position of unmanned vehicle respectively, and being also possible to will be above-mentioned
Two ways is determined in conjunction with come the coordinate position that determines unmanned vehicle say by satellite positioning navigation modular device first
Then coordinate position out is confirmed by visual pattern identification, so that coordinate position can be more acurrate, ensure that subsequent
Determine the accuracy of offset.
It certainly, can also be by existing other than the coordinate position in addition to above-mentioned two ways to determine unmanned vehicle
Other modes in technology determine the position coordinates of unmanned vehicle.Herein just not in illustration one by one.
In embodiments of the present invention, the position coordinates of unmanned vehicle can be characterized by the coordinate on horizontal plane XOY,
Such as position coordinates of the unmanned vehicle at the first moment are (x1, y1), wherein x1 characterizes the component in X-axis, y1 characterization
Component in Y-axis.If x1 is negative value, then the moving direction in X-axis of unmanned vehicle is opposite with the positive direction of X-axis；
If y1 is negative value, then the moving direction in Y-axis of unmanned vehicle is opposite with the positive direction of Y-axis.So being flown according to nobody
The position coordinates of row device are assured that the mobile direction of unmanned vehicle.
Due to being the detection of offset to unmanned vehicle, so needing unmanned vehicle to meet some requirements, here
Condition are as follows: detect whether there is the instruction unmanned vehicle control instruction mobile in horizontal plane, if it does not exist, then periodically
Acquire the first navigational parameter and the second navigational parameter of unmanned vehicle.
Such as unmanned vehicle XOY plane hover, and need to unmanned vehicle carry out offset calibration when, no
The control instruction flown on XOY plane can be sent in unmanned vehicle, it may be assumed that the control instruction of horizontal flight and front and back flight
Control instruction.
In the case where meeting above-mentioned condition, unmanned vehicle will be according to the collection period of parameter, periodically acquisition nothing
The first navigational parameter and the second navigational parameter of people's aircraft.Collection period can be according to the type of unmanned vehicle either
Current use environment is configured, naturally it is also possible to which user's self-setting collection period does not limit in embodiments of the present invention
The set-up mode and means of collection period.Such as collection period here can be 5 seconds or 7 seconds or 9 seconds, then exists
Current time collects the position coordinates of unmanned vehicle, i.e. coordinate in X-axis and the coordinate in Y-axis, then acquires after 5 seconds
The position coordinates of unmanned vehicle, the position coordinates are also the coordinate in X-axis and the coordinate in Y-axis.
Here the first navigational parameter and the second navigational parameter all contain position coordinates and the movement in reference axis
Direction, such as, first position coordinate is (- x1 ,-y1), then explanation is in the mobile x1 of X-axis negative direction, in the negative direction movement of Y-axis
y1.Second position coordinate is (- x2, y2), then explanation is moved to x2 in X-axis negative direction, in the mobile y2 of the positive direction of Y-axis.
S102 determines the offset component of unmanned vehicle according to the first navigational parameter and the second navigational parameter；
Specifically, after getting the first navigational parameter and the second navigational parameter, according to the first navigational parameter with
And second navigational parameter can calculate offset component of the unmanned vehicle in collection period, specific side as shown in Figure 2
Method process, this method comprises:
S201 obtains in the first navigational parameter first position coordinate and first towards in data and the second navigational parameter
Second position coordinate and second is towards data；
First position coordinate, second position coordinate are acquired by satellite positioning and navigation device in S101,
S202 determines coordinate difference and the unmanned vehicle according to the first position coordinate and second position coordinate
In the moving direction of the reference axis of horizontal plane；
The amount of movement in each reference axis of unmanned vehicle is assured that by two points, so according to first
Amount of movement of the unmanned vehicle in X-axis and the movement in Y-axis can be calculated by setting coordinate and second position coordinate
Amount.Such as first position coordinate is (x1, y1), second position coordinate is (x2, y2), then shifting of the unmanned vehicle in X-axis
Momentum is x`=x2-x1, and the amount of movement in Y-axis is y`=y2-y1, then (x`, y`) is exactly unmanned vehicle in each coordinate
Mobile component on axis.
