CN110146106B - Inertial navigation equipment calibration method and device, electronic equipment and storage medium - Google Patents

Inertial navigation equipment calibration method and device, electronic equipment and storage medium Download PDF

Info

Publication number
CN110146106B
CN110146106B CN201811444726.9A CN201811444726A CN110146106B CN 110146106 B CN110146106 B CN 110146106B CN 201811444726 A CN201811444726 A CN 201811444726A CN 110146106 B CN110146106 B CN 110146106B
Authority
CN
China
Prior art keywords
inertial navigation
course angle
offset
navigation device
navigation equipment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201811444726.9A
Other languages
Chinese (zh)
Other versions
CN110146106A (en
Inventor
郭永刚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tencent Technology Shenzhen Co Ltd
Original Assignee
Tencent Technology Shenzhen Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tencent Technology Shenzhen Co Ltd filed Critical Tencent Technology Shenzhen Co Ltd
Priority to CN201811444726.9A priority Critical patent/CN110146106B/en
Publication of CN110146106A publication Critical patent/CN110146106A/en
Application granted granted Critical
Publication of CN110146106B publication Critical patent/CN110146106B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Navigation (AREA)

Abstract

The invention discloses a calibration method and device for inertial navigation equipment, electronic equipment and a storage medium, and belongs to the technical field of unmanned driving. According to the invention, the offset pose is determined by the terminal only based on the first course angle and the second course angle of the target object, the inertial navigation equipment is calibrated based on the offset pose, a plurality of physical quantities of the target object running along different directions do not need to be collected, the offset pose can be rapidly determined and calibrated, and the calibration efficiency of the inertial navigation equipment is improved.

Description

Inertial navigation equipment calibration method and device, electronic equipment and storage medium
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a calibration method and device of inertial navigation equipment, electronic equipment and a storage medium.
Background
The unmanned vehicle is provided with satellite navigation equipment and inertial navigation equipment, and when satellite signals are weak, the unmanned vehicle is positioned through the inertial navigation equipment. The inertial navigation equipment comprises a gyroscope, and the inertial navigation equipment mainly measures the angular speed of the unmanned vehicle through the gyroscope to determine the course angle of the unmanned vehicle, so that the positioning is further carried out according to the course angle. However, the inertial navigation device determines an inaccurate course angle due to an error in the angular velocity measured by the gyroscope. Therefore, before using the inertial navigation device, the inertial navigation device needs to be calibrated.
In the related art, the inertial navigation device is usually calibrated based on the offset pose of the inertial navigation device determined by a strapdown inertial navigation error equation. The strapdown inertial navigation error equation needs to be solved based on the heading angle, attitude, position and speed of the unmanned vehicle when the unmanned vehicle is running in different directions. Therefore, the calibration process of the inertial navigation device is as follows: the unmanned vehicle is controlled to travel along a closed path, typically around a figure-8 path, to produce heading angles, attitudes and speeds in different directions. During the driving process, the course angle, the attitude, the position and the speed of the unmanned vehicle are collected in real time from the inertial navigation equipment when the unmanned vehicle drives along a plurality of different directions, and the position and the speed of the unmanned vehicle are collected in real time from the satellite navigation equipment. Then, an error model is established based on a strapdown inertial navigation error equation, the course angle, the attitude, the position and the speed output by the inertial navigation equipment and the position and the speed output by the satellite navigation equipment are input into the error model, and the offset pose of the inertial navigation equipment is output, wherein the offset pose comprises the offset angular speed of a gyroscope in the inertial navigation equipment, so that the inertial navigation equipment can be calibrated according to the offset pose.
The calibration process is actually based on a plurality of physical quantities of the unmanned vehicle running along a plurality of directions, the unmanned vehicle needs to be controlled to run around a closed route, and the plurality of physical quantities of the target vehicle are collected in real time, so that the whole calibration process consumes a long time, and the efficiency of the calibration process is low.
Disclosure of Invention
The embodiment of the invention provides a calibration method and device for inertial navigation equipment, electronic equipment and a storage medium, which can solve the problem of low efficiency in a calibration process. The technical scheme is as follows:
in one aspect, a method for calibrating inertial navigation equipment is provided, and the method includes:
determining a first course angle and a second course angle of a target object, wherein the first course angle is the course angle measured by inertial navigation equipment of the target object, and the second course angle is the course angle measured by satellite navigation equipment of the target object;
determining the offset pose of the inertial navigation equipment according to the first course angle and the second course angle;
and calibrating the inertial navigation equipment of the target object according to the offset pose of the inertial navigation equipment.
In another aspect, an inertial navigation device calibration apparatus is provided, the apparatus includes:
the determining module is used for determining a first course angle and a second course angle of a target object, wherein the first course angle is the course angle measured by inertial navigation equipment of the target object, and the second course angle is the course angle measured by satellite navigation equipment of the target object;
the determining module is further configured to determine an offset pose of the inertial navigation device according to the first course angle and the second course angle;
and the calibration module is used for calibrating the inertial navigation equipment of the target object according to the offset pose of the inertial navigation equipment.
In another aspect, an electronic device is provided, and the electronic device includes a processor and a memory, where the memory stores at least one instruction, and the instruction is loaded and executed by the processor to implement the operation performed by the inertial navigation device calibration method.
In another aspect, a computer-readable storage medium is provided, in which at least one instruction is stored, and the instruction is loaded and executed by a processor to implement the operation performed by the inertial navigation device calibration method.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
according to the method and the device provided by the embodiment of the invention, the offset pose is determined only based on the first course angle and the second course angle of the target object through the terminal, the inertial navigation equipment is calibrated based on the offset pose, a plurality of physical quantities of the target object running along different directions do not need to be collected, the offset pose can be rapidly determined and calibrated, and the calibration efficiency of the inertial navigation equipment is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a steering system provided by an embodiment of the present invention;
FIG. 2 is a flowchart of a method for calibrating inertial navigation equipment according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of corresponding offset angular velocities of a vehicle in a stationary state and a linear motion state respectively according to an embodiment of the present invention;
FIG. 4 is a flowchart of a method for calibrating inertial navigation equipment according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an inertial navigation device calibration apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The embodiment of the invention discloses a method for calibrating inertial navigation equipment. The inertial navigation device can be an inertial navigation device installed in any driver needing navigation. For example, the inertial navigation device may be installed in a driver such as an unmanned vehicle, a drone, a ship, or a robot that needs to be navigated and positioned, which is not limited in this embodiment of the present invention. The embodiment of the present invention will be described by taking as an example only an inertial navigation apparatus mounted in a vehicle.
