CN107421494A - Vehicle attitude detection method and device - Google Patents
Vehicle attitude detection method and device Download PDFInfo
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- CN107421494A CN107421494A CN201710216155.2A CN201710216155A CN107421494A CN 107421494 A CN107421494 A CN 107421494A CN 201710216155 A CN201710216155 A CN 201710216155A CN 107421494 A CN107421494 A CN 107421494A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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Abstract
The invention discloses a kind of vehicle attitude detection method, the vehicle attitude detection method comprises the following steps：Obtain the first Eulerian angles and the second Eulerian angles of the gyroscope record gathered under calibration mode；Calculate default original vector and pass through postrotational second vector of second Eulerian angles by postrotational first vector of first Eulerian angles；Coordinate system after the completion of determining calibration according to the second vector described in first vector；Calculate attitude angle of the vehicle in the coordinate system.The invention also discloses a kind of vehicle attitude detecting device.The present invention is easy to carry, simple to operate, and need not be horizontally mounted.
Description
Technical field
The present invention relates to the technical field of vehicle detection, more particularly to a kind of vehicle attitude detection method and device.
Background technology
Vehicle attitude is the important parameter needed for wagon control, the control of the accurate acquisition of attitude information to vehicle have to
Close important effect.Existing vehicle attitude detecting device needs to be fixedly connected with car body, and is horizontally mounted, Che Zhuwu
Method independently takes out vehicle attitude detecting device, it has not been convenient to and same vehicle detection apparatus is applied in multiple vehicles by car owner, or
Person car owner can take out vehicle attitude detecting device, but the vehicle attitude detecting device that car owner voluntarily installs might not be horizontal,
It is not high to detect the degree of accuracy at the vehicle attitude angle obtained, therefore, existing vehicle attitude detecting device is not easy to car owner's carrying, and
When installation is not horizontal, the vehicle attitude angular accuracy for detecting acquisition is not high.
The content of the invention
It is a primary object of the present invention to propose a kind of vehicle attitude detection method and device, it is intended to solve existing vehicle
Attitute detecting device be not easy to car owner carrying, and install it is unhorizontal when, detect the not high skill of the vehicle attitude angular accuracy of acquisition
Art problem.
To achieve the above object, a kind of vehicle attitude detection method provided by the invention, the vehicle attitude detection method
Comprise the following steps：
Obtain the first Eulerian angles and the second Eulerian angles of the gyroscope record gathered under calibration mode；
Calculate default original vector and pass through second Euler by postrotational first vector of first Eulerian angles
Postrotational second vector in angle；
Coordinate system after the completion of determining calibration according to the second vector described in first vector；
Calculate attitude angle of the vehicle in the coordinate system.
It may be preferred that second vector according to first vector determines that the step of coordinate system after calibration wraps
Include：
The vector cross-products of first vector and second vector are calculated to obtain the 3rd vector；
Coordinate system after determining calibration according to the 3rd vector described in first vector, second vector.
Alternatively, described the step of calculating attitude angle of the vehicle in the coordinate system, includes：
Gather the current Eulerian angles of gyroscope record；
Calculate default original vector and pass through the postrotational four-vector of current Eulerian angles；
Calculate the folder of projection value and threeth vector of the four-vector in the vector plane of the first vector second
Angle；
Calculate the folder of projection value and first vector of the four-vector in the vector plane of the second vector the 3rd
Angle.
Alternatively, it is described to obtain the first Eulerian angles of gyroscope record and the step of the second Eulerian angles gathered under calibration mode
After rapid, the vehicle attitude detection method also includes：
The calibration command of user's triggering is received, and calibration mode is entered according to the calibration command；
When calibrating completion, into attitude angle detection pattern.
Alternatively, after described the step of calculating attitude angle of the vehicle in the coordinate system, the vehicle attitude detection
Method also includes：
Show the attitude angle of the vehicle.
In addition, to achieve the above object, the present invention also provides a kind of vehicle attitude detecting device, the vehicle attitude detection
Device includes：
Acquisition module, for obtaining the first Eulerian angles and the second Eulerian angles of the gyroscope gathered under calibration mode record；
First computing module, pass through postrotational first vector of first Eulerian angles for calculating default original vector
By postrotational second vector of second Eulerian angles；
Determining module, the coordinate system after the completion of calibration is determined for the second vector according to first vector；
Second computing module, for calculating attitude angle of the vehicle in the coordinate system.
Alternatively, the determining module includes：
First computing unit, sweared for calculating first vector with the vector cross-products of second vector with obtaining the 3rd
Amount；
Determining unit, after the 3rd vector determines calibration according to first vector, second vector
Coordinate system.
Alternatively, second computing module includes：
Collecting unit, for gathering the current Eulerian angles of gyroscope record；
Second computing unit, pass through the postrotational four-vector of current Eulerian angles for calculating default original vector；
3rd computing unit, for calculating projection of the four-vector in the vector plane of the first vector second
Value and the angle of the 3rd vector；
3rd computing unit, it is additionally operable to calculate the four-vector in the vector plane of the second vector the 3rd
Projection value and the first vector angle.
Alternatively, the vehicle attitude detecting device also includes：
Reception enters module, for receiving the calibration command of user's triggering, and enters calibrating die according to the calibration command
Formula；
Into module, for calibrate complete when, into attitude angle detection pattern.
Alternatively, the vehicle attitude detecting device also includes：
Display module, for showing the attitude angle of the vehicle.
In the present embodiment, the present invention obtains the first Eulerian angles and the second Europe of the gyroscope record gathered under calibration mode
Angle is drawn, and it is postrotational by the second Eulerian angles by postrotational first vector of the first Eulerian angles to calculate default original vector
Second vector, the coordinate system after the completion of calibration is then determined according to first the second vector of vector, and calculate vehicle in the coordinate
The attitude angle of attitude angle in system, this programme combination gravity sensor and gyroscope measurement vehicle, due to gravity sensor and top
Spiral shell instrument small volume, integrated vehicle attitude detecting device volume is also small, is easy to user to carry, and is using vehicle attitude detecting device
When, without being horizontally mounted, and simple alignment is only needed with regard to vehicle attitude angle can be detected, it is simple to operate, and in most of smart mobile phone
Put gravity sensor and gyroscope, without other hardware devices i.e. can be achieved, realize it is relatively simple, when test attitude angle,
Method will not be influenceed by the acceleration shaken in vehicle traveling process or turning is brought, and the posture angular accuracy of measurement is high.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of vehicle attitude detection method first embodiment of the present invention；
Fig. 2 is that the second vector determines the coordinate system step after calibration according to first vector described in Fig. 1
Refine schematic flow sheet；
Fig. 3 is the refinement schematic flow sheet that attitude angle step of the vehicle in the coordinate system is calculated described in Fig. 1；
Fig. 4 is the schematic flow sheet of vehicle attitude detection method second embodiment of the present invention；
Fig. 5 is the schematic flow sheet of vehicle attitude detection method 3rd embodiment of the present invention；
Fig. 6 is the high-level schematic functional block diagram of vehicle attitude detecting device first embodiment of the present invention；
Fig. 7 is the refinement high-level schematic functional block diagram of determining module described in Fig. 6；
Fig. 8 is the refinement high-level schematic functional block diagram of the second computing module described in Fig. 6；
Fig. 9 is the high-level schematic functional block diagram of vehicle attitude detecting device second embodiment of the present invention；
Figure 10 is the high-level schematic functional block diagram of vehicle attitude detecting device 3rd embodiment of the present invention.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
The present invention provides a kind of vehicle attitude detection method.
Reference picture 1, Fig. 1 are the schematic flow sheet of vehicle attitude detection method first embodiment of the present invention.
In the present embodiment, the vehicle attitude detection method includes：
Step S10, obtain the first Eulerian angles and the second Eulerian angles of the gyroscope record gathered under calibration mode；
This vehicle attitude detection method is applied to vehicle attitude detecting device, and the vehicle attitude detecting device passes including gravity
Sensor and gyroscope etc..Three axles of the gravity sensor are consistent with three direction of principal axis of gyroscope, and the gravity sensor is used to survey
The direction of gravity and size suffered by vehicle attitude detecting device are measured, the gyroscope is used to record Eulerian angles.The vehicle attitude detects
Device includes smart mobile phone, and the smart mobile phone includes gravity sensor and gyroscope, and the smart mobile phone can also include magnetic force sense
Answer device etc..
Car owner is calibrated the vehicle attitude detecting device, and after the completion of calibration, by the vehicle attitude detecting device
It is fixed.Vehicle attitude detecting device is calibrated, i.e., by each of each face of vehicle attitude detecting device and vehicle
Direction is demarcated.By vehicle attitude detecting device it is edge-on and stand (plane can tilt forward and back, left and right Ying Bao in the plane
Water holding is put down) so that before vehicle attitude detecting device upward, the left side of vehicle attitude detecting device towards vehicle left-hand, this
When vehicle attitude detecting device record gravity sensor measurement gravity size and Orientation, by the gravity direction now recorded demarcate
For vehicle direction of advance, while gather gyroscope record the first Eulerian angles.After preset time, vehicle attitude is examined
Device is surveyed to be rotated by 90 ° so that towards the direction of advance of vehicle before vehicle attitude detecting device, vehicle attitude detecting device
The left side towards vehicle left-hand, now vehicle attitude detecting device record gravity sensor measurement gravity size and Orientation, by this
Shi Jilu gravity direction is demarcated as the upper direction of vehicle, while gathers the second Eulerian angles of gyroscope record, then according to mark
Fixed upper direction and front direction obtain the left direction of vehicle, according to corresponding relation can obtain the rear of vehicle to, right direction and under
Direction.After the completion of calibration, the vehicle attitude detecting device obtains the first Eulerian angles of the gyroscope record gathered under calibration mode
With the second Eulerian angles.
Step S20, default original vector is calculated by described in the postrotational first vector process of first Eulerian angles
Postrotational second vector of second Eulerian angles；
Step S30, the coordinate system after the completion of determining calibration according to the second vector described in first vector；
The default original vector is Z axis (0,0,1), and the vehicle attitude detecting device is obtaining the first Eulerian angles and the second Europe
After drawing angle, it is postrotational by the second Eulerian angles by postrotational first vector of the first Eulerian angles to calculate default original vector
Second vector, first vector are vertical with the second vector.The vehicle attitude detecting device is according to the vector of the first vector second
It is determined that the coordinate system after the completion of calibration.
Specifically, reference picture 2, Fig. 2 are the refinement schematic flow sheet of step S30 described in Fig. 1, and the step 30 includes：
Step S31, the vector cross-products of first vector and second vector are calculated to obtain the 3rd vector；
Step S32, the coordinate after determining calibration according to the 3rd vector described in first vector, second vector
System.
The vehicle attitude detecting device calculates first vector the second vector vector cross-products, should so as to obtain the 3rd vector
3rd vector is vertical with first the second vector of vector respectively, is then determined according to the first vector, the vector of the second vector the 3rd
Coordinate system after the completion of calibration.Due to pertaining only to posture, therefore the origin position of negligible coordinate system.
Step S40, calculate attitude angle of the vehicle in the coordinate system.
The attitude angle of vehicle includes the angle of pitch, roll angle and deflection, and in the present embodiment, the present invention only calculates the angle of pitch
And roll angle, if necessary calculated direction angle, then the sensor at calculated direction angle, such as magnetic need to be added in vehicle attitude detecting device
Hinder sensor.Deflection is on local level, is measured clockwise, the folder between the projection of the vehicle longitudinal axis and earth's magnetic field
Angle, scope are 0 to 360 degree, and angle of the angle of pitch between longitudinal direction of car axle and local level, scope is minus 90 degree to positive 90
Degree, angle of the roll angle between lateral direction of car axle and local level, scope is minus 90 degree to positive 90 degree.The vehicle attitude is examined
Device is surveyed it is determined that during coordinate system after the completion of calibration, calculates vehicle attitude angle in a coordinate system.
Specifically, reference picture 3, Fig. 3 are the refinement schematic flow sheet of step S40 described in Fig. 1, and the step S40 includes：
Step S41, the current Eulerian angles of collection gyroscope record；
Step S42, calculate default original vector and pass through the postrotational four-vector of current Eulerian angles；
Step S43, calculate the four-vector the projection value described in first vector in the second vector plane with
The angle of 3rd vector；
Step S44, calculate the four-vector the projection value described in second vector in the 3rd vector plane with
The angle of first vector.
The current Eulerian angles of vehicle attitude detecting device collection gyroscope record, and default original vector is calculated through excessive
The preceding postrotational four-vector of Eulerian angles, then calculate projection value of the four-vector in first the second vector plane of vector
With the angle of the 3rd vector, the angle is the angle of pitch of vehicle, calculates the four-vector and is put down in the vector of the second vector the 3rd
The angle of projection value and the first vector in face, the angle are the roll angle of vehicle.In specific implementation, vehicle attitude inspection
Magnetoresistive transducer can also be included by surveying device, and the attitude angle of vehicle is calculated by magnetoresistive transducer, gravity sensor and gyroscope.
In the present embodiment, the present invention obtains the first Eulerian angles and the second Europe of the gyroscope record gathered under calibration mode
Angle is drawn, and it is postrotational by the second Eulerian angles by postrotational first vector of the first Eulerian angles to calculate default original vector
Second vector, the coordinate system after the completion of calibration is then determined according to first the second vector of vector, and calculate vehicle in the coordinate
The attitude angle of attitude angle in system, this programme combination gravity sensor and gyroscope measurement vehicle, due to gravity sensor and top
Spiral shell instrument small volume, integrated vehicle attitude detecting device volume is also small, is easy to user to carry, and is using vehicle attitude detecting device
When, simple alignment is only needed, and need not be horizontally mounted, it is simple to operate, and gravity sensor and gyro built in most of smart mobile phone
Instrument, it can be achieved without other hardware devices, realize relatively simple, when testing attitude angle, this method will not be by garage
Shaking or turn the acceleration brought during sailing influences, and the posture angular accuracy of measurement is high.
Further, reference picture 4, based on above-mentioned first embodiment, implement in vehicle attitude detection method second of the present invention
In example, before the step S10, the vehicle attitude detection method also includes：
Step S50, receives the calibration command of user's triggering, and enters calibration mode according to the calibration command；
Step S60, when calibrating completion, into attitude angle detection pattern.
The vehicle attitude detecting device is provided with switch key, calibration button and direction demarcation button etc., is being embodied
In, the vehicle attitude detecting device includes touch display screen, and is provided with functionality controls in the touch display screen, the functionality controls
Including calibration control and direction demarcation control etc., the calibration control is used to control vehicle attitude detecting device to enter calibration mode,
Direction demarcation control is used for the direction for demarcating vehicle attitude detecting device and vehicle.
The vehicle attitude detecting device includes calibration mode and attitude angle detection pattern, when user's touch-control calibrates button or school
During quasi- control, calibration command is triggered, now vehicle attitude detecting device receives the calibration command of user's triggering, and according to the calibration
Instruction enters calibration mode.When the vehicle attitude detecting device is in calibration mode, user can enter to vehicle attitude detecting device
Row calibration, i.e., demarcated all directions in each face of vehicle attitude detecting device and vehicle.After the completion of calibration, the car
Attitute detecting device exits calibration mode automatically into attitude angle detection pattern.
In the present embodiment, the present invention receives the calibration command of user's triggering, and enters calibrating die according to the calibration command
Formula, then when calibrating completion, into attitude angle detection pattern, this programme is by setting calibration mode and attitude angle to detect mould
Formula, it can effectively complete to calibrate, and when calibrating completion, into attitude angle detection pattern so that calibration and detection separate, and are easy to
User operates.
Further, reference picture 5, based on above-mentioned first or second embodiments, vehicle attitude detection method the 3rd of the present invention
In embodiment, after the step S40, the vehicle attitude detection method includes well：
Step S70, show the attitude angle of the vehicle.
The vehicle attitude detecting device shows the attitude angle of the vehicle after the attitude angle for obtaining vehicle is calculated.Specific
In implementation, the threedimensional model of vehicle can be shown, then the attitude angle corresponding to mark in the threedimensional model.
In the present embodiment, the attitude angle of the invention by showing vehicle, is easy to user quickly to know attitude angle.
The present invention further provides a kind of vehicle attitude detecting device
Reference picture 6, Fig. 6 are the high-level schematic functional block diagram of vehicle attitude detecting device first embodiment of the present invention.
In the present embodiment, the vehicle attitude detecting device includes：
Acquisition module 10, for obtaining the first Eulerian angles and the second Euler of the gyroscope gathered under calibration mode record
Angle；
The vehicle attitude detecting device includes gravity sensor and gyroscope etc..Three axles and gyroscope of the gravity sensor
Three direction of principal axis it is consistent, and the gravity sensor is used to measure direction and the size of gravity suffered by vehicle attitude detecting device, should
Gyroscope is used to record Eulerian angles.The vehicle attitude detecting device includes smart mobile phone, and the smart mobile phone includes gravity sensor
And gyroscope, the smart mobile phone can also include magnetic force induction device etc..
Car owner is calibrated the vehicle attitude detecting device, and after the completion of calibration, by the vehicle attitude detecting device
It is fixed.Vehicle attitude detecting device is calibrated, i.e., by each of each face of vehicle attitude detecting device and vehicle
Direction is demarcated.By vehicle attitude detecting device it is edge-on and stand (plane can tilt forward and back, left and right Ying Bao in the plane
Water holding is put down) so that before vehicle attitude detecting device upward, the left side of vehicle attitude detecting device towards vehicle left-hand, this
When vehicle attitude detecting device record gravity sensor measurement gravity size and Orientation, by the gravity direction now recorded demarcate
For vehicle direction of advance, while gather gyroscope record the first Eulerian angles.After preset time, vehicle attitude is examined
Device is surveyed to be rotated by 90 ° so that towards the direction of advance of vehicle before vehicle attitude detecting device, vehicle attitude detecting device
The left side towards vehicle left-hand, now vehicle attitude detecting device record gravity sensor measurement gravity size and Orientation, by this
Shi Jilu gravity direction is demarcated as the upper direction of vehicle, while gathers the second Eulerian angles of gyroscope record, then according to mark
Fixed upper direction and front direction obtain the left direction of vehicle, according to corresponding relation can obtain the rear of vehicle to, right direction and under
Direction.After the completion of calibration, the vehicle attitude detecting device obtains the first Eulerian angles of the gyroscope record gathered under calibration mode
With the second Eulerian angles.
First computing module 20, pass through postrotational first vector of first Eulerian angles for calculating default original vector
With process postrotational second vector of second Eulerian angles；
Determining module 30, the coordinate system after the completion of calibration is determined for the second vector according to first vector；
The default original vector is Z axis (0,0,1), and the vehicle attitude detecting device is obtaining the first Eulerian angles and the second Europe
After drawing angle, it is postrotational by the second Eulerian angles by postrotational first vector of the first Eulerian angles to calculate default original vector
Second vector, first vector are vertical with the second vector.The vehicle attitude detecting device is according to the vector of the first vector second
It is determined that the coordinate system after the completion of calibration.
Specifically, reference picture 7, Fig. 7 be Fig. 6 described in determining module 30 refinement schematic flow sheet, the determining module
30 include：
First computing unit 31, for calculating the vector cross-products of first vector and second vector to obtain the 3rd
Vector；
Determining unit 32, after the 3rd vector determines calibration according to first vector, second vector
Coordinate system.
The vehicle attitude detecting device calculates first vector the second vector vector cross-products, should so as to obtain the 3rd vector
3rd vector is vertical with first the second vector of vector respectively, is then determined according to the first vector, the vector of the second vector the 3rd
Coordinate system after the completion of calibration.Due to pertaining only to posture, therefore the origin position of negligible coordinate system.
Second computing module 40, for calculating attitude angle of the vehicle in the coordinate system.
The attitude angle of vehicle includes the angle of pitch, roll angle and deflection, and in the present embodiment, the present invention only calculates the angle of pitch
And roll angle, if necessary calculated direction angle, then the sensor at calculated direction angle, such as magnetic need to be added in vehicle attitude detecting device
Hinder sensor.Deflection is on local level, is measured clockwise, the folder between the projection of the vehicle longitudinal axis and earth's magnetic field
Angle, scope are 0 to 360 degree, and angle of the angle of pitch between longitudinal direction of car axle and local level, scope is minus 90 degree to positive 90
Degree, angle of the roll angle between lateral direction of car axle and local level, scope is minus 90 degree to positive 90 degree.The vehicle attitude is examined
Device is surveyed it is determined that during coordinate system after the completion of calibration, calculates vehicle attitude angle in a coordinate system.
Specifically, reference picture 8, Fig. 8 be Fig. 7 described in the second computing module 40 refinement schematic flow sheet, described second
Computing module 40 includes：
Collecting unit 41, for gathering the current Eulerian angles of gyroscope record；
Second computing unit 42, pass through the postrotational four-vector of current Eulerian angles for calculating default original vector；
3rd computing unit 43, for calculating throwing of the four-vector in the vector plane of the first vector second
Shadow value and the angle of the 3rd vector；
3rd computing unit 43, it is additionally operable to calculate the four-vector in the vector plane of the second vector the 3rd
Interior projection value and the angle of the first vector.
The current Eulerian angles of vehicle attitude detecting device collection gyroscope record, and default original vector is calculated through excessive
The preceding postrotational four-vector of Eulerian angles, then calculate projection value of the four-vector in first the second vector plane of vector
With the angle of the 3rd vector, the angle is the angle of pitch of vehicle, calculates the four-vector and is put down in the vector of the second vector the 3rd
The angle of projection value and the first vector in face, the angle are the roll angle of vehicle.In specific implementation, vehicle attitude inspection
Magnetoresistive transducer can also be included by surveying device, and the attitude angle of vehicle is calculated by magnetoresistive transducer, gravity sensor and gyroscope.
In the present embodiment, the present invention obtains the first Eulerian angles and the second Europe of the gyroscope record gathered under calibration mode
Angle is drawn, and it is postrotational by the second Eulerian angles by postrotational first vector of the first Eulerian angles to calculate default original vector
Second vector, the coordinate system after the completion of calibration is then determined according to first the second vector of vector, and calculate vehicle in the coordinate
The attitude angle of attitude angle in system, this programme combination gravity sensor and gyroscope measurement vehicle, due to gravity sensor and top
Spiral shell instrument small volume, integrated vehicle attitude detecting device volume is also small, is easy to user to carry, and is using vehicle attitude detecting device
When, simple alignment is only needed, and need not be horizontally mounted, it is simple to operate, and gravity sensor and gyro built in most of smart mobile phone
Instrument, it can be achieved without other hardware devices, realize relatively simple, when testing attitude angle, this method will not be by garage
Shaking or turn the acceleration brought during sailing influences, and the posture angular accuracy of measurement is high.
Further, reference picture 9, based on above-mentioned first embodiment, implement in vehicle attitude detecting device of the present invention second
In example, the vehicle attitude detecting device also includes：
Reception enters module 50, for receiving the calibration command of user's triggering, and is entered according to the calibration command and calibrated
Pattern；
Into module 60, for calibrate complete when, into attitude angle detection pattern.
The vehicle attitude detecting device is provided with switch key, calibration button and direction demarcation button etc., is being embodied
In, the vehicle attitude detecting device includes touch display screen, and is provided with functionality controls in the touch display screen, the functionality controls
Including calibration control and direction demarcation control etc., the calibration control is used to control vehicle attitude detecting device to enter calibration mode,
Direction demarcation control is used for the direction for demarcating vehicle attitude detecting device and vehicle.
The vehicle attitude detecting device includes calibration mode and attitude angle detection pattern, when user's touch-control calibrates button or school
During quasi- control, calibration command is triggered, now vehicle attitude detecting device receives the calibration command of user's triggering, and according to the calibration
Instruction enters calibration mode.When the vehicle attitude detecting device is in calibration mode, user can enter to vehicle attitude detecting device
Row calibration, i.e., demarcated all directions in each face of vehicle attitude detecting device and vehicle.After the completion of calibration, the car
Attitute detecting device exits calibration mode automatically into attitude angle detection pattern.
In the present embodiment, the present invention receives the calibration command of user's triggering, and enters calibrating die according to the calibration command
Formula, then when calibrating completion, into attitude angle detection pattern, this programme is by setting calibration mode and attitude angle to detect mould
Formula, it can effectively complete to calibrate, and when calibrating completion, into attitude angle detection pattern so that calibration and detection separate, and are easy to
User operates.
Further, reference picture 10, based on above-mentioned first or second embodiments, in vehicle attitude detecting device of the present invention
In three embodiments, the vehicle attitude detecting device also includes：
Display module 70, for showing the attitude angle of the vehicle.
The vehicle attitude detecting device shows the attitude angle of the vehicle after the attitude angle for obtaining vehicle is calculated.Specific
In implementation, the threedimensional model of vehicle can be shown, then the attitude angle corresponding to mark in the threedimensional model.
In the present embodiment, the attitude angle of the invention by showing vehicle, is easy to user quickly to know attitude angle.
The preferred embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of vehicle attitude detection method, it is characterised in that the vehicle attitude detection method comprises the following steps：
Obtain the first Eulerian angles and the second Eulerian angles of the gyroscope record gathered under calibration mode；
Default original vector is calculated to revolve by second Eulerian angles by postrotational first vector of first Eulerian angles
The second vector after turning；
Coordinate system after the completion of determining calibration according to the second vector described in first vector；
Calculate attitude angle of the vehicle in the coordinate system.
2. vehicle attitude detection method as claimed in claim 1, it is characterised in that described according to first vector
Second vector determines that the step of coordinate system after calibration includes：
The vector cross-products of first vector and second vector are calculated to obtain the 3rd vector；
Coordinate system after determining calibration according to the 3rd vector described in first vector, second vector.
3. vehicle attitude detection method as claimed in claim 2, it is characterised in that the calculating vehicle is in the coordinate system
Attitude angle the step of include：
Gather the current Eulerian angles of gyroscope record；
Calculate default original vector and pass through the postrotational four-vector of current Eulerian angles；
Calculate the angle of projection value and threeth vector of the four-vector in the vector plane of the first vector second；
Calculate the angle of projection value and first vector of the four-vector in the vector plane of the second vector the 3rd.
4. vehicle attitude detection method as claimed in claim 1, it is characterised in that described to obtain the top gathered under calibration mode
After the step of the first Eulerian angles and the second Eulerian angles of spiral shell instrument record, the vehicle attitude detection method also includes：
The calibration command of user's triggering is received, and calibration mode is entered according to the calibration command；
When calibrating completion, into attitude angle detection pattern.
5. the vehicle attitude detection method as any one of claim 1-4, it is characterised in that the calculating vehicle is in institute
After the step of stating the attitude angle in coordinate system, the vehicle attitude detection method also includes：
Show the attitude angle of the vehicle.
6. a kind of vehicle attitude detecting device, it is characterised in that the vehicle attitude detecting device includes：
Acquisition module, for obtaining the first Eulerian angles and the second Eulerian angles of the gyroscope gathered under calibration mode record；
First computing module, pass through for calculating default original vector by postrotational first vector of first Eulerian angles
Postrotational second vector of second Eulerian angles；
Determining module, the coordinate system after the completion of calibration is determined for the second vector according to first vector；
Second computing module, for calculating attitude angle of the vehicle in the coordinate system.
7. vehicle attitude detecting device as claimed in claim 6, it is characterised in that the determining module includes：
First computing unit, for calculating the vector cross-products of first vector and second vector to obtain the 3rd vector；
Determining unit, the coordinate after calibration is determined for the 3rd vector according to first vector, second vector
System.
8. vehicle attitude detecting device as claimed in claim 7, it is characterised in that second computing module includes：
Collecting unit, for gathering the current Eulerian angles of gyroscope record；
Second computing unit, pass through the postrotational four-vector of current Eulerian angles for calculating default original vector；
3rd computing unit, for calculate projection value of the four-vector in the vector plane of the first vector second with
The angle of 3rd vector；
3rd computing unit, it is additionally operable to calculate throwing of the four-vector in the vector plane of the second vector the 3rd
Shadow value and the angle of the first vector.
9. vehicle attitude detecting device as claimed in claim 6, it is characterised in that the vehicle attitude detecting device also wraps
Include：
Reception enters module, for receiving the calibration command of user's triggering, and enters calibration mode according to the calibration command；
Into module, for calibrate complete when, into attitude angle detection pattern.
10. such as the vehicle attitude detecting device any one of claim 6-9, it is characterised in that the vehicle attitude inspection
Surveying device also includes：
Display module, for showing the attitude angle of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710216155.2A CN107421494B (en) | 2017-04-01 | 2017-04-01 | vehicle attitude detection method and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710216155.2A CN107421494B (en) | 2017-04-01 | 2017-04-01 | vehicle attitude detection method and device |
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| Publication Number | Publication Date |
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| CN107421494A true CN107421494A (en) | 2017-12-01 |
| CN107421494B CN107421494B (en) | 2019-12-10 |
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| CN201710216155.2A Active CN107421494B (en) | 2017-04-01 | 2017-04-01 | vehicle attitude detection method and device |
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| CN107421494B (en) | 2019-12-10 |
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