Certainly, by first position coordinate and second position coordinate in addition to the available unmanned vehicle that arrives is in each seat
Except amount of movement on parameter, unmanned vehicle can also be determined each according to first position coordinate and second position coordinate
Moving direction in reference axis.Such as the position the x` negative value in (x`, y`), then illustrate unmanned vehicle X-axis component be edge
Reverse movement when y` is positive value, then illustrates that unmanned vehicle in the component of Y-axis is to move along forward direction.
S203, using coordinate difference and moving direction as offset component.
In above-mentioned step, got coordinate difference and towards difference, then can by the coordinate difference and nobody
The moving direction of aircraft is as offset component.
After getting offset, S103 is executed.
S103 generates the corresponding offset calibration amount of offset component；
Specifically, offset component of the unmanned vehicle in collection period has been got in S102, partially according to this
It moves component and is assured that out offset calibration amount.
Specifically, each value in coordinate difference and the ratio between collection period are obtained as a result, collection period here
The difference between the first moment and the second moment, at the time of the first moment here is the first navigational parameter of acquisition, the second moment
At the time of to acquire the second navigational parameter.Using the ratio result reversed with moving direction as offset calibration amount.
Such as determine in the above-described embodiment unmanned vehicle second position coordinate and second position coordinate it
Between coordinate difference be (- 2, -3), the collection period be 5 seconds, then the ratio result between the coordinate difference and collection period is just
(- 2/5, -3/5), -2/5 characterization in the ratio result is speed that unmanned vehicle is moved along X-axis negative sense, -3/5 characterization
Be speed that unmanned vehicle is moved along Y-axis negative sense.According to the ratio result it is found that unmanned vehicle is in X-axis and Y-axis
Losing side offset up, so the offset calibration amount generated needs reversed with the ratio result, it is winged that nobody can be adjusted in this way
The offset of row device, so the offset calibration amount is just (2/5,3/5).
S104 calibrates the offset of unmanned vehicle by offset calibration amount.
Specifically, after offset calibration amount is obtained in S103, then according to offset calibration amount to the inclined of unmanned vehicle
Shift-in row calibration, is equivalent to and adds a compensation rate to unmanned vehicle on the basis of the original, which can offset nobody
Aircraft in a certain direction on offset.
Such as the ratio result of unmanned vehicle is (- 2/5, -3/5), then illustrates unmanned vehicle along the negative anti-of X-axis
To the speed movement with 0.4m/s, negative along Y-axis is reversely moved with the speed of 0.6m/s.So in compensation, just just according to X-axis
The amount of amount and Y-axis 0.6m/s to 0.4m/s compensates, and can thus reduce unmanned vehicle in the horizontal plane flat
Row drift.
Certainly, in embodiments of the present invention, in addition to directly determining a reversed amount as offset school according to ratio result
Except quasi- amount, an error range can also be set, that is to say, that offset calibration amount and the amount in ratio result are unequal.Such as
It says, ratio result is (- 2/5, -3/5), then offset calibration amount can be (1/5,2/5), this error range and calculation formula
Correlation can also dynamically adjust the error range according to current usage scenario or use environment.So of the invention real
Apply do not limited in example last offset calibration amount and value must be consistent with the value in ratio result.
It can automatically be obtained according to the variation in the position coordinates of unmanned vehicle and direction by above-mentioned method
To offset calibration amount, to be calibrated automatically to unmanned vehicle by offset calibration amount, this not only reduces users couple
The cumbersome calibration operation of unmanned vehicle, and also improve calibration accuracy and calibration efficiency.
It further, in embodiments of the present invention, can also be to nothing other than the offset part calibration to unmanned vehicle
The spin of people's aircraft is adjusted.
Specifically, first is further comprised in the first navigational parameter towards data, is further comprised in the second navigational parameter
Second is assured that out that the spin of unmanned vehicle is joined towards data towards data and second towards data, according to first
Number.Here spin parameters are the spin angle of the easy central point of unmanned vehicle.
Such as then camera direction is regard as a datum quantity there are when a camera on unmanned vehicle, that is,
Camera it is positive towards data as first towards data.At the second moment, due to the spin of unmanned vehicle, so taking the photograph
Picture positive direction and original direction be not identical, so being assured that out unmanned flight towards data according to two
The spin angle of device.
According to spin angle and collection period, the available spin angle velocity to unmanned vehicle, by the spin angle
The back parameter of speed is as spin calibrator quantity.Spin calibration is carried out to unmanned vehicle according to the spin calibrator quantity, is protected in this way
Card unmanned vehicle can also carry out spin calibration on the basis of offset calibration, be achieved to unmanned vehicle spin
Automatic calibration, improves the flight stability of unmanned vehicle.
