CN107421494B - vehicle attitude detection method and device - Google Patents
vehicle attitude detection method and device Download PDFInfo
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- CN107421494B CN107421494B CN201710216155.2A CN201710216155A CN107421494B CN 107421494 B CN107421494 B CN 107421494B CN 201710216155 A CN201710216155 A CN 201710216155A CN 107421494 B CN107421494 B CN 107421494B
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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
Abstract
The invention discloses a vehicle attitude detection method, which comprises the following steps: acquiring a first Euler angle and a second Euler angle recorded by a gyroscope acquired in a calibration mode; calculating a first vector of a preset original vector after the rotation of the first Euler angle and a second vector after the rotation of the second Euler angle; determining a coordinate system after calibration is completed according to the first vector and the second vector; and calculating the attitude angle of the vehicle in the coordinate system. The invention also discloses a vehicle attitude detection device. The invention is convenient to carry, simple to operate and does not need horizontal installation.
Description
Technical Field
the invention relates to the technical field of vehicle detection, in particular to a vehicle attitude detection method and device.
background
The vehicle attitude is an important parameter required by vehicle control, and accurate acquisition of attitude information plays a crucial role in vehicle control. The existing vehicle posture detection device needs to be fixedly connected with a vehicle body, and is horizontally installed, a vehicle owner can not independently take out the vehicle posture detection device, the inconvenient vehicle owner applies the same vehicle detection device to a plurality of vehicles, or the vehicle owner can take out the vehicle posture detection device, but the vehicle posture detection device installed by the vehicle owner by oneself is not level, the accuracy of the vehicle posture angle obtained by detection is not high, therefore, the existing vehicle posture detection device is not convenient for the vehicle owner to carry, and when the vehicle posture angle obtained by detection is not level, the accuracy of the vehicle posture angle obtained by detection is not high.
Disclosure of Invention
the invention mainly aims to provide a vehicle attitude detection method and a vehicle attitude detection device, and aims to solve the technical problems that the conventional vehicle attitude detection device is inconvenient for a vehicle owner to carry and the accuracy of a detected vehicle attitude angle is not high when the conventional vehicle attitude detection device is installed out of level.
In order to achieve the above object, the present invention provides a vehicle attitude detection method, including:
acquiring a first Euler angle and a second Euler angle recorded by a gyroscope acquired in a calibration mode;
calculating a first vector of a preset original vector after the rotation of the first Euler angle and a second vector after the rotation of the second Euler angle;
Determining a coordinate system after calibration is completed according to the first vector and the second vector;
and calculating the attitude angle of the vehicle in the coordinate system.
preferably, the step of determining a calibrated coordinate system from the first vector and the second vector comprises:
calculating a vector cross product of the first vector and the second vector to obtain a third vector;
And determining a calibrated coordinate system according to the first vector, the second vector and the third vector.
optionally, the step of calculating the attitude angle of the vehicle in the coordinate system comprises:
Collecting the current Euler angle recorded by a gyroscope;
calculating a fourth vector of the preset original vector after the current Euler angle rotation;
calculating the included angle between the projection value of the fourth vector in the first vector plane and the second vector plane and the third vector plane;
And calculating the included angle between the projection value of the fourth vector in the second vector plane and the projection value of the fourth vector in the third vector plane and the first vector plane.
optionally, after the step of acquiring the first euler angle and the second euler angle recorded by the gyroscope acquired in the calibration mode, the vehicle attitude detection method further includes:
Receiving a calibration instruction triggered by a user, and entering a calibration mode according to the calibration instruction;
when the calibration is completed, the attitude angle detection mode is entered.
Optionally, after the step of calculating the attitude angle of the vehicle in the coordinate system, the vehicle attitude detection method further includes:
and displaying the attitude angle of the vehicle.
Further, to achieve the above object, the present invention also provides a vehicle attitude detecting device including:
the acquisition module is used for acquiring a first Euler angle and a second Euler angle recorded by the gyroscope acquired in the calibration mode;
the first calculation module is used for calculating a first vector of a preset original vector after the rotation of the first Euler angle and a second vector after the rotation of the second Euler angle;
the determining module is used for determining a coordinate system after calibration is finished according to the first vector and the second vector;
and the second calculation module is used for calculating the attitude angle of the vehicle in the coordinate system.