Fig. 1 is a schematic diagram of a driving system provided in an embodiment of the present invention, where the driving system includes: inertial navigation device 101 and satellite navigation device 102. The driving system may be a driving system of any one of drivers such as an unmanned vehicle, an unmanned aerial vehicle, a ship, or a robot. The inertial navigation device 101 and the satellite navigation device 102 can measure the heading angle of the vehicle in real time, and determine the position information of the vehicle through the heading angle, so as to position the vehicle.
The Inertial navigation device 101 includes a gyroscope for measuring an angular velocity of the vehicle and an Inertial Measurement Unit (IMU) for determining a heading angle of the vehicle from the angular velocity measured by the gyroscope. Because the angular velocity measured by the gyroscope has an error, the output heading angle of the inertial measurement unit is not accurate, and therefore, before the inertial navigation device 101 is used for positioning, the inertial navigation device 101 needs to be calibrated.
In the embodiment of the present invention, the course angle output by the inertial navigation device 101 is mainly corrected according to the actual course angle of the vehicle, so as to calibrate the inertial navigation device 101.
The satellite navigation device 102 locates the vehicle by using a navigation satellite, so that the accuracy and stability of the course angle output by the satellite navigation device 102 are high. For the sake of convenience of distinction, the heading angle output by the inertial navigation device 101 is hereinafter referred to as a first heading angle, and the heading angle output by the satellite navigation device 102 is hereinafter referred to as a second heading angle.
During the vehicle is still or running along a straight line, a first heading angle of the vehicle is obtained from the inertial navigation device 101, and a second heading angle of the vehicle, namely the real heading angle of the vehicle, is obtained from the satellite navigation device 102. And determining the offset pose of the inertial navigation equipment based on the first course angle and the second course angle, and calibrating the inertial navigation equipment according to the offset pose. The calibration process is mainly to correct the errors of the gyroscope in the inertial navigation device 101. Wherein the offset pose of the inertial navigation device is determined according to the first course angle and the second course angle based on the target relationship between the course angle measured by the inertial navigation device 101, the course angle measured by the satellite navigation device 102 and the offset pose.
In the following, a description is given of terms appearing in the above-described driving system:
heading angle of vehicle: the included angle between the right front and the right north direction of the vehicle;
offsetting the pose: errors present in the inertial navigation device 101; the inertial navigation device includes a gyroscope from which errors of the inertial navigation device mainly originate, and the offset pose may include an offset angular velocity of the gyroscope;
a gyroscope: the inertial navigation device 101 mainly measures the angular velocity of the vehicle based on the autorotation motion of the gyroscope, and when the gyroscope is interfered by external factors, the autorotation shaft of the gyroscope deviates from the original position, so that a drift phenomenon occurs, and the angular velocity measured by the gyroscope has an error. The inertial navigation device 101 determines the heading angle of the vehicle mainly by integrating the angular velocity output by the gyroscope, and a small error in the angular velocity may be accumulated along with the integral, resulting in a large heading angle error, which is a main source of errors in the inertial navigation device. The calibration of the gyroscope is mainly carried out through the deviation angular velocity of the gyroscope.
Angular velocity of offset: means a deviation of the angular velocity output by the gyroscope with respect to a true angular velocity of the vehicle, the value of which is equal to a difference between the angular velocity output by the gyroscope and the true angular velocity;
the vehicle may be an unmanned vehicle, and the unmanned vehicle may obtain a plurality of information of the unmanned vehicle, such as a course angle, position information, angular velocity, and posture, through the inertial navigation device 102, and implement an automatic driving process based on the plurality of information.
Fig. 2 is a flowchart of an inertial navigation apparatus calibration method according to an embodiment of the present invention. The execution main body of the embodiment of the invention is a terminal, the terminal can be a vehicle-mounted terminal or any terminal with a data processing function, referring to fig. 2, the method comprises the following steps:
201. the terminal determines a first heading angle and a second heading angle of the target object.
The target object is provided with inertial navigation equipment to be calibrated, the first course angle information is a course angle measured by the inertial navigation equipment, and the second course angle is a course angle measured by satellite navigation equipment of the target object, namely a standard course angle of the target object; the terminal can acquire a first course angle of the target object from inertial navigation equipment of the target object; from the satellite navigation device of the target object, a second heading angle of the target object, that is, a standard heading angle, is acquired.
It should be noted that the target object may be a vehicle, a drone, a ship, or a robot requiring navigation and positioning. In the embodiments of the present invention, the description will be given only by taking the target as a vehicle on which the inertial navigation device and the satellite navigation device are mounted, but the actual form of the target is not particularly limited.
In the embodiment of the invention, the terminal can acquire the first course angle and the second course angle of the vehicle in a static state or a linear motion state of the vehicle. Accordingly, this step can be implemented in the following two ways.
In the first mode, the terminal acquires a course angle in a motion state of a target object, and then the terminal acquires a first course angle and a second course angle of the target object in a process that the target object runs along a straight line.
In the embodiment of the invention, the vehicle can run normally, including straight running or turning running according to requirements. The terminal can detect whether the vehicle runs along a straight line in real time in the normal running process of the vehicle, and when the vehicle is detected to run along the straight line, the terminal can collect the first course angle from an inertial navigation unit of the inertial navigation equipment. The gyroscope in the inertial navigation equipment can acquire the angular velocity of the vehicle in real time, and the inertial navigation unit in the inertial navigation equipment can perform integral operation according to the angular velocity in real time to obtain the first course angle of the vehicle.
During the running process of the vehicle, the terminal can acquire a second heading angle of the vehicle from a single-antenna satellite navigation device or a double-antenna satellite navigation device. The single-antenna satellite navigation equipment can acquire the course angle of the vehicle in the driving process of the vehicle, and the double-antenna satellite navigation equipment can acquire the course angle of the vehicle in the driving process of the vehicle or in a static state.
In a possible implementation manner, the terminal may also detect the signal state of the satellite navigation device first, and the terminal outputs the second heading angle when the signal state of the satellite navigation device is stable. The process may be: the terminal can acquire target information output by the satellite navigation device in a plurality of continuous periods, and acquire the second heading angle from the satellite navigation device when the terminal determines that the signal state of the satellite navigation device is stable based on the target information output by the satellite navigation device in the plurality of continuous periods.
The target information may be position information of the vehicle, a speed of the vehicle, or a heading angle of the vehicle. And when the target information output by the satellite navigation equipment in a plurality of continuous periods is the same, the terminal determines that the signal state of the satellite navigation equipment is stable. Or when the target information is a heading angle, the terminal can also determine that the heading angle is a tangential angle of the driving track according to the driving track of the vehicle, and the terminal determines that the signal state of the satellite navigation equipment is stable.
In the second mode, the terminal collects the course angle in the static state of the target object, and then the terminal collects the first course angle and the second course angle of the target object when the target object is static.
In the embodiment of the invention, in the static state of the vehicle, the terminal can acquire the second course angle from the satellite navigation equipment with double antennas; the terminal may acquire the first heading angle from an inertial navigation unit of the inertial navigation device. Of course, the terminal may also acquire the second course angle when the signal state of the satellite navigation device is stable, the process is the same as the first method, and details are not repeated here.
It should be noted that, in the course angle collecting process, the terminal may collect the course angle when the vehicle is running straight or is stationary, and it is not necessary to control the vehicle to perform specific maneuvering actions such as a route of the vehicle running around 8, and the collecting process and the subsequent calibration process may be performed synchronously and in real time in the normal running process of the vehicle, so that the normal running requirement of the vehicle is not affected, and the time for the vehicle to perform maneuvering actions is saved. In addition, only the course angle is acquired, and a plurality of information such as the speed, the posture, the position and the like of the vehicle does not need to be acquired, so that the acquisition time is saved, the hidden error caused by excessive information is avoided, and the efficiency and the accuracy of the calibration process are improved. In addition, in the acquisition process, the vehicle can be static and can also do linear motion, and the calibration can be realized without driving along a certain closed route, so that the space is not limited by a calibration place, and the applicability of the calibration process is improved.
202. The terminal determines the target relation among the course angle measured by the inertial navigation equipment, the course angle measured by the satellite navigation equipment and the offset pose.
The target relation can be the magnitude relation and/or the direction relation of three physical quantities, namely the course angle measured by the inertial navigation, the course angle measured by the satellite navigation equipment and the offset pose. In the embodiment of the invention, the terminal can acquire the target relation from the local storage space. Of course, the target relationship may also be established in real time. The inertial navigation device error is mainly due to a gyroscope in the inertial navigation device, and the offset pose may include an offset angular velocity of the gyroscope. In this step, the terminal may further obtain the target relationship based on the angular velocity measured by the gyroscope. The terminal obtains a first relation between the angular velocity measured by the gyroscope and the offset angular velocity, and obtains a second relation between the angular velocity, the course angle measured by the inertial navigation device and the course angle measured by the satellite navigation device; the terminal determines the target relationship according to the first relationship and the second relationship.
Wherein the terminal may determine the second relationship based on sample data of the vehicle, and the process may be: the terminal acquires sample data of the vehicle in a historical driving process, wherein the sample data comprises a sample angular velocity measured by the gyroscope, a sample course angle measured by the inertial navigation equipment and a sample course angle measured by the satellite navigation equipment; and the terminal establishes a second relation among the angular speed measured by the gyroscope, the course angle measured by the inertial navigation equipment and the course angle measured by the satellite navigation equipment according to the sample data. The terminal can convert a first relation between the angular speed and the offset angular speed and a second relation between the angular speed and the course angle measured by the inertial navigation equipment and a second relation between the angular speed and the course angle measured by the satellite navigation equipment based on the intermediate quantity to obtain a target relation among the offset pose, the course angle measured by the inertial navigation equipment and the course angle measured by the satellite navigation equipment.
In a possible implementation, the target relationship may be in the form of a relational expression, and then this step may be: the terminal determines an offset pose expression of the inertial navigation device, wherein the offset expression is used for representing a target relation among the course angle measured by the inertial navigation device, the course angle measured by the satellite navigation device and the offset pose.
It should be noted that the target relationship may also be expressed in the form of a relationship image, for example, in a three-dimensional coordinate system, the relationship between the heading angle measured by the inertial navigation device, the heading angle measured by the satellite navigation device, and the offset pose is represented by the relationship image. Alternatively, the target relationship may also be expressed in a form of a relationship model, and the like, which is not specifically limited in this embodiment of the present invention.
Taking the target relationship as an example of a relational expression, in the embodiment of the present invention, the terminal may determine, based on sample data of the vehicle in a historical driving process, an offset pose expression of the inertial navigation device by analyzing a relationship among the heading angle measured by the inertial navigation device, the heading angle measured by the satellite navigation device, and the offset pose. Wherein the sample data comprises a sample angular velocity measured by the gyroscope, a sample heading angle measured by the inertial navigation device, and a sample heading angle measured by the satellite navigation device.
And if the offset pose comprises the offset angular velocity of the gyroscope, the terminal determines the offset pose expression according to the first relational expression and the second relational expression. Wherein the first relational expression is used to express a relationship between the angular velocity measured by the gyroscope and the offset angular velocity. The second relational expression is used for expressing a second relation among the angular velocity measured by the gyroscope, the heading angle measured by the inertial navigation device and the heading angle measured by the satellite navigation device. The terminal can acquire the first relational expression, acquire sample data of the vehicle in the historical driving process, and establish the second relational expression according to the sample data. Of course, the terminal may also store the established first relational expression and the second relational expression for subsequent reuse.
In the embodiment of the present invention, the terminal may determine the offset pose expression as follows:
an offset pose expression:
Figure BDF0000019954700000081
wherein the content of the first and second substances,
Figure BDF0000019954700000082
for indicating the course angle measured by the inertial navigation device, i.e. the first course angle, H gps Which is used to indicate the heading angle measured by the satellite navigation device, i.e., the second heading angle. H 0 For indicating an initial heading angle, ω, of the vehicle 0 For the angular rate of offset of the gyroscope and t for time. Delta omega 0 The method is used for representing the random error of the gyroscope and is used for representing the random error of the gyroscope. Δ H imu The difference value between the first course angle and the second course angle.
The terminal may obtain a first relational expression, that is, an offset angular velocity expression of the gyroscope is as follows:
the first relational expression:
Figure BDF0000019954700000083
through the above process, the terminal obtains the second relational expression as follows:
the second relational expression:
Figure BDF0000019954700000084
wherein the content of the first and second substances,
Figure BDF0000019954700000085
for representing the angular velocity measured by the gyroscope, ω for representing the true angular velocity of the vehicle, ω 0 For representing the angular velocity of offset, δ ω, of the gyroscope 0 For representing random errors of the gyroscope;
Figure BDF0000019954700000091
the first heading angle is used for representing the heading angle measured by the inertial navigation equipment, namely the first heading angle; h gps For indicating the course angle measured by the satellite navigation device, i.e. the second course angle, H 0 For indicating an initial heading angle of the vehicle.
In this embodiment of the present invention, the terminal determines, based on the first relational expression and the second relational expression, that the offset pose expression is: Δ H imu ＝(ω 0 +δω 0 )t。
It should be noted that, the terminal preliminarily determines, based on the first relational expression and according to a relationship between the angular velocity measured by the gyroscope and the heading angle measured by the inertial navigation device, that the second relational expression of the inertial navigation device is:
Figure BDF0000019954700000092
then, the terminal uses the heading angle measured by the satellite navigation device as the standard heading angle of the vehicle, and then the preliminarily determined second relational expression can be converted into:
Figure BDF0000019954700000093
thereby obtaining a second relation.
The terminal may determine the following relational expression according to the first relational expression and the second relational expression:
Figure BDF0000019954700000094
wherein, the right side of the relational expression (H) 0 + ω t) with the heading angle H measured by the satellite navigation device gps Are equal. Therefore, after the terminal sorts the expression, an offset pose expression is obtained: Δ H imu ＝(ω 0 +δω 0 )t。
Where ω t is used to represent the change in the true heading angle of the vehicle, (ω 0 +δω 0 ) t is used to represent the heading angle change caused by integrating the offset angular velocity of the gyroscope.
It should be noted that, an integral relationship exists between the angular velocity measured by the gyroscope and the heading angle measured by the inertial navigation device, and therefore, an error of the heading angle caused by the offset angular velocity brought by the gyroscope may generate exponential change with time.
Next, with respect to the above sample data by the vehicle, the determination process of the first relational expression is analyzed as follows:
in the vehicle, the inertial coordinate system of the inertial navigation device may be kept consistent with the vehicle coordinate system of the vehicle. Taking the measurement of the vehicle in the straight-line running process as an example, in an ideal state, the course angle measured by the inertial navigation system and the course angle measured by the satellite navigation system are both right ahead of the running vehicle, and if the error of the inertial navigation system is not considered, the course angle H measured by the inertial navigation system and the course angle H measured by the satellite navigation system gps Same, i.e. H = H gps 。
The vehicle coordinate system takes the vehicle as a coordinate origin, takes the right front of the vehicle as a positive y-axis direction, takes the horizontal left direction perpendicular to the y-axis as a positive x-axis direction, and takes the vertical upward direction as a positive z-axis direction. The right front of the vehicle is also the y-axis direction of the vehicle coordinate system. In the embodiment of the invention, the directions of the coordinate axes of the inertial coordinate system of the inertial navigation equipment can be respectively kept consistent with the directions of the coordinate axes of the vehicle coordinate system. Ideally, the heading angle output by the inertial navigation device is expressed by the following formula one:
the formula I is as follows: h = H 0 +ωt
Wherein H is the course angle output by the inertial navigation equipment, H 0 Is the initial heading angle of the vehicle, and ω is measured by the gyroscopeIdeally, the true angular velocity of the vehicle, and t is the integration time.
However, since the inertial navigation system has an error caused by the gyroscope, which causes the first heading angle to be inaccurate, the first heading angle is analyzed to have an integral relation with the angular velocity measured by the gyroscope based on the sample data of the vehicle, and therefore, in the first formula, the angular velocity measured by the gyroscope includes an offset angular velocity, and the first relational expression of the gyroscope is established in consideration of the offset angular velocity of the gyroscope and a random error:
Figure BDF0000019954700000101
wherein the content of the first and second substances,
Figure BDF0000019954700000102
for representing the angular velocity measured by the gyroscope, ω for representing the true angular velocity of the vehicle, ω 0 For representing the offset angular velocity of the gyroscope, which may be the zero drift error of the gyroscope, δ ω 0 For representing the random error of the gyroscope.
The terminal preliminarily establishes a second relational expression based on the relation between the angular speed of the sample in the sample data and the course angle of the sample measured by the inertial navigation equipment:
Figure BDF0000019954700000103
based on the first relational expression, the preliminarily established second relational expression may be expressed as:
Figure BDF0000019954700000104
then, combining the sample heading angle measured by the satellite navigation device, the final obtained second relational expression may be:
Figure BDF0000019954700000105
of course, the terminal may also store the offset pose expression in advance. It should be noted that the terminal may periodically perform the offset pose determination process, and the terminal may acquire the offset pose expression only when the terminal is performed for the first time. When the determination process of the offset pose is subsequently performed, step 204 is directly performed after step 201 is performed.
It should be noted that the terminal can determine the target relationship between the course angle measured by the inertial navigation device, the course angle measured by the satellite navigation device and the offset pose, and then determine the offset pose based on the target relationship.
Further, the terminal may determine a target filtering algorithm based on the target relationship, and determine the offset pose of the inertial navigation device based on the target filtering algorithm, so as to calibrate the inertial navigation device. That is, the process of steps 203-205 described below.
203. The terminal determines a target filtering algorithm based on the target relationship.
In the embodiment of the invention, the terminal can obtain the target filtering algorithm according to the target relation. Taking the expression form of the target relationship as an offset pose expression as an example, the step may be: and the terminal establishes a target filtering algorithm according to the offset pose expression. The target filtering algorithm is configured with the offset pose expression, and the target filtering algorithm is used for determining the offset pose of the inertial navigation equipment based on the offset pose expression.
The terminal can determine a state expression and an observation expression of the inertial navigation equipment according to the offset pose expression, and establish a target filtering algorithm according to the state expression and the observation expression. The state expression is used for representing the change states of the first course angle, the second course angle and the offset pose along with time respectively, and the observation expression is used for representing the relation among the first course angle, the second course angle and the offset pose.
The target filtering algorithm may be a kalman filtering algorithm. Of course, the target filtering algorithm may be set based on needs, which is not specifically limited in the embodiment of the present invention. For example, the target filtering algorithm may also be a least squares method.
Wherein the terminal can be based on the offset pose expression of the inertial navigation device in delta H imu ,ω 0 In State, X = [ Δ H = imu ω 0 ] T The state expression is established as follows:
the state expression:
Figure BDF0000019954700000111
wherein the content of the first and second substances,
Figure BDF0000019954700000112
σ 1 ＝δω 0 ，σ 2 δ ω. It should be noted that the state expression may be expressed as:
Figure BDF0000019954700000113
the form of the system is the system state equation. The device is
Figure BDF0000019954700000114
X＝[ΔH imu ω 0 ] T ，
Figure BDF0000019954700000115
Wherein X is status information.
The terminal can determine the observation expression as follows according to the offset pose expression of the inertial navigation equipment:
observation expression:
Figure BDF0000019954700000121
it should be noted that the observation expression can be expressed in the form of Z = HX, that is, a system observation equation, wherein,
Figure BDF0000019954700000122
h = [ 01 =]，X＝[ΔH imu ω 0 ] T And Z is observation information.
It should be noted that the terminal may establish a target filtering algorithm based on the offset pose expression, and through the target filtering algorithm, the optimal solution of the offset pose may be determined based on multiple first heading angles and multiple second heading angles, and multiple iterations may be performed subsequently, so that the accuracy of the determined offset pose is improved.
204. The terminal determines the offset pose of the inertial navigation equipment based on the first course angle, the second course angle and a target filtering algorithm.
The target filtering algorithm is used for outputting the offset pose of the inertial navigation equipment based on the configured target relation. In this step, the terminal outputs the offset pose of the inertial navigation device through the target filtering algorithm according to the first course angle and the second course angle. The target filtering algorithm comprises an observation expression and a state expression which are determined based on the offset pose expression. The terminal can perform iterative computation for multiple times through an observation expression and a state expression in the target filtering algorithm according to the first course angles and the second course angles which are acquired in real time, so as to determine the optimal solution of the offset pose of the inertial navigation equipment.
In one possible embodiment, during the vehicle linear motion, the terminal may periodically perform the offset pose determination process, which may be: the terminal can determine the offset pose of the inertial navigation equipment in the current preset period according to the first course angle and the second course angle of the vehicle in the current preset period every other preset period; the terminal determines the offset pose of the inertial navigation equipment according to the offset poses of the inertial navigation equipment in a plurality of preset periods.
The terminal can output the offset pose corresponding to the current preset period based on the target filtering algorithm and the first course angle and the second course angle acquired in the current preset period every other preset period. The terminal may determine the offset pose of the inertial navigation device based on convergence characteristics of the offset poses for a plurality of preset periods. Or the terminal can calibrate the inertial navigation equipment based on the offset pose calculated in each preset period in real time, so that the offset pose of the inertial navigation equipment is determined based on the accumulated result of the offset poses in a plurality of preset periods. Accordingly, the process of periodically determining the offset pose can be implemented in the following two ways.
The first way is that for each preset period, the terminal executes the step of determining the offset pose of the inertial navigation device in each preset period according to the first course angle and the second course angle of the target object in each preset period, and when the offset poses of the inertial navigation device in a plurality of preset periods reach the convergence condition, the offset pose when the convergence condition is reached is determined as the offset pose of the inertial navigation device.
The convergence condition may be set as needed, which is not specifically limited in this embodiment of the present invention. For example, the convergence condition may be: the offset poses of the target number in the plurality of preset periods with the time sequence behind are the same or the difference value is smaller than a preset numerical value. The offset poses when the convergence condition is reached refer to the offset poses of the target in a number of preset periods or the offset pose of the last preset period. Of course, the number of targets may also be set as needed, for example, the preset period is 2 seconds, and the number of targets is 10, and when the offset poses of the last 10 preset periods in the offset poses of 100 preset periods are all the same, the terminal takes the offset pose of any period in the last 10 preset periods as the offset pose of the inertial navigation device.
And in a second mode, for each preset period, the terminal executes the step of calibrating the inertial navigation equipment according to the offset pose of the previous preset period and determining the offset pose of the calibrated inertial navigation equipment in each preset period, and when the offset pose corresponding to a first preset period in the preset periods is smaller than a preset threshold value or a first course angle corresponding to a second preset period in the preset periods is the same as a second course angle, the accumulated value of the offset poses in the preset periods before the first preset period or the second preset period is determined as the offset pose of the inertial navigation equipment.
In this step, when the offset pose corresponding to each preset period is determined, the terminal may perform random access on the offset pose corresponding to the preset period, that is, the terminal may calibrate the inertial navigation device according to the offset pose corresponding to the preset period, and when the next preset period is reached, the inertial navigation device is calibrated based on the offset pose corresponding to the previous preset period. Therefore, relative to the first course angle corresponding to the last preset period, the first course angle corresponding to the current preset period is closer to the second course angle of the vehicle, and the terminal determines the offset pose corresponding to the current preset period based on the first course angle and the second course angle corresponding to the current preset period. The offset poses corresponding to the multiple preset periods gradually decrease until the offset pose corresponding to the first preset period is smaller than a preset threshold value, or the first course angle corresponding to the second preset period is the same as the second course angle, which indicates that the inertial navigation equipment passes multiple times of calibration, and the inertial navigation equipment is calibrated to be standard inertial navigation equipment. The standard inertial navigation device can accurately measure the real heading angle of the vehicle.
In a possible implementation manner, the terminal may further determine the offset pose of the inertial navigation device in a stationary state and a linear motion state of the vehicle, respectively, and finally determine the offset pose of the inertial navigation device according to the offset poses respectively acquired in the stationary state and the linear motion state. The process may be: the terminal can determine a first offset pose of the inertial navigation device according to the first course angle and the second course angle in the driving process of the vehicle; when the vehicle is static, determining a second offset pose of the inertial navigation equipment according to the first course angle and the second course angle; the terminal may determine an offset pose of the inertial navigation device from the first offset pose and the second offset pose. Wherein when the first offset pose is the same as the second offset pose, the terminal determines the first offset pose or the second offset pose as the offset pose of the inertial navigation device.
The terminal can obtain the first offset pose and the second offset pose, and when the first offset pose is the same as the second offset pose, the first offset pose or the second offset pose is determined as the offset pose of the inertial navigation device; when the first offset pose is not the same as the second offset pose, the terminal continues to determine the offset pose of the inertial navigation device again through the above steps 201-204; therefore, the accuracy of determining the offset pose is greatly improved.
As shown in fig. 3, the process of determining the offset angular velocity of the gyroscope in the stationary state and the linear motion state of the vehicle, respectively, is illustrated in fig. 3. As shown in fig. 3, when the vehicle is in a stationary state, the gyroscope in the inertial navigation device is in a zero input state, the offset angular velocity of the gyroscope is 0.07, and in the process of determining the offset angular velocity in real time in a linear motion state, the offset angular velocity of the gyroscope gradually reaches 0.07, which indicates that the offset angular velocity determined through the above steps 201 to 204 is more accurate in the linear motion state.
The terminal can determine the offset pose of the inertial navigation equipment in real time in the vehicle running process, and the calibration process can be synchronously and real-timely performed in the normal running process of the vehicle, so that the normal running requirement of the vehicle is not influenced; in addition, the terminal can also establish a target filtering algorithm in advance, output a course angle in real time and output an accurate offset pose based on the target filtering algorithm and the first course angle and the second course angle acquired in real time, so that the offset pose can be determined quickly, accurately and in real time, and the calibration efficiency is improved. In addition, the terminal can also perform real-time compensation on the inertial navigation equipment based on the offset pose in real time through the subsequent step 205, so that the navigation and positioning precision of the inertial navigation equipment is improved to a greater extent, and the practicability of the calibration method of the inertial navigation equipment is improved.
It should be noted that the above steps 203-204 are actually an implementation manner of the step "the terminal determines the offset pose of the inertial navigation device according to the first heading angle and the second heading angle based on the target relationship", and the above process actually determines the target filtering algorithm in real time through the target relationship, and then determines the offset pose based on the target filtering algorithm determined in real time. However, the terminal may also determine the offset pose directly based on the object filtering algorithm, that is, the above steps 203-204 may be replaced by: and the terminal outputs the offset pose of the inertial navigation equipment based on the first course angle, the second course angle and a target filtering algorithm. Of course, the terminal may also determine the offset pose of the inertial navigation device based on the first heading angle, the second heading angle, and the offset pose expression. And the terminal can also substitute the first course angle and the second course angle into the offset pose expression to calculate the offset pose of the inertial navigation equipment.
It should be noted that the above steps 202-204 are actually an implementation manner of the step "the terminal determines the offset pose of the inertial navigation device according to the first heading angle and the second heading angle", and the above process actually determines the target relationship first, specifically, obtains the offset pose expression in real time, and then determines the offset pose of the inertial navigation device. However, the terminal may also omit the process of determining the target relationship in real time, determining the offset pose based on storing the target relationship in advance. In a possible implementation manner, the terminal may also directly perform step 204 after performing step 201. Certainly, the terminal may further store a target program in advance, where the target program is used to invoke the target filtering algorithm, and when the terminal acquires the first course angle and the second course angle in real time, the terminal invokes the target filtering algorithm by executing the target program to obtain the offset pose of the inertial navigation device. The embodiment of the present invention is not particularly limited to this.
205. And the terminal calibrates the inertial navigation equipment of the target object according to the offset pose of the inertial navigation equipment.
Wherein the offset pose comprises an offset angular velocity of the gyroscope. In this step, the terminal may correct the course angle output by the inertial navigation device in real time according to the offset angular velocity of the gyroscope during the process of using the inertial navigation device.
In this step, the terminal determines a third relationship between the course angle measured by the inertial navigation device, the angular velocity measured by the gyroscope, and the offset angular velocity; and the terminal corrects the course angle output by the inertial navigation equipment according to the angular speed measured by the gyroscope and the offset angular speed on the basis of the third relation. The terminal can execute a process of calibrating the inertial navigation equipment based on the offset poses corresponding to the period once every preset period, and can also determine the offset poses of the inertial navigation equipment based on the offset poses corresponding to a plurality of preset periods and calibrate the inertial navigation equipment according to the offset poses.
In order to more clearly describe the calibration process of the inertial navigation device, the following describes the calibration process of the inertial navigation device based on the flowchart shown in fig. 4. As shown in fig. 4, when the vehicle is in a linear motion state, the terminal may acquire a first heading angle from the inertial navigation device in real time, and detect whether the signal state of the satellite navigation device is valid, that is, whether the signal state of the satellite navigation device is a stable state. And when the signal state of the satellite navigation equipment is invalid, continuously executing the process of acquiring the first course angle in real time and detecting whether the signal state of the satellite navigation equipment is valid or not until the signal state is valid. When the signal state of the satellite navigation equipment is effective, acquiring a second course angle of the satellite navigation equipment, inputting the first course angle and the second course angle into a target filtering algorithm which is established in advance, wherein the target filtering algorithm can be a Kalman filter, outputting the offset pose of the inertial navigation equipment, and calibrating the inertial navigation equipment in real time based on the offset pose, so that the calibration of the inertial navigation equipment can be realized in real time, quickly and accurately.
In the embodiment of the invention, the terminal can determine the offset pose only based on the first course angle and the second course angle of the target object, and calibrate the inertial navigation equipment based on the offset pose without acquiring a plurality of physical quantities of the target object running along different directions, so that the offset pose can be quickly determined and calibrated, and the calibration efficiency of the inertial navigation equipment is improved.
Fig. 5 is a schematic structural diagram of a calibration apparatus for inertial navigation equipment according to an embodiment of the present invention. Referring to fig. 5, the apparatus includes: a determination module 501 and a calibration module 502.
The determining module 501 is configured to determine a first course angle and a second course angle of a target object, where the first course angle is a course angle measured by an inertial navigation device of the target object, and the second course angle is a course angle measured by a satellite navigation device of the target object;
the determining module 501 is further configured to determine an offset pose of the inertial navigation apparatus according to the first heading angle and the second heading angle;
and a calibration module 502, configured to calibrate the inertial navigation device of the target object according to the offset pose of the inertial navigation device.
In one possible implementation, the target object is a vehicle on which the inertial navigation device and the satellite navigation device are mounted.
In a possible implementation manner, the determining module 501 is further configured to determine a target relationship between the course angle measured by the inertial navigation device, the course angle measured by the satellite navigation device, and the offset pose; and determining the offset pose of the inertial navigation equipment according to the first course angle and the second course angle based on the target relation.
In one possible implementation, the offset pose of the inertial navigation device includes an offset angular velocity of a gyroscope in the inertial navigation device; correspondingly, the determining module 501 is further configured to obtain a first relationship between the angular velocity measured by the gyroscope and the offset angular velocity; acquiring a second relation among the angular velocity, the course angle measured by the inertial navigation equipment and the course angle measured by the satellite navigation equipment; and determining the target relationship according to the first relationship and the second relationship.
In a possible implementation manner, the determining module 501 is further configured to obtain sample data of the target object in a historical driving process, where the sample data includes a sample angular velocity measured by the gyroscope, a sample heading angle measured by the inertial navigation device, and a sample heading angle measured by the satellite navigation device;
and establishing a second relation among the angular speed measured by the gyroscope, the heading angle measured by the inertial navigation equipment and the heading angle measured by the satellite navigation equipment according to the sample data.
In a possible implementation manner, the determining module 501 is further configured to output the offset pose of the inertial navigation apparatus based on the first heading angle, the second heading angle and a target filtering algorithm, where the target filtering algorithm is configured to output the offset pose of the inertial navigation apparatus based on the configured target relationship.
In one possible implementation, the determining module 501 includes:
the first determining unit is used for determining the offset pose of the inertial navigation equipment in the current preset period according to the first course angle and the second course angle of the target object in the current preset period every other preset period;
and the second determination unit is used for determining the offset pose of the inertial navigation equipment according to the offset poses of the inertial navigation equipment in a plurality of preset periods.
In a possible implementation manner, the second determining unit is further configured to, for each preset period, perform a step of determining an offset pose of the inertial navigation device in each preset period according to the first heading angle and the second heading angle of the target object in each preset period; and when the offset poses of the inertial navigation equipment in a plurality of preset periods reach the convergence condition, determining the offset pose reaching the convergence condition as the offset pose of the inertial navigation equipment.
In a possible implementation manner, the second determining unit is further configured to, for each preset period, perform the steps of calibrating the inertial navigation device according to the offset pose of the previous preset period, and determining the offset pose of the calibrated inertial navigation device in each preset period; and when the offset pose corresponding to the first preset period in the preset periods is smaller than a preset threshold value, or the first course angle corresponding to the second preset period in the preset periods is the same as the second course angle, determining the accumulated value of the offset poses in the preset periods before the first preset period or the second preset period as the offset pose of the inertial navigation equipment.
In a possible implementation manner, the determining module 501 is further configured to acquire a first course angle and a second course angle of the target object during the process that the target object travels along a straight line; or when the target object is static, acquiring the first course angle and the second course angle of the target object.
In a possible implementation manner, the determining module 501 is further configured to determine a first offset pose of the inertial navigation device according to the first course angle and the second course angle during the driving of the target object; when the target object is static, determining a second offset pose of the inertial navigation equipment according to the first course angle and the second course angle; and determining the offset pose of the inertial navigation equipment according to the first offset pose and the second offset pose.
In one possible implementation, the satellite navigation device of the target object is a single-antenna satellite navigation device or a dual-antenna satellite navigation device.
In one possible implementation, the offset pose of the inertial navigation device includes an offset angular velocity of a gyroscope in the inertial navigation device; correspondingly, the calibration module 502 is further configured to determine a third relationship between the heading angle measured by the inertial navigation device, the angular velocity measured by the gyroscope, and the offset angular velocity; and correcting the course angle output by the inertial navigation equipment according to the angular speed measured by the gyroscope and the offset angular speed on the basis of the third relation.
In the embodiment of the invention, the terminal can determine the offset pose only based on the first course angle and the second course angle of the target object, and calibrate the inertial navigation equipment based on the offset pose without acquiring a plurality of physical quantities of the target object running along different directions, so that the offset pose can be quickly determined and calibrated, and the calibration efficiency of the inertial navigation equipment is improved.
All the above optional technical solutions may be combined arbitrarily to form the optional embodiments of the present disclosure, and are not described herein again.
It should be noted that: the inertial navigation device calibration apparatus provided in the above embodiment is only illustrated by the division of the above functional modules when calibrating the inertial navigation device, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the inertial navigation device calibration apparatus and the inertial navigation device calibration method provided by the above embodiments belong to the same concept, and specific implementation processes thereof are detailed in the method embodiments and are not described herein again.
Fig. 6 shows a block diagram of an electronic device according to an exemplary embodiment of the present invention. The electronic device may be a terminal, and the terminal 600 may be: a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III, motion Picture Experts compression standard Audio Layer 3), an MP4 player (Moving Picture Experts Group Audio Layer IV, motion Picture Experts compression standard Audio Layer 4), a notebook computer, or a desktop computer. The terminal 600 may also be referred to by other names such as user equipment, portable terminal, laptop terminal, desktop terminal, etc.
In general, the terminal 600 includes: a processor 601 and a memory 602.
Processor 601 may include one or more processing cores, such as 4-core processors, 8-core processors, and so forth. The processor 601 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 601 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in a wake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 601 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, processor 601 may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.
The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in the memory 602 is used to store at least one instruction for execution by the processor 601 to implement the inertial navigation device calibration method provided by the method embodiments herein.
In some embodiments, the terminal 600 may further optionally include: a peripheral interface 603 and at least one peripheral. The processor 601, memory 602, and peripheral interface 603 may be connected by buses or signal lines. Various peripheral devices may be connected to the peripheral interface 603 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 604, touch screen display 605, camera 606, audio circuitry 607, and power supply 609.
The peripheral interface 603 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 601 and the memory 602. In some embodiments, the processor 601, memory 602, and peripheral interface 603 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 601, the memory 602, and the peripheral interface 603 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.
The Radio Frequency circuit 604 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 604 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 604 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 604 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 604 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 604 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display 605 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 605 is a touch display screen, the display screen 605 also has the ability to capture touch signals on or above the surface of the display screen 605. The touch signal may be input to the processor 601 as a control signal for processing. At this point, the display 605 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 605 may be one, providing the front panel of the terminal 600; in other embodiments, the display 605 may be at least two, respectively disposed on different surfaces of the terminal 600 or in a folded design; in still other embodiments, the display 605 may be a flexible display disposed on a curved surface or on a folded surface of the terminal 600. Even more, the display 605 may be arranged in a non-rectangular irregular pattern, i.e., a shaped screen. The Display 605 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and the like.
The camera assembly 606 is used to capture images or video. Optionally, camera assembly 606 includes a front camera and a rear camera. Generally, a front camera is disposed at a front panel of a terminal, and a rear camera is disposed at a rear surface of the terminal. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments, camera assembly 606 may also include a flash. The flash lamp can be a single-color temperature flash lamp or a double-color temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.
The audio circuitry 607 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 601 for processing or inputting the electric signals to the radio frequency circuit 604 to realize voice communication. For the purpose of stereo sound collection or noise reduction, a plurality of microphones may be provided at different portions of the terminal 600. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 601 or the radio frequency circuit 604 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, audio circuitry 607 may also include a headphone jack.
A power supply 609 is used to supply power to the various components in terminal 600. The power supply 609 may be ac, dc, disposable or rechargeable. When the power supply 609 includes a rechargeable battery, the rechargeable battery may support wired charging or wireless charging. The rechargeable battery may also be used to support fast charge technology.
In some embodiments, the terminal 600 also includes one or more sensors 610. The one or more sensors 610 include, but are not limited to: acceleration sensor 611, gyro sensor 612, pressure sensor 613, optical sensor 615, and proximity sensor 616.
The acceleration sensor 611 may detect the magnitude of acceleration in three coordinate axes of the coordinate system established with the terminal 600. For example, the acceleration sensor 611 may be used to detect components of the gravitational acceleration in three coordinate axes. The processor 601 may control the touch screen display 605 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 611. The acceleration sensor 611 may also be used for acquisition of motion data of a game or a user.
The gyro sensor 612 may detect a body direction and a rotation angle of the terminal 600, and the gyro sensor 612 and the acceleration sensor 611 may cooperate to acquire a 3D motion of the user on the terminal 600. The processor 601 may implement the following functions according to the data collected by the gyro sensor 612: motion sensing (such as changing the UI according to a user's tilting operation), image stabilization at the time of photographing, game control, and inertial navigation.
The pressure sensor 613 may be disposed on a side frame of the terminal 600 and/or an underlying layer of the touch display screen 605. When the pressure sensor 613 is disposed on the side frame of the terminal 600, a holding signal of the user to the terminal 600 can be detected, and the processor 601 performs left-right hand recognition or shortcut operation according to the holding signal collected by the pressure sensor 613. When the pressure sensor 613 is arranged at the lower layer of the touch display screen 605, the processor 601 controls the operability control on the UI interface according to the pressure operation of the user on the touch display screen 605. The operability control comprises at least one of a button control, a scroll bar control, an icon control, and a menu control.
The optical sensor 615 is used to collect the ambient light intensity. In one embodiment, processor 601 may control the display brightness of touch display 605 based on the ambient light intensity collected by optical sensor 615. Specifically, when the ambient light intensity is higher, the display brightness of the touch display screen 605 is increased; when the ambient light intensity is low, the display brightness of the touch display screen 605 is turned down. In another embodiment, the processor 601 may also dynamically adjust the shooting parameters of the camera assembly 606 according to the ambient light intensity collected by the optical sensor 615.
A proximity sensor 616, also known as a distance sensor, is typically disposed on the front panel of the terminal 600. The proximity sensor 616 is used to collect the distance between the user and the front surface of the terminal 600. In one embodiment, when the proximity sensor 616 detects that the distance between the user and the front surface of the terminal 600 gradually decreases, the processor 601 controls the touch display 605 to switch from the bright screen state to the dark screen state; when the proximity sensor 616 detects that the distance between the user and the front surface of the terminal 600 gradually becomes larger, the processor 601 controls the touch display 605 to switch from the breath screen state to the bright screen state.
Those skilled in the art will appreciate that the configuration shown in fig. 6 is not intended to be limiting of terminal 600 and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components may be used.
In an exemplary embodiment, a computer-readable storage medium, such as a memory including instructions executable by a processor, is also provided to perform the inertial navigation device calibration method in the embodiments described below. For example, the computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.

Claims (12)

1. An inertial navigation device calibration method, characterized in that the method comprises:
determining a first course angle and a second course angle of a target object, wherein the first course angle is the course angle measured by inertial navigation equipment of the target object, and the second course angle is the course angle measured by satellite navigation equipment of the target object;
acquiring a first relation between an angular velocity measured by a gyroscope in the inertial navigation equipment and a deviation angular velocity;
acquiring a second relation among the angular speed measured by the gyroscope, the course angle measured by the inertial navigation equipment and the course angle measured by the satellite navigation equipment;
converting the first relationship and the second relationship based on the angular velocity measured by the gyroscope to determine a target relationship between the course angle measured by the inertial navigation device, the course angle measured by the satellite navigation device, and an offset pose of the inertial navigation device, the offset pose of the inertial navigation device including the offset angular velocity of the gyroscope in the inertial navigation device;
when the target relationship is an offset pose expression, determining a state expression and an observation expression of the inertial navigation equipment according to the offset pose expression, wherein the observation expression is used for representing the target relationship among the first course angle, the second course angle and the offset pose, and the state expression is used for representing the change states of the first course angle, the second course angle and the offset pose respectively along with time;
establishing a target filtering algorithm according to the state expression and the observation expression, wherein the target filtering algorithm comprises the observation expression and the state expression;
respectively determining a first offset pose of the inertial navigation equipment in the process of driving the target object along a straight line and a second offset pose of the inertial navigation equipment when the target object is static according to the first course angle, the second course angle and the target filtering algorithm of the target object in the current preset period; determining the first or second offset pose as an offset pose of the inertial navigation device when the first and second offset poses are the same; when the first and second offset poses are not the same, repeating the steps of determining the first and second offset poses until the first and second offset poses are the same; alternatively, the first and second electrodes may be,
every other preset period, calibrating the inertial navigation equipment according to the offset pose of the previous preset period, and determining the offset pose of the calibrated inertial navigation equipment in each preset period; when the offset pose corresponding to a first preset period in a plurality of preset periods is smaller than a preset threshold value, or a first course angle corresponding to a second preset period in the plurality of preset periods is the same as a second course angle, determining the accumulated value of the offset poses in the first preset period or a plurality of preset periods before the second preset period as the offset pose of the inertial navigation equipment;
and calibrating the inertial navigation equipment of the target object according to the offset pose of the inertial navigation equipment.
2. The method of claim 1, wherein obtaining a second relationship between the angular velocity measured by the gyroscope, the heading angle measured by the inertial navigation device, and the heading angle measured by the satellite navigation device comprises:
acquiring sample data of the target object in a historical driving process, wherein the sample data comprises a sample angular speed measured by the gyroscope, a sample course angle measured by the inertial navigation equipment and a sample course angle measured by the satellite navigation equipment;
and establishing the second relation among the angular speed measured by the gyroscope, the course angle measured by the inertial navigation equipment and the course angle measured by the satellite navigation equipment according to the sample data.
3. The method of claim 1, wherein the process of determining the offset pose of the inertial navigation device further comprises:
for each preset period, determining the offset pose of the inertial navigation equipment in each preset period according to the first course angle and the second course angle of the target object in each preset period;
when the offset poses of the inertial navigation equipment in a plurality of preset periods reach a convergence condition, determining the offset pose reaching the convergence condition as the offset pose of the inertial navigation equipment.
4. The method of claim 1, wherein the target satellite navigation device is a single antenna satellite navigation device or a dual antenna satellite navigation device.
5. The method of claim 1, wherein calibrating the inertial navigation device of the target object according to the offset pose of the inertial navigation device comprises:
determining a third relationship between the heading angle measured by the inertial navigation device, the angular velocity measured by the gyroscope, and the offset angular velocity;
and correcting the course angle output by the inertial navigation equipment according to the angular speed measured by the gyroscope and the offset angular speed on the basis of the third relation.
6. An inertial navigation device calibration apparatus, the apparatus comprising:
the determining module is used for determining a first course angle and a second course angle of a target object, wherein the first course angle is the course angle measured by inertial navigation equipment of the target object, and the second course angle is the course angle measured by satellite navigation equipment of the target object;
the determining module is further configured to obtain a first relationship between an angular velocity measured by a gyroscope in the inertial navigation device and an offset angular velocity; acquiring a second relation among the angular speed measured by the gyroscope, the course angle measured by the inertial navigation equipment and the course angle measured by the satellite navigation equipment; converting the first relationship and the second relationship based on the angular velocity measured by the gyroscope to determine a target relationship between the course angle measured by the inertial navigation device, the course angle measured by the satellite navigation device, and an offset pose of the inertial navigