CN105783921A - Method for correcting automobile attitude data, and apparatus thereof - Google Patents
Method for correcting automobile attitude data, and apparatus thereof Download PDFInfo
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Abstract
The embodiment of the invention provides a method for correcting automobile attitude data, and an apparatus thereof. The method comprises the following steps: obtaining the driving acceleration of an automobile according to the driving speed of the automobile; obtaining the triaxial acceleration provided by a triaxial accelerometer; subtracting an acceleration component generated by the driving acceleration from the triaxial acceleration according to a coordinate system transition relation between the installation coordinate system of the triaxial accelerometer and the driving coordinate system of the automobile to obtain an adjusted triaxial acceleration; and correcting automobile attitude data determined by a gyroscope by using the adjusted automobile attitude data determined by the triaxial accelerometer. Correction of the automobile attitude determined by the triaxial gyroscope through using the automobile attitude determined by the triaxial accelerometer is highly accurate. The invention relates to the technical field of automobile navigation.
Description
Technical field
The present invention relates to technical field of automobile navigation, particularly relate to a kind of method correcting automobile attitude data and device.
Background technology
Accurately obtaining not only to judging that motor-vehicle accident is significant of automobile attitude, and to judging the upper and lower viaduct of automobile, control automobile intelligent and travel significant, be applied in intelligent transportation system more and more widely at present.
In prior art, generally adopt inertial measurement cluster (three axis microelectromechanicdevice system (MEMS, Micro-Electro-MechanicalSystems) gyroscope and the 3 axis MEMS accelerometer) magnetic information in combination of low cost to the measurement of automobile attitude data and correction.
Concrete, automobile attitude primary data can be obtained by the angular velocity integration that three axis MEMS gyro is exported, but owing to the angular velocity of three axis MEMS gyro output has certain error, the error increasing over time angular velocity integration can continue to become big, that is, the error of automobile attitude primary data increases in time and continues to become big.Owing to comparing the automobile attitude obtained with local gravity without integral error accumulative effect by 3 axis MEMS accelerometer, therefore, it can utilize the 3 axis MEMS accelerometer calculated automobile attitude data correction calculated automobile attitude data of three axis MEMS gyro.But, due to utilize 3 axis MEMS accelerometer carry out automobile attitude data calculate time under static conditions (vehicle stationary state) precision higher, 3 axis MEMS accelerometer is utilized to carry out automobile attitude data calculating error under dynamic condition (motoring condition) bigger, therefore, in vehicle traveling process, utilizing the automobile attitude data with error that 3 axis MEMS accelerometer calculates that the calculated automobile attitude data of three axis MEMS gyro is corrected, the automobile attitude data obtained is also inaccurate.
Summary of the invention
Embodiments provide a kind of method correcting automobile attitude data and device, prior art uses the automobile attitude determined based on three axis accelerometer the automobile attitude determined based on three-axis gyroscope is corrected the problem that accuracy is low in order to solving.
Based on the problems referred to above, a kind of method correcting automobile attitude data that the embodiment of the present invention provides includes:
Travel speed according to automobile, obtains the traveling acceleration of automobile；
Obtain the 3-axis acceleration that three axis accelerometer provides；
The ordinate transform relation between mounting coordinate system and the traveling coordinate system of automobile according to described three axis accelerometer, removes the component of acceleration that described traveling acceleration produces, the 3-axis acceleration after being adjusted from described 3-axis acceleration；
Use the automobile attitude data determined based on the 3-axis acceleration after described adjustment, the automobile attitude data determined based on gyroscope is corrected.
A kind of device correcting automobile attitude data that the embodiment of the present invention provides, including:
Travel acceleration acquisition module, for the travel speed according to automobile, obtain the traveling acceleration of automobile；
3-axis acceleration acquisition module, for obtaining the 3-axis acceleration that three axis accelerometer provides；
3-axis acceleration adjusting module, for the ordinate transform relation between the mounting coordinate system according to described three axis accelerometer and the traveling coordinate system of automobile, the component of acceleration that described traveling acceleration produces, the 3-axis acceleration after being adjusted is removed from described 3-axis acceleration；
Automobile attitude data correction module, for the automobile attitude data using the 3-axis acceleration after based on described adjustment to determine, is corrected the automobile attitude data determined based on gyroscope.
The beneficial effect of the embodiment of the present invention includes:
A kind of method correcting automobile attitude data of embodiment of the present invention offer and device, the travel speed according to automobile, obtain the traveling acceleration of automobile；Obtain the 3-axis acceleration that three axis accelerometer provides；The ordinate transform relation between mounting coordinate system and the traveling coordinate system of automobile according to three axis accelerometer, removes from 3-axis acceleration and travels the component of acceleration that acceleration produces, the 3-axis acceleration after being adjusted；Use the automobile attitude data determined based on the 3-axis acceleration after adjusting, the automobile attitude data determined based on gyroscope is corrected.During owing to utilizing 3 axis MEMS accelerometer to carry out automobile Attitude Calculation, under static conditions (vehicle stationary state), precision is higher, and during dynamic in vehicle traveling process, compared with during with vehicle static, the 3-axis acceleration that three axis accelerometer provides adds the component of acceleration owing to running car produces, the defining method of automobile attitude provided by the invention, from the 3-axis acceleration that three axis accelerometer provides, remove the component of acceleration produced by running car, 3-axis acceleration after the adjustment obtained, 3-axis acceleration during vehicle static can be equivalent to, precision is higher, use the automobile attitude data determined based on the 3-axis acceleration after this adjustment that the automobile attitude data determined based on gyroscope is corrected accuracy height.
Accompanying drawing explanation
The flow chart of a kind of method correcting automobile attitude data that Fig. 1 provides for the embodiment of the present invention；
The flow chart of a kind of method correcting automobile attitude data that Fig. 2 provides for the embodiment of the present invention 1；
The flow chart of a kind of method correcting automobile attitude data that Fig. 3 provides for the embodiment of the present invention 2；
Fig. 4 is that the embodiment of the present invention applies schematic diagram in auto-navigation system；
The automobile attitude data determined based on the 3-axis acceleration after the adjustment of three axis accelerometer output that Fig. 5 provides for the embodiment of the present invention, the method schematic diagram that the automobile attitude data determined based on gyroscope is corrected；
The structural representation of a kind of device correcting automobile attitude data that Fig. 6 provides for the embodiment of the present invention.
Detailed description of the invention
Embodiments provide a kind of method correcting automobile attitude data and device, below in conjunction with Figure of description, the preferred embodiments of the present invention are illustrated, should be appreciated that preferred embodiment described herein is merely to illustrate and explains the present invention, be not intended to limit the present invention.And when not conflicting, the embodiment in the application and the feature in embodiment can be mutually combined.
The embodiment of the present invention provides a kind of method correcting automobile attitude data, as it is shown in figure 1, include:
S101, travel speed according to automobile, obtain the traveling acceleration of automobile.
The 3-axis acceleration that S102, acquisition three axis accelerometer provide.
S103, according to the ordinate transform relation between mounting coordinate system and the traveling coordinate system of automobile of three axis accelerometer, the 3-axis acceleration obtained from S102 is removed the component of acceleration travelling acceleration generation obtained in S101, the 3-axis acceleration after being adjusted.
The automobile attitude data that S104, use are determined based on the 3-axis acceleration after the adjustment obtained in S103, is corrected the automobile attitude data determined based on gyroscope.
Further, the execution of step S101 and step S102 does not have strict sequencing.
Below in conjunction with accompanying drawing, with specific embodiment, method provided by the invention and relevant device are described in detail.
Embodiment 1:
In the embodiment of the present invention 1, it is provided that a kind of method correcting automobile attitude data, the mounting coordinate system of accelerometer overlaps with travelling coordinate system in embodiment 1, as in figure 2 it is shown, specifically include following steps:
The 3-axis acceleration that S201, acquisition three axis accelerometer provide.
In this step, the traveling component of acceleration that the 3-axis acceleration that three axis accelerometer provides produces when containing running car.
S202, according to default sampling rule, obtain the bus data of automobile from onboard diagnostic system (OBD, On-BoardDiagnostics).
In this step, presetting sampling rule can be OBD according to constant duration or not constant duration, actively export the automobile bus data at output time point, it is also possible to for according to constant duration or not constant duration actively sample to OBD, obtain the bus data of sampled point.
nullFurther，OBD can pass through data link connector (DLC，DataLinkConnector)，According to standard communication protocol relevant for OBD (such as: Society of automotive engineers J1850 bus burst width modulated (SAEJ1850PWM，SocietyofAutomotiveEngineersJ1850PulseWidthModuleated)、Society of automotive engineers J1850 bus variable pulse width modulation (SAEJ1850VPW，SocietyofAutomotiveEngineersJ1850VariablePulseWidth)、International Organization for Standardization (ISO9141-2，InternationalOrganizationforStandardization9141-2) (or International Organization for Standardization/draft internation standard 14230-4 (ISO/DIS14230-4，InternationalOrganizationforStandardizationDraftInternat ionalStandard14230-4))) output bus data.
Further, in prior art, auto-navigation system generally utilizes the sensor such as mileage gauge or wheel speed to carry out when carrying out vehicle speed measurement, this acquisition mode is likely to be due to the reasons such as vehicle refitting cannot successfully get speed information, and the method for the acquisition speed that the embodiment of the present invention provides, speed information is obtained by bus data, when making to obtain speed information, the factor impact of vehicle refitting etc. will not be subject to and cause obtaining unsuccessfully, and the speed information got is more accurate, lays a good foundation for follow-up accurate judgement running car attitude.
The bus data obtained in S203, parsing S202, obtains the travel speed of automobile.
Further, by the standard communication protocol output bus data of DLC interface in step S202, if desired obtain the travel speed of automobile, it is necessary to resolved by the bus data of acquisition according to this standard communication protocol, obtain the travel speed of automobile.
Further, step S202 and step S203 can be used alone a device and realizes, such as: vehicle-mounted fault diagnosis device, vehicle-mounted fault diagnosis device is connected with OBD system by DLC interface, after obtaining bus data and parsing speed, it is sent to the device for correcting automobile attitude data again through wireless (such as: bluetooth, WIFI, ZigBee, overclocking wave band (UWB), IrDA, HomeRF, technology of infrared transmission etc.).
S204, according to this travel speed of the automobile obtained in S203, obtain this travel speed before the travel speed of the last automobile obtained and obtain this travel speed and the time difference obtained between the last travel speed, it is determined that the traveling acceleration of automobile.
In this step, it is assumed that current time is tiIn the moment, step S203 determining, automobile is at tiMoment travel speed is vobd,i, then, in the last travel speed obtaining the automobile obtained before this travel speed, for ti-1The travel speed v of the automobile that the moment obtainsobd,i-1, according to acceleration formula, obtain the traveling acceleration A of automobileiFor:
In formula (1), i be not less than 0 integer.
S205, the 3-axis acceleration obtained from S201 component of acceleration on the first coordinate axes deduct the traveling acceleration of the automobile determined in S204, obtains the component of acceleration after the first coordinate axes adjusts.
S206, keep in the 3-axis acceleration that obtains in S201 the second component of acceleration corresponding with three axes constant, the 3-axis acceleration after being adjusted,
Wherein, using in the mounting coordinate system of accelerometer with travel the coordinate axes of vehicle traveling direction overlaps in coordinate system coordinate axes as the first coordinate axes, other two coordinate axes respectively second and three axes.
First, several coordinate systems commonly used in onboard system are introduced: navigational coordinate system, traveling coordinate system and mounting coordinate system.Navigational coordinate system can refer to geographic coordinate system (representing typically by n), and its initial point is positioned at car location ball surface, it is possible to be chosen at centre of gravity of vehicle place；Travel coordinate system (representing typically by b) initial point and be positioned at the mass centre of automobile, with automobile for object of reference, the axle travelled in coordinate system in three axles points to the direction of running car, one axle is pointed to assistant driver seat direction by operating seat, and the 3rd axle and underbody car place plane are perpendicularly oriented to top；Mounting coordinate system (represents) for installing 3-axis acceleration timing typically by a, and the coordinate system that three axis accelerometer is assert determines by installing, zero can not also at automobile barycenter at automobile barycenter.It is preferred that traveling coordinate system and mounting coordinate system can overlap.
In the present embodiment, travel coordinate system and mounting coordinate system overlaps, assume the direction oy axle of three axles respectively running car, operating seat points to assistant driver seat direction ox axle, with the direction oz axle that underbody car place plane is perpendicularly oriented to top, to travel coordinate system for reference frame, automobile is in motion, only the direction of oy axle has speed and acceleration, therefore, when travelling coordinate system and mounting coordinate system overlaps, the acceleration of motion of automobile itself is projected in the oy direction of principal axis of the mounting coordinate system of accelerometer completely.Further, automobile causes by the gravity acceleration g of car location at the component of acceleration of ox direction of principal axis (roll angle) and oz direction of principal axis (angle of pitch), existence due to gravity acceleration g, automobile ox direction and oz direction are when automobile roll angle and the angle of pitch are not zero, the component of acceleration in automobile ox direction and oz direction is also all not zero, and the component of acceleration in automobile ox direction and oz direction, when roll angle and the angle of pitch are constant, will not change over time, therefore, now, the output of three axis accelerometer can be determined by formula (2):
In formula (2), Ax, Ay, AzCharacterize the X-axis accelerometer of three axis accelerometer, Y-axis accelerometer, the 3-axis acceleration component of Z axis accelerometer output respectively；A characterizes the acceleration of running car, Cn bCharacterize the navigational coordinate system coordinate conversion matrix to traveling coordinate system (owing to g obtains with navigational coordinate system for reference frame, it is thus desirable to g is transformed in traveling coordinate system, and after carrying out Coordinate Conversion, g can be mapped on three coordinate axess travelled in coordinate system, the corresponding 3-axis acceleration component travelled in coordinate system).
By formula (2) it can be seen that three axis accelerometer mounting coordinate system with travel coordinate system overlaps time, during running car, the acceleration A of generation brings error to the output of Y-axis accelerometer.
In step S205, the 3-axis acceleration component produced when removing running car from the 3-axis acceleration that three axis accelerometer provides, then can eliminate the error that Y-axis accelerometer produces so that the 3-axis acceleration after adjustment is more accurate.Specific as follows:
In formula (3), Ax, Ay, AzCharacterize the X-axis accelerometer of three axis accelerometer, Y-axis accelerometer, the component of acceleration of three axles of Z axis accelerometer output respectively；A characterizes the acceleration of running car, A'x、A'y、A'zCharacterize the 3-axis acceleration component after the 3-axis acceleration that three axis accelerometer is recorded is adjusted respectively, be from the 3-axis acceleration of three axis accelerometer output, remove the 3-axis acceleration after the component of acceleration that running car produces.
The automobile attitude data that S207, use are determined based on the 3-axis acceleration after the adjustment obtained in S206, is corrected the automobile attitude data determined based on gyroscope.
Embodiment 2:
In the embodiment of the present invention 2, providing a kind of method correcting automobile attitude data, the mounting coordinate system of accelerometer is misaligned with traveling coordinate system in example 2, in embodiment 2, the step similar with embodiment 1, referring to the explanation of step corresponding in embodiment 1, repeats no more here.As it is shown on figure 3, specifically include following steps:
The 3-axis acceleration of the automobile that S301, acquisition three axis accelerometer provide.
S302, according to default sampling rule, from OBD obtain automobile bus data.
The bus data obtained in S303, parsing S302, obtains the travel speed of automobile.
S304, according to this travel speed of the automobile obtained in S303, obtain this travel speed before the travel speed of the last automobile obtained and obtain this travel speed and the time difference obtained between the last travel speed, it is determined that the traveling acceleration of automobile.
S305, three axles according to the mounting coordinate system of accelerometer point to and three axles of travelings coordinate system of automobile point to, it is determined that the coordinate conversion matrix between mounting coordinate system and traveling coordinate system.
In travelling coordinate system, in the 3-axis acceleration component produced during running car, the component of acceleration of vehicle traveling direction is the current driving acceleration of automobile, and the component of acceleration in automobile roll direction and the component of acceleration in automotive pitch direction are zero.
The coordinate conversion matrix determined in S306, use S305, the traveling component of acceleration of automobile that will travel in coordinate system on the coordinate axes overlapped with vehicle traveling direction, it is respectively mapped on three coordinate axess in mounting coordinate system, obtains the mapping component of acceleration travelled on the acceleration three coordinate axess in mounting coordinate system of automobile.
In the present embodiment, it is misaligned owing to travelling the mounting coordinate of coordinate system and three axis accelerometer, so, in the 3-axis acceleration produced from three axis accelerometer, before removing the component of acceleration that running car produces, it is necessary to the coordinate system of the acceleration that the 3-axis acceleration of unified three axis accelerometer generation and running car produce.Therefore, in this step, the 3-axis acceleration component that running car produces in coordinate system will be travelled, and rotate respectively and project in accelerometer mounting coordinate system, obtain the 3-axis acceleration component that in accelerometer mounting coordinate system, running car produces.
Now, the output of three axis accelerometer can be determined by formula (4):
In formula (4), Ax, Ay, AzCharacterize the X-axis accelerometer of three axis accelerometer, Y-axis accelerometer, the component of acceleration of three axles of Z axis accelerometer output respectively；A characterizes the acceleration of running car；Characterize the navigational coordinate system coordinate conversion matrix to traveling coordinate system；Characterize the coordinate conversion matrix travelling coordinate system to three axis accelerometer mounting coordinate system.
Be can be seen that by formula (4), when three axis accelerometer mounting coordinate system and traveling coordinate system are misaligned, by running car acceleration from travelling ordinate transform to after three axis accelerometer mounting coordinate system, the component of acceleration A produced during running car is likely to be mapped in the output of each axis accelerometer of accelerometer mounting coordinate system, brings error namely to each axis accelerometer.
S307, from the component of acceleration on the described 3-axis acceleration three coordinate axess described mounting coordinate system, be individually subtracted the mapping acceleration of correspondence, the 3-axis acceleration after being adjusted.
In this step, the 3-axis acceleration component produced when removing running car from the 3-axis acceleration that accelerometer provides, then can eliminate the error that each axle accelerometer produces so that the 3-axis acceleration after adjustment is more accurate.Specific as follows:
In formula (5), Ax, Ay, AzCharacterize the X-axis accelerometer of three axis accelerometer, Y-axis accelerometer, the component of acceleration of three axles of Z axis accelerometer output respectively；A characterizes the acceleration of running car；Characterize the coordinate conversion matrix travelling coordinate system to three axis accelerometer mounting coordinate system；A'x、A'y、A'zCharacterize the 3-axis acceleration component after the 3-axis acceleration that three axis accelerometer is recorded is adjusted respectively, be from the 3-axis acceleration component of three axis accelerometer output, remove the 3-axis acceleration after the component of acceleration that running car produces.
The automobile attitude data that S308, use are determined based on the 3-axis acceleration after the adjustment obtained in S307, is corrected the automobile attitude data determined based on gyroscope.
Based on same inventive concept, the embodiment of the present invention additionally provides a kind of device correcting automobile attitude data, owing to the principle of the solved problem of these devices is similar to a kind of aforementioned method correcting automobile attitude data, therefore the enforcement of this device may refer to the enforcement of preceding method, repeats part and repeats no more.
nullFig. 4 is that the embodiment of the present invention applies schematic diagram in auto-navigation system，Assume that the embodiment of the present invention is applied in auto-navigation system，Car speed is provided by vehicle-mounted fault diagnosis device，As shown in Figure 4，After vehicle-mounted fault diagnosis device 401 determines automobile current driving speed，By wireless technology, travel speed can be sent to auto-navigation system 402，Auto-navigation system 402 is based on this travel speed，Determine running car acceleration，And use the 3-axis acceleration that 3 axis MEMS accelerometer is exported by this traveling acceleration to be adjusted，Remove the acceleration of vehicle traveling direction，And by the 3-axis acceleration after adjustment and three axis MEMS gyro、The acceleration input complementary filter attitude algorithm module of 3 axis MEMS magnetometer output，The automobile attitude data determined based on three axis MEMS gyro and 3 axis MEMS magnetometer is corrected.
For the step S308 in the step S207 in embodiment 1 and embodiment 2, Fig. 5 is the automobile attitude data that the 3-axis acceleration after the adjustment based on three axis accelerometer output is determined, the method schematic diagram that the automobile attitude data determined based on gyroscope is corrected, as it is shown in figure 5, the 3-axis acceleration of accelerometer output is the 3-axis acceleration of output after utilizing the embodiment of the present invention that the 3-axis acceleration of accelerometer is adjusted.Further, quaternary number can be converted into based on gyroscope Output speed ω, and successively quaternary number is carried out multiplication cross, integration, after normalization, carried out attitude algorithm by quaternary number and obtain attitude angle atti_g, relation according to the 3-axis acceleration of three axis accelerometer output with local gravitational acceleration again, can determine that attitude angle atti_a, again owing to the output frequency of atti_g is higher than the output frequency of atti_a, whenever obtaining atti_a, atti_g and atti_a can be weighted summation with weights Kg and ka respectively, the automobile attitude after by accelerometer output calibration can be obtained.It should be noted that Fig. 5 shows the moment of three axis accelerometer output 3-axis acceleration, illustrate only when three axis accelerometer produces output, the method that the automobile attitude data that gyroscope is exported is corrected.
Embodiments provide a kind of device correcting automobile attitude data, as shown in Figure 6, including:
Travel acceleration acquisition module 601, for the travel speed according to automobile, obtain the traveling acceleration of automobile；
3-axis acceleration acquisition module 602, for obtaining the 3-axis acceleration that three axis accelerometer provides；
3-axis acceleration adjusting module 603, for the ordinate transform relation between the mounting coordinate system according to described three axis accelerometer and the traveling coordinate system of automobile, the component of acceleration that described traveling acceleration produces, the 3-axis acceleration after being adjusted is removed from described 3-axis acceleration；
Automobile attitude data correction module 604, for the automobile attitude data using the 3-axis acceleration after based on described adjustment to determine, is corrected the automobile attitude data determined based on gyroscope.
Further, described 3-axis acceleration adjusting module 603, specifically for when the mounting coordinate system of described accelerometer overlaps with described traveling coordinate system, using the coordinate axes that overlaps with the coordinate axes of vehicle traveling direction in described traveling coordinate system in the mounting coordinate system of accelerometer as the first coordinate axes, other two coordinate axes respectively second and three axes, the traveling acceleration of automobile is deducted from described 3-axis acceleration component of acceleration on the first coordinate axes, obtain the component of acceleration after the first coordinate axes adjusts, keep the described in described 3-axis acceleration second acceleration corresponding with three axes constant, 3-axis acceleration after being adjusted.
Further, described 3-axis acceleration adjusting module 603, specifically for when the mounting coordinate system of described accelerometer is misaligned with traveling coordinate system, three axles of the mounting coordinate system according to accelerometer point to three axles of the traveling coordinate system with automobile and point to, it is determined that the coordinate conversion matrix between described mounting coordinate system and described traveling coordinate system；Use described coordinate conversion matrix, traveling component of acceleration by the described automobile on the coordinate axes that overlaps with vehicle traveling direction in described traveling coordinate system, it is respectively mapped on three coordinate axess in described mounting coordinate system, obtains the mapping component of acceleration travelled on the acceleration three coordinate axess in described mounting coordinate system of described automobile；From the component of acceleration on the described 3-axis acceleration three coordinate axess described mounting coordinate system, it is individually subtracted the mapping acceleration of correspondence, the 3-axis acceleration after being adjusted.
Further, described device also includes: bus data acquisition module 605 and travel speed parsing module 606；
Described bus data acquisition module 605, for, before obtaining the traveling acceleration of automobile, according to default sampling rule, obtaining the bus data of automobile from onboard diagnostic system OBD；
Described travel speed parsing module 606, for resolving the described bus data of acquisition, obtains the travel speed of automobile.
Further, a kind of device correcting automobile attitude data that the embodiment of the present invention provides can apply in mobile unit, or the equipment with navigation feature is medium.
Further, owing to the embodiment of the present invention can be provided speed information by onboard diagnostic system OBD, and the position (such as: below steering wheel) of the interface that OBD provides is likely to be not easy to mobile unit (such as navigator) and directly obtains speed information, therefore, speed can be passed through the equipment utilization OBD interface provided acquisition speed information is provided, and it is transferred to mobile unit (such as: by being wirelessly transferred), calculate acceleration for mobile unit, and determine running car attitude.
The function of above-mentioned each unit may correspond to the respective handling step in flow process shown in Fig. 1 to Fig. 3, does not repeat them here.
A kind of method correcting automobile attitude data of embodiment of the present invention offer and device, the travel speed according to automobile, obtain the traveling acceleration of automobile；Obtain the 3-axis acceleration that three axis accelerometer provides；The ordinate transform relation between mounting coordinate system and the traveling coordinate system of automobile according to three axis accelerometer, removes from 3-axis acceleration and travels the component of acceleration that acceleration produces, the 3-axis acceleration after being adjusted；Use the automobile attitude data determined based on the 3-axis acceleration after adjusting, the automobile attitude data determined based on gyroscope is corrected.During owing to utilizing 3 axis MEMS accelerometer to carry out automobile Attitude Calculation, under static conditions (vehicle stationary state), precision is higher, and during dynamic in vehicle traveling process, compared with during with vehicle static, the 3-axis acceleration that three axis accelerometer provides adds the component of acceleration owing to running car produces, the defining method of automobile attitude provided by the invention, from the 3-axis acceleration that three axis accelerometer provides, remove the component of acceleration produced by running car, 3-axis acceleration after the adjustment obtained, 3-axis acceleration during vehicle static can be equivalent to, precision is higher, use the automobile attitude data determined based on the 3-axis acceleration after this adjustment that the automobile attitude data determined based on gyroscope is corrected accuracy height.
Through the above description of the embodiments, those skilled in the art is it can be understood that can realize by hardware to the embodiment of the present invention, it is also possible to the mode adding necessary general hardware platform by software realizes.Based on such understanding, the technical scheme of the embodiment of the present invention can embody with the form of software product, it (can be CD-ROM that this software product can be stored in a non-volatile memory medium, USB flash disk, portable hard drive etc.) in, including some instructions with so that a computer equipment (can be personal computer, server, or the network equipment etc.) performs the method described in each embodiment of the present invention.
It will be appreciated by those skilled in the art that accompanying drawing is the schematic diagram of a preferred embodiment, module or flow process in accompanying drawing are not necessarily implemented necessary to the present invention.
It will be appreciated by those skilled in the art that the module in the device in embodiment can describe according to embodiment to carry out being distributed in the device of embodiment, it is also possible to carry out respective change and be disposed other than in one or more devices of the present embodiment.The module of above-described embodiment can merge into a module, it is also possible to is further split into multiple submodule.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
Obviously, the present invention can be carried out various change and modification without deviating from the spirit and scope of the present invention by those skilled in the art.So, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (8)
1. the method correcting automobile attitude data, it is characterised in that including:
Travel speed according to automobile, obtains the traveling acceleration of automobile；
Obtain the 3-axis acceleration that three axis accelerometer provides；
The ordinate transform relation between mounting coordinate system and the traveling coordinate system of automobile according to described three axis accelerometer, removes the component of acceleration that described traveling acceleration produces, the 3-axis acceleration after being adjusted from described 3-axis acceleration；
Use the automobile attitude data determined based on the 3-axis acceleration after described adjustment, the automobile attitude data determined based on gyroscope is corrected.
2. the method for claim 1, it is characterized in that, when the mounting coordinate system of described accelerometer overlaps with described traveling coordinate system, using the coordinate axes that overlaps with the coordinate axes of vehicle traveling direction in described traveling coordinate system in the mounting coordinate system of accelerometer as the first coordinate axes, other two coordinate axes respectively second and three axes, then according to the ordinate transform relation between the mounting coordinate system of described three axis accelerometer and traveling coordinate system, the component of acceleration that described traveling acceleration produces is removed from described 3-axis acceleration, 3-axis acceleration after being adjusted, specifically include:
The traveling acceleration of automobile is deducted from described 3-axis acceleration component of acceleration on the first coordinate axes, obtain the component of acceleration after the first coordinate axes adjusts, keep the described in described 3-axis acceleration second component of acceleration corresponding with three axes constant, the 3-axis acceleration after being adjusted.
3. the method for claim 1, it is characterized in that, when the mounting coordinate system of described accelerometer is misaligned with traveling coordinate system, the ordinate transform relation between mounting coordinate system and traveling coordinate system according to described three axis accelerometer, the component of acceleration that described traveling acceleration produces is removed from described 3-axis acceleration, 3-axis acceleration after being adjusted, specifically includes:
Three axles of the mounting coordinate system according to accelerometer point to three axles of the traveling coordinate system with automobile and point to, it is determined that the coordinate conversion matrix between described mounting coordinate system and described traveling coordinate system；
Use described coordinate conversion matrix, traveling component of acceleration by the described automobile on the coordinate axes that overlaps with vehicle traveling direction in described traveling coordinate system, it is respectively mapped on three coordinate axess in described mounting coordinate system, obtains the mapping component of acceleration travelled on the acceleration three coordinate axess in described mounting coordinate system of described automobile；
From the component of acceleration on the described 3-axis acceleration three coordinate axess described mounting coordinate system, it is individually subtracted the mapping component of acceleration of correspondence, the 3-axis acceleration after being adjusted.
4. the method as described in any one of claims 1 to 3, it is characterised in that before obtaining the traveling acceleration of automobile, also include:
According to default sampling rule, obtain the bus data of automobile from onboard diagnostic system OBD；
Resolve the described bus data obtained, obtain the travel speed of automobile.
5. the device correcting automobile attitude data, it is characterised in that including:
Travel acceleration acquisition module, for the travel speed according to automobile, obtain the traveling acceleration of automobile；
3-axis acceleration acquisition module, for obtaining the 3-axis acceleration that three axis accelerometer provides；
3-axis acceleration adjusting module, for the ordinate transform relation between the mounting coordinate system according to described three axis accelerometer and the traveling coordinate system of automobile, the component of acceleration that described traveling acceleration produces, the 3-axis acceleration after being adjusted is removed from described 3-axis acceleration；
Automobile attitude data correction module, for the automobile attitude data using the 3-axis acceleration after based on described adjustment to determine, is corrected the automobile attitude data determined based on gyroscope.
6. device as claimed in claim 5, it is characterized in that, described 3-axis acceleration adjusting module, specifically for when the mounting coordinate system of described accelerometer overlaps with described traveling coordinate system, using the coordinate axes that overlaps with the coordinate axes of vehicle traveling direction in described traveling coordinate system in the mounting coordinate system of accelerometer as the first coordinate axes, other two coordinate axes respectively second and three axes, the traveling acceleration of automobile is deducted from described 3-axis acceleration component of acceleration on the first coordinate axes, obtain the component of acceleration after the first coordinate axes adjusts, keep the described in described 3-axis acceleration second component of acceleration corresponding with three axes constant, 3-axis acceleration after being adjusted.
7. device as claimed in claim 5, it is characterized in that, described 3-axis acceleration adjusting module, specifically for when the mounting coordinate system of described accelerometer is misaligned with traveling coordinate system, three axles of the mounting coordinate system according to accelerometer point to three axles of the traveling coordinate system with automobile and point to, it is determined that the coordinate conversion matrix between described mounting coordinate system and described traveling coordinate system；Use described coordinate conversion matrix, traveling component of acceleration by the described automobile on the coordinate axes that overlaps with vehicle traveling direction in described traveling coordinate system, it is respectively mapped on three coordinate axess in described mounting coordinate system, obtains the mapping component of acceleration travelled on the acceleration three coordinate axess in described mounting coordinate system of described automobile；From the component of acceleration on the described 3-axis acceleration three coordinate axess described mounting coordinate system, it is individually subtracted the mapping component of acceleration of correspondence, the 3-axis acceleration after being adjusted.
8. the device as described in any one of claim 5-7, it is characterised in that also include: bus data acquisition module and travel speed parsing module；
Described bus data acquisition module, for, before obtaining the traveling acceleration of automobile, according to default sampling rule, obtaining the bus data of automobile from onboard diagnostic system OBD；
Described travel speed parsing module, for resolving the described bus data of acquisition, obtains the travel speed of automobile.
Priority Applications (1)
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| CN110873572A (en) * | 2018-08-30 | 2020-03-10 | 腾讯大地通途（北京）科技有限公司 | Method for realizing after-loading vehicle navigation, after-loading navigation terminal and storage medium |
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| CN110888449A (en) * | 2019-10-31 | 2020-03-17 | 高新兴物联科技有限公司 | Vehicle attitude control method, apparatus, and storage medium |
| CN111259935A (en) * | 2020-01-09 | 2020-06-09 | 斑马网络技术有限公司 | Vehicle accident recognition method, device, equipment and storage medium |
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| CN112304641A (en) * | 2020-11-13 | 2021-02-02 | 吉林大学 | Ride comfort testing device and method for primary and secondary automobiles |
| CN112721951A (en) * | 2021-01-15 | 2021-04-30 | 潍柴动力股份有限公司 | Forklift control method and unmanned forklift |
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