Optionally, the determining module includes:
A first calculation unit, configured to calculate a vector cross product of the first vector and the second vector to obtain a third vector;
a determining unit, configured to determine a calibrated coordinate system according to the first vector, the second vector, and the third vector.
optionally, the second computing module comprises:
The acquisition unit is used for acquiring the current Euler angle recorded by the gyroscope;
The second calculation unit is used for calculating a fourth vector of the preset original vector after the current Euler angle is rotated;
The third calculating unit is used for calculating an included angle between a projection value of the fourth vector in the first vector plane and the second vector plane and a third vector;
And the third calculating unit is further configured to calculate an included angle between a projection value of the fourth vector in the second vector plane and the third vector plane and the first vector plane.
Optionally, the vehicle attitude detection device further includes:
the receiving and entering module is used for receiving a calibration instruction triggered by a user and entering a calibration mode according to the calibration instruction;
And the entering module is used for entering an attitude angle detection mode when the calibration is finished.
optionally, the vehicle attitude detection device further includes:
And the display module is used for displaying the attitude angle of the vehicle.
In the embodiment, the invention acquires a first euler angle and a second euler angle recorded by a gyroscope acquired in a calibration mode, calculates a first vector obtained by rotating a preset original vector through the first euler angle and a second vector obtained by rotating the preset original vector through the second euler angle, determines a coordinate system after calibration is completed according to the first vector and the second vector, and calculates the attitude angle of a vehicle in the coordinate system, the scheme combines a gravity sensor and the gyroscope to measure the attitude angle of the vehicle, the volume of the integrated vehicle attitude detection device is small due to the small volumes of the gravity sensor and the gyroscope, the integrated vehicle attitude detection device is convenient for a user to carry, when the vehicle attitude detection device is used, the vehicle attitude detection device does not need to be horizontally installed, the vehicle attitude angle can be detected only by simple calibration, the operation is simple, most smart phones are internally provided with the gravity sensor and the gyroscope, the implementation can be realized without other hardware devices, and the implementation is simple, when the attitude angle is tested, the method is not influenced by the acceleration caused by vibration or turning in the driving process of the automobile, and the accuracy of the measured attitude angle is high.
Drawings
FIG. 1 is a schematic flow chart of a vehicle attitude detection method according to a first embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a detailed process of the step of determining the calibrated coordinate system based on the first vector and the second vector in FIG. 1;
FIG. 3 is a detailed flowchart of the step of calculating the attitude angle of the vehicle in the coordinate system shown in FIG. 1;
FIG. 4 is a flowchart illustrating a vehicle attitude detection method according to a second embodiment of the present invention;
FIG. 5 is a flowchart illustrating a vehicle attitude detection method according to a third embodiment of the present invention;
FIG. 6 is a functional block diagram of a first embodiment of the vehicle attitude sensing device of the present invention;
FIG. 7 is a block diagram of a refinement function of the determination module shown in FIG. 6;
FIG. 8 is a block diagram illustrating a refinement function of the second computing block of FIG. 6;
FIG. 9 is a functional block diagram of a second embodiment of the vehicle attitude sensing device of the present invention;
fig. 10 is a functional block diagram of a vehicle attitude detecting apparatus according to a third embodiment of the present invention.
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
the invention provides a vehicle attitude detection method.
referring to fig. 1, fig. 1 is a flowchart illustrating a vehicle attitude detection method according to a first embodiment of the present invention.
In the present embodiment, the vehicle attitude detection method includes:
step S10, acquiring a first Euler angle and a second Euler angle recorded by the gyroscope acquired in the calibration mode;
The vehicle attitude detection method is applied to a vehicle attitude detection device which comprises a gravity sensor, a gyroscope and the like. The three axes of the gravity sensor are consistent with the three axes of the gyroscope, the gravity sensor is used for measuring the direction and the size of the gravity applied to the vehicle attitude detection device, and the gyroscope is used for recording the Euler angle. The vehicle attitude detection device comprises a smart phone, wherein the smart phone comprises a gravity sensor and a gyroscope, and the smart phone can also comprise a magnetic sensor and the like.
the vehicle owner calibrates the vehicle attitude detection device, and fixes the vehicle attitude detection device after the calibration is completed. And calibrating the vehicle attitude detection device, namely calibrating each surface of the vehicle attitude detection device and each direction of the vehicle. The vehicle posture detection device is laterally erected and placed on a plane (the plane can be inclined forwards and backwards, and the left side and the right side of the plane are kept horizontal), so that the front side of the vehicle posture detection device faces upwards, the left side of the vehicle posture detection device faces towards the left direction of a vehicle, the vehicle posture detection device records the gravity magnitude and the gravity direction measured by a gravity sensor at the moment, the gravity direction recorded at the moment is marked as the advancing direction of the vehicle, and meanwhile, a first Euler angle recorded by a gyroscope is collected. After the preset time, the vehicle posture detection device is rotated by 90 degrees, so that the front of the vehicle posture detection device faces the advancing direction of the vehicle, the left face of the vehicle posture detection device faces the left direction of the vehicle, the vehicle posture detection device records the gravity size and the gravity direction measured by the gravity sensor at the moment, the gravity direction recorded at the moment is calibrated to be the upper direction of the vehicle, meanwhile, the second Euler angle recorded by the gyroscope is collected, then the left direction of the vehicle is obtained according to the calibrated upper direction and the front direction, and the rear direction, the right direction and the lower direction of the vehicle can be obtained according to the corresponding relation. After calibration is completed, the vehicle attitude detection device acquires a first Euler angle and a second Euler angle recorded by a gyroscope acquired in a calibration mode.
step S20, calculating a first vector of a preset original vector after rotation by the first Euler angle and a second vector after rotation by the second Euler angle;
step S30, determining a coordinate system after calibration is completed according to the first vector and the second vector;
The preset original vector is a Z axis (0,0,1), the vehicle attitude detection device calculates a first vector of the preset original vector after rotation by a first Euler angle and a second vector of the preset original vector after rotation by a second Euler angle after obtaining the first Euler angle and the second Euler angle, and the first vector is perpendicular to the second vector. The vehicle attitude detecting device determines a coordinate system after calibration is completed according to the first vector and the second vector.
specifically, referring to fig. 2, fig. 2 is a detailed flowchart of step S30 in fig. 1, where step 30 includes:
Step S31, calculating a vector cross product of the first vector and the second vector to obtain a third vector;
Step S32, determining a calibrated coordinate system according to the first vector, the second vector and the third vector.
the vehicle attitude detecting apparatus calculates a cross product of the first vector and the second vector to obtain a third vector, which is perpendicular to the first vector and the second vector, respectively, and then determines a coordinate system after completion of calibration from the first vector, the second vector, and the third vector. Since only the attitude is involved, the position of the origin of the coordinate system can be ignored.
And step S40, calculating the attitude angle of the vehicle in the coordinate system.
the attitude angle of the vehicle comprises a pitch angle, a roll angle and a direction angle, in the embodiment, the invention only calculates the pitch angle and the roll angle, if the direction angle needs to be calculated, a sensor for calculating the direction angle, such as a magnetic resistance sensor, needs to be added to the vehicle attitude detection device. The direction angle is on local horizontal plane, and the clockwise measurement, the contained angle between vehicle longitudinal axis projection and the geomagnetic field, the range is 0 to 360 degrees, and the angle of pitch is the contained angle between vehicle longitudinal axis and local horizontal plane, and the range is minus 90 degrees to plus 90 degrees, and the roll angle is the contained angle between vehicle transverse axis and local horizontal plane, and the range is minus 90 degrees to plus 90 degrees. The vehicle attitude detection device calculates an attitude angle of the vehicle in the coordinate system when determining the coordinate system after completion of the calibration.
specifically, referring to fig. 3, fig. 3 is a detailed flowchart of step S40 in fig. 1, where the step S40 includes:
step S41, collecting the current Euler angle recorded by the gyroscope;
Step S42, calculating a fourth vector of the preset original vector after the current Euler angle rotation;
step S43, calculating the included angle between the projection value of the fourth vector in the first vector plane and the second vector plane and the third vector plane;
and step S44, calculating the included angle between the projection value of the fourth vector in the second vector plane and the third vector plane and the first vector.
the vehicle attitude detection device collects a current Euler angle recorded by a gyroscope, calculates a fourth vector of a preset original vector after the rotation of the current Euler angle, calculates an included angle between a projection value of the fourth vector in a first vector plane and a projection value of the fourth vector in a second vector plane and a third vector plane, the included angle is a pitch angle of a vehicle, calculates an included angle between the projection value of the fourth vector in the second vector plane and the projection value of the fourth vector in the third vector plane and the first vector plane, and the included angle is a roll angle of the vehicle. In a specific implementation, the vehicle attitude detection device may further include a magnetoresistive sensor, and the attitude angle of the vehicle is calculated by the magnetoresistive sensor, the gravity sensor, and the gyroscope.
in this embodiment, the present invention obtains a first euler angle and a second euler angle recorded by a gyroscope collected in a calibration mode, calculates a first vector obtained by rotating a preset original vector through the first euler angle and a second vector obtained by rotating the preset original vector through the second euler angle, determines a coordinate system after calibration is completed according to the first vector and the second vector, and calculates an attitude angle of a vehicle in the coordinate system, and the present solution measures the attitude angle of the vehicle in combination with a gravity sensor and the gyroscope, because the gravity sensor and the gyroscope have small volumes, the integrated vehicle attitude detection device has small volumes, is convenient for a user to carry, when using the vehicle attitude detection device, only simple calibration is required, and horizontal installation is not required, the operation is simple, and most smart phones are implemented without a gravity sensor and a gyroscope built in, and other hardware devices, the implementation is simple, when testing the attitude angle, the method is not influenced by the acceleration caused by vibration or turning in the driving process of the automobile, and the accuracy of the measured attitude angle is high.
further, referring to fig. 4, based on the above-described first embodiment, in the second embodiment of the vehicle posture detection method of the present invention, before the step S10, the vehicle posture detection method further includes:
step S50, receiving a calibration instruction triggered by a user, and entering a calibration mode according to the calibration instruction;
In step S60, when the calibration is completed, the attitude angle detection mode is entered.
the vehicle attitude detection device is provided with a switch key, a calibration key, a direction calibration key and the like, and in specific implementation, the vehicle attitude detection device comprises a touch display screen, a functional control is arranged in the touch display screen, the functional control comprises a calibration control, a direction calibration control and the like, the calibration control is used for controlling the vehicle attitude detection device to enter a calibration mode, and the direction calibration control is used for calibrating the directions of the vehicle attitude detection device and a vehicle.
The vehicle attitude detection device comprises a calibration mode and an attitude angle detection mode, when a user touches a calibration key or a calibration control, a calibration instruction is triggered, and at the moment, the vehicle attitude detection device receives the calibration instruction triggered by the user and enters the calibration mode according to the calibration instruction. When the vehicle attitude detection device is in the calibration mode, a user can calibrate the vehicle attitude detection device, namely calibrating each surface of the vehicle attitude detection device and each direction of a vehicle. After the calibration is completed, the vehicle attitude detection apparatus automatically enters the attitude angle detection mode and exits the calibration mode.
In this embodiment, the present invention receives a calibration instruction triggered by a user, enters a calibration mode according to the calibration instruction, and then enters an attitude angle detection mode when calibration is completed.
further, referring to fig. 5, in a third embodiment of the vehicle attitude detection method according to the present invention based on the first or second embodiment, after step S40, the vehicle attitude detection method preferably includes:
and step S70, displaying the attitude angle of the vehicle.
the vehicle attitude detection device displays the attitude angle of the vehicle after calculating the attitude angle of the vehicle. In implementations, a three-dimensional model of the vehicle may be displayed and then the corresponding attitude angle may be labeled in the three-dimensional model.
In the embodiment, the attitude angle of the vehicle is displayed, so that a user can know the attitude angle quickly.
the invention further provides a vehicle attitude detection device
referring to fig. 6, fig. 6 is a functional block diagram of a vehicle attitude detecting apparatus according to a first embodiment of the present invention.
in the present embodiment, the vehicle attitude detection device includes:
the acquisition module 10 is configured to acquire a first euler angle and a second euler angle recorded by a gyroscope acquired in a calibration mode;
the vehicle attitude detection device includes a gravity sensor, a gyroscope, and the like. The three axes of the gravity sensor are consistent with the three axes of the gyroscope, the gravity sensor is used for measuring the direction and the size of the gravity applied to the vehicle attitude detection device, and the gyroscope is used for recording the Euler angle. The vehicle attitude detection device comprises a smart phone, wherein the smart phone comprises a gravity sensor and a gyroscope, and the smart phone can also comprise a magnetic sensor and the like.
The vehicle owner calibrates the vehicle attitude detection device, and fixes the vehicle attitude detection device after the calibration is completed. And calibrating the vehicle attitude detection device, namely calibrating each surface of the vehicle attitude detection device and each direction of the vehicle. The vehicle posture detection device is laterally erected and placed on a plane (the plane can be inclined forwards and backwards, and the left side and the right side of the plane are kept horizontal), so that the front side of the vehicle posture detection device faces upwards, the left side of the vehicle posture detection device faces towards the left direction of a vehicle, the vehicle posture detection device records the gravity magnitude and the gravity direction measured by a gravity sensor at the moment, the gravity direction recorded at the moment is marked as the advancing direction of the vehicle, and meanwhile, a first Euler angle recorded by a gyroscope is collected. After the preset time, the vehicle posture detection device is rotated by 90 degrees, so that the front of the vehicle posture detection device faces the advancing direction of the vehicle, the left face of the vehicle posture detection device faces the left direction of the vehicle, the vehicle posture detection device records the gravity size and the gravity direction measured by the gravity sensor at the moment, the gravity direction recorded at the moment is calibrated to be the upper direction of the vehicle, meanwhile, the second Euler angle recorded by the gyroscope is collected, then the left direction of the vehicle is obtained according to the calibrated upper direction and the front direction, and the rear direction, the right direction and the lower direction of the vehicle can be obtained according to the corresponding relation. After calibration is completed, the vehicle attitude detection device acquires a first Euler angle and a second Euler angle recorded by a gyroscope acquired in a calibration mode.
a first calculating module 20, configured to calculate a first vector obtained by rotating a preset original vector by the first euler angle and a second vector obtained by rotating the preset original vector by the second euler angle;
A determining module 30, configured to determine a coordinate system after calibration is completed according to the first vector and the second vector;
the preset original vector is a Z axis (0,0,1), the vehicle attitude detection device calculates a first vector of the preset original vector after rotation by a first Euler angle and a second vector of the preset original vector after rotation by a second Euler angle after obtaining the first Euler angle and the second Euler angle, and the first vector is perpendicular to the second vector. The vehicle attitude detecting device determines a coordinate system after calibration is completed according to the first vector and the second vector.
Specifically, referring to fig. 7, fig. 7 is a detailed flowchart of the determining module 30 in fig. 6, where the determining module 30 includes:
a first calculating unit 31, configured to calculate a vector cross product of the first vector and the second vector to obtain a third vector;
A determining unit 32, configured to determine the calibrated coordinate system according to the first vector, the second vector and the third vector.
the vehicle attitude detecting apparatus calculates a cross product of the first vector and the second vector to obtain a third vector, which is perpendicular to the first vector and the second vector, respectively, and then determines a coordinate system after completion of calibration from the first vector, the second vector, and the third vector. Since only the attitude is involved, the position of the origin of the coordinate system can be ignored.
And the second calculation module 40 is used for calculating the attitude angle of the vehicle in the coordinate system.
The attitude angle of the vehicle comprises a pitch angle, a roll angle and a direction angle, in the embodiment, the invention only calculates the pitch angle and the roll angle, if the direction angle needs to be calculated, a sensor for calculating the direction angle, such as a magnetic resistance sensor, needs to be added to the vehicle attitude detection device. The direction angle is on local horizontal plane, and the clockwise measurement, the contained angle between vehicle longitudinal axis projection and the geomagnetic field, the range is 0 to 360 degrees, and the angle of pitch is the contained angle between vehicle longitudinal axis and local horizontal plane, and the range is minus 90 degrees to plus 90 degrees, and the roll angle is the contained angle between vehicle transverse axis and local horizontal plane, and the range is minus 90 degrees to plus 90 degrees. The vehicle attitude detection device calculates an attitude angle of the vehicle in the coordinate system when determining the coordinate system after completion of the calibration.
specifically, referring to fig. 8, fig. 8 is a schematic diagram illustrating a detailed flow of the second calculating module 40 in fig. 7, where the second calculating module 40 includes:
The acquisition unit 41 is used for acquiring the current euler angle recorded by the gyroscope;
The second calculating unit 42 is configured to calculate a fourth vector of the preset original vector after the preset original vector is rotated by the current euler angle;
A third calculating unit 43, configured to calculate an included angle between a projection value of the fourth vector in the first vector plane and the second vector plane and a third vector plane;
The third calculating unit 43 is further configured to calculate an included angle between a projection value of the fourth vector in the second vector plane and the projection value of the fourth vector in the third vector plane and the first vector plane.
The vehicle attitude detection device collects a current Euler angle recorded by a gyroscope, calculates a fourth vector of a preset original vector after the rotation of the current Euler angle, calculates an included angle between a projection value of the fourth vector in a first vector plane and a projection value of the fourth vector in a second vector plane and a third vector plane, the included angle is a pitch angle of a vehicle, calculates an included angle between the projection value of the fourth vector in the second vector plane and the projection value of the fourth vector in the third vector plane and the first vector plane, and the included angle is a roll angle of the vehicle. In a specific implementation, the vehicle attitude detection device may further include a magnetoresistive sensor, and the attitude angle of the vehicle is calculated by the magnetoresistive sensor, the gravity sensor, and the gyroscope.
In this embodiment, the present invention obtains a first euler angle and a second euler angle recorded by a gyroscope collected in a calibration mode, calculates a first vector obtained by rotating a preset original vector through the first euler angle and a second vector obtained by rotating the preset original vector through the second euler angle, determines a coordinate system after calibration is completed according to the first vector and the second vector, and calculates an attitude angle of a vehicle in the coordinate system, and the present solution measures the attitude angle of the vehicle in combination with a gravity sensor and the gyroscope, because the gravity sensor and the gyroscope have small volumes, the integrated vehicle attitude detection device has small volumes, is convenient for a user to carry, when using the vehicle attitude detection device, only simple calibration is required, and horizontal installation is not required, the operation is simple, and most smart phones are implemented without a gravity sensor and a gyroscope built in, and other hardware devices, the implementation is simple, when testing the attitude angle, the method is not influenced by the acceleration caused by vibration or turning in the driving process of the automobile, and the accuracy of the measured attitude angle is high.
further, referring to fig. 9, in a second embodiment of the vehicle attitude detection apparatus of the invention based on the above-described first embodiment, the vehicle attitude detection apparatus further includes:
a receiving and entering module 50, configured to receive a calibration instruction triggered by a user, and enter a calibration mode according to the calibration instruction;
and entering a module 60 for entering an attitude angle detection mode when the calibration is completed.
The vehicle attitude detection device is provided with a switch key, a calibration key, a direction calibration key and the like, and in specific implementation, the vehicle attitude detection device comprises a touch display screen, a functional control is arranged in the touch display screen, the functional control comprises a calibration control, a direction calibration control and the like, the calibration control is used for controlling the vehicle attitude detection device to enter a calibration mode, and the direction calibration control is used for calibrating the directions of the vehicle attitude detection device and a vehicle.
The vehicle attitude detection device comprises a calibration mode and an attitude angle detection mode, when a user touches a calibration key or a calibration control, a calibration instruction is triggered, and at the moment, the vehicle attitude detection device receives the calibration instruction triggered by the user and enters the calibration mode according to the calibration instruction. When the vehicle attitude detection device is in the calibration mode, a user can calibrate the vehicle attitude detection device, namely calibrating each surface of the vehicle attitude detection device and each direction of a vehicle. After the calibration is completed, the vehicle attitude detection apparatus automatically enters the attitude angle detection mode and exits the calibration mode.
In this embodiment, the present invention receives a calibration instruction triggered by a user, enters a calibration mode according to the calibration instruction, and then enters an attitude angle detection mode when calibration is completed.
further, referring to fig. 10, in a third embodiment of the vehicle attitude detection apparatus of the invention based on the above-described first or second embodiment, the vehicle attitude detection apparatus further includes:
And a display module 70 for displaying the attitude angle of the vehicle.
The vehicle attitude detection device displays the attitude angle of the vehicle after calculating the attitude angle of the vehicle. In implementations, a three-dimensional model of the vehicle may be displayed and then the corresponding attitude angle may be labeled in the three-dimensional model.
In the embodiment, the attitude angle of the vehicle is displayed, so that a user can know the attitude angle quickly.
the above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (6)
1. A vehicle attitude detection method characterized by comprising:
acquiring a first Euler angle and a second Euler angle recorded by a gyroscope acquired in a calibration mode;
Calculating a first vector of a preset original vector after the rotation of the first Euler angle and a second vector after the rotation of the second Euler angle;
determining a coordinate system after calibration is completed according to the first vector and the second vector;
Calculating the attitude angle of the vehicle in the coordinate system;
wherein the preset original vector is a Z axis (0,0,1) in three axes of the gyroscope;
The step of determining a calibrated coordinate system from the first vector and the second vector comprises:
Calculating a vector cross product of the first vector and the second vector to obtain a third vector;
determining a calibrated coordinate system according to the first vector, the second vector and the third vector;
The step of calculating the attitude angle of the vehicle in the coordinate system includes:
collecting the current Euler angle recorded by a gyroscope;
Calculating a fourth vector of the preset original vector after the current Euler angle rotation;
Calculating the included angle between the projection value of the fourth vector in the first vector plane and the second vector plane and the third vector plane;
And calculating the included angle between the projection value of the fourth vector in the second vector plane and the projection value of the fourth vector in the third vector plane and the first vector plane.
2. the vehicle attitude detection method according to claim 1, wherein after the step of acquiring the first euler angle and the second euler angle of the gyroscope record acquired in the calibration mode, the vehicle attitude detection method further comprises:
receiving a calibration instruction triggered by a user, and entering a calibration mode according to the calibration instruction;
when the calibration is completed, the attitude angle detection mode is entered.
3. the vehicle attitude detection method according to any one of claims 1-2, characterized in that after the step of calculating the attitude angle of the vehicle in the coordinate system, the vehicle attitude detection method further comprises:
and displaying the attitude angle of the vehicle.
4. A vehicle posture detecting device characterized by comprising:
the acquisition module is used for acquiring a first Euler angle and a second Euler angle recorded by the gyroscope acquired in the calibration mode;
The first calculation module is used for calculating a first vector of a preset original vector after the rotation of the first Euler angle and a second vector after the rotation of the second Euler angle;
The determining module is used for determining a coordinate system after calibration is finished according to the first vector and the second vector;
the second calculation module is used for calculating the attitude angle of the vehicle in the coordinate system;
Wherein the preset original vector is a Z axis (0,0, 1);
The determining module comprises:
a first calculation unit, configured to calculate a vector cross product of the first vector and the second vector to obtain a third vector;
A determining unit, configured to determine a calibrated coordinate system according to the first vector, the second vector, and the third vector;
The second calculation module includes:
the acquisition unit is used for acquiring the current Euler angle recorded by the gyroscope;
The second calculation unit is used for calculating a fourth vector of the preset original vector after the current Euler angle is rotated;
the third calculating unit is used for calculating an included angle between a projection value of the fourth vector in the first vector plane and the second vector plane and a third vector;
And the third calculating unit is further configured to calculate an included angle between a projection value of the fourth vector in the second vector plane and the third vector plane and the first vector plane.
5. the vehicle attitude detection device according to claim 4, characterized by further comprising:
the receiving and entering module is used for receiving a calibration instruction triggered by a user and entering a calibration mode according to the calibration instruction;
And the entering module is used for entering an attitude angle detection mode when the calibration is finished.
6. The vehicle attitude detection apparatus according to any one of claims 4 to 5, characterized by further comprising:
and the display module is used for displaying the attitude angle of the vehicle.
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| CN109782194B (en) * | 2017-11-10 | 2021-06-04 | 阿里巴巴（中国）有限公司 | Method and device for detecting magnetic field quality |
| CN111089562A (en) * | 2019-12-26 | 2020-05-01 | 湖北航天技术研究院总体设计所 | Detection method and system suitable for body posture of special vehicle and special vehicle |
| CN112346510A (en) * | 2020-10-23 | 2021-02-09 | 深圳市谷粒科技有限公司 | Calibration method and device of analog-to-digital rocker |
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