Further, in embodiments of the present invention, it after being calibrated to unmanned vehicle, will be obtained at the third moment
The third place coordinate of unmanned vehicle determines unmanned vehicle then according to the third place coordinate and second position coordinate
Current offset component, determine unmanned vehicle current offset component whether be greater than preset threshold.If so, according to current offset
Component calibrates unmanned vehicle, if it is not, then stopping calibrating unmanned vehicle.
Such as according to the third place coordinate and second position coordinate of unmanned vehicle, unmanned vehicle position is determined
Moving is 1.0m, and preset threshold at this time is 0.5m, it is evident that offset component of the unmanned vehicle in collection period has been above
Preset threshold then continues to calibrate unmanned vehicle according to the third place coordinate, third towards data, and the method for calibration exists
It is stated that not being described in more detail here in the above embodiments.
If determining that unmanned vehicle displacement is according to the third place coordinate and second position coordinate of unmanned vehicle
0.3m, preset threshold at this time are 0.5m, it is evident that offset component of the unmanned vehicle in collection period is already less than default
Threshold value then no longer needs to calibrate unmanned vehicle at this time.Although under conditions of offset component is less than preset threshold not
Unmanned vehicle is calibrated again, but will also continue to test the offset component of unmanned vehicle, once detect that nobody flies
When the offset component of row device is greater than preset threshold, then continue to calibrate unmanned vehicle, in this way guarantee unmanned vehicle energy
It is enough continuously maintained in the state of stabilized flight, to improve the stability of unmanned vehicle.
It, can be automatically according to unmanned vehicle for the calibration method of unmanned vehicle provided by the embodiment of the present invention
Position coordinates automatically calibrate unmanned vehicle according to offset calibration amount to obtain calibrated offset calibrator quantity, to keep away
User is exempted from and unmanned vehicle has been brought manually cumbersome, realized the automatic calibration of unmanned vehicle, has improved nobody and fly
The stability of row device.
A kind of calibration method of unmanned vehicle in the embodiment of the present invention is corresponded to, additionally provides one kind in the embodiment of the present invention
The calibrating installation of unmanned vehicle is illustrated in figure 3 a kind of structure of the calibrating installation of unmanned vehicle in the embodiment of the present invention
Schematic diagram, the device include:
Acquisition module 301 periodically acquires the first navigation ginseng of unmanned vehicle for the collection period according to parameter
Several and the second navigational parameter；
Determining module 302, for determining the unmanned flight according to first navigational parameter and the second navigational parameter
The offset component of device, wherein the offset component is the offset of the super a direction of the unmanned vehicle；
Generation module 303, for generating the corresponding offset calibration amount of the offset component；
Calibration module 304, for being calibrated by the offset calibration amount to the offset of the unmanned vehicle.
Further, in embodiments of the present invention, the acquisition module 301 indicates nobody specifically for detecting whether to exist
The aircraft control instruction mobile in horizontal plane, indicate if it does not exist unmanned vehicle in the mobile control instruction of horizontal plane,
Then periodically acquire the first navigational parameter and the second navigational parameter of unmanned vehicle.
Further, in embodiments of the present invention, the determining module 302 is specifically used for obtaining first navigational parameter
In first position coordinate and the second navigational parameter in second position coordinate；According to the first position coordinate and second
Position coordinates determine coordinate difference and the unmanned vehicle in the moving direction of the reference axis of horizontal plane；By the coordinate difference with
And the moving direction is as the offset component, wherein the coordinate difference characterizes unmanned vehicle on standard coordinate axis
Amount of movement
Further, in embodiments of the present invention, the generation module 303, it is each in the coordinate difference specifically for obtaining
Ratio result between a value and collection period；Using the ratio result reversed with the moving direction as the offset school
Quasi- amount, wherein difference of the collection period between first moment and second moment.
Although the preferred embodiment of the application has been described, but one of ordinary skilled in the art once knows substantially
Creative concept, then additional changes and modifications may be made to these embodiments.It is wrapped so the following claims are intended to be interpreted as
It includes preferred embodiment and falls into all change and modification of the application range.
Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application
Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies
Within, then the application is also intended to include these modifications and variations.
Claims (8)
1. a kind of calibration method of unmanned vehicle, which is characterized in that the described method includes:
According to the collection period of parameter, the first navigational parameter and the second navigational parameter of unmanned vehicle are periodically acquired；
The first navigational parameter and the second navigational parameter of the periodic acquisition unmanned vehicle, comprising:
Detect whether there is the instruction unmanned vehicle control instruction mobile in horizontal plane, wherein the horizontal plane movement includes
Back-and-forth motion and transverse shifting；
Instruction unmanned vehicle then periodically acquires unmanned vehicle in the mobile control instruction of horizontal plane if it does not exist
First navigational parameter and the second navigational parameter；
According to first navigational parameter and the second navigational parameter, the offset component of the unmanned vehicle is determined, wherein institute
Stating offset component is offset of the unmanned vehicle towards a direction；
Generate the corresponding offset calibration amount of the offset component；
The offset of the unmanned vehicle is calibrated by the offset calibration amount.
2. the method as described in claim 1, which is characterized in that according to first navigational parameter and the second navigational parameter,
Determine the offset component of the unmanned vehicle, comprising:
Obtain the second position coordinate in the first position coordinate and the second navigational parameter in first navigational parameter；
Determine coordinate difference and the unmanned vehicle in horizontal plane according to the first position coordinate and second position coordinate
Reference axis moving direction, wherein the coordinate difference characterizes amount of movement of the unmanned vehicle on standard coordinate axis；
Using the coordinate difference and the moving direction as the offset component.
3. the method as described in claim 1, which is characterized in that generate the corresponding offset calibration amount of the offset component, comprising:
Obtain each value in coordinate difference and the ratio result between collection period, wherein the collection period was the first moment
With the difference between the second moment；
Using the ratio result reversed with the moving direction as the offset calibration amount.
4. the method as described in claim 1, which is characterized in that by the offset calibration amount to the unmanned vehicle
After offset is calibrated, the method also includes:
At the third moment, the third place coordinate is obtained；
According to the third place coordinate and second position coordinate, current offset component is determined；
Determine whether the current offset component is greater than preset threshold；
If so, being calibrated according to the current offset component to the unmanned vehicle；
If it is not, then stopping calibrating the unmanned vehicle.
5. the method as described in claim 1, which is characterized in that the method also includes:
According to first in first navigational parameter towards second in data and second navigational parameter towards data,
Determine spin parameters, wherein the spin parameters are unmanned vehicle with the rotation angle of central point；
According to the spin parameters, spin calibrator quantity is determined；
Spin calibration is carried out to the unmanned vehicle according to the spin calibrator quantity.
6. a kind of calibrating installation of unmanned vehicle characterized by comprising
Acquisition module, for the collection period according to parameter, periodically acquire unmanned vehicle the first navigational parameter and
Second navigational parameter；
The acquisition module, specifically for detecting whether to have the instruction unmanned vehicle control instruction mobile in horizontal plane, if
There is no instruction unmanned vehicles in the mobile control instruction of horizontal plane, then periodically the first of acquisition unmanned vehicle is navigated
Row parameter and the second navigational parameter；
Determining module, for determining the inclined of the unmanned vehicle according to first navigational parameter and the second navigational parameter
Move component, wherein the offset component is offset of the unmanned vehicle towards a direction；
Generation module, for generating the corresponding offset calibration amount of the offset component；
Calibration module, for being calibrated by the offset calibration amount to the offset of the unmanned vehicle.
7. device as claimed in claim 6, which is characterized in that the determining module is specifically used for obtaining first navigation
The second position coordinate in first position coordinate and the second navigational parameter in parameter；According to the first position coordinate and
Second position coordinate determines coordinate difference and the unmanned vehicle in the moving direction of the reference axis of horizontal plane；By the coordinate
The poor and described moving direction is as the offset component, wherein the coordinate difference characterizes unmanned vehicle in standard coordinate
Amount of movement on axis.
8. device as claimed in claim 6, which is characterized in that the generation module, it is each in coordinate difference specifically for obtaining
Ratio result between a value and collection period；Using the ratio result reversed with moving direction as the offset calibration
Amount, wherein difference of the collection period between the first moment and the second moment.
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| CN110319851B (en) * | 2018-03-30 | 2022-03-01 | 北京百度网讯科技有限公司 | Sensor correction method, device, equipment and storage medium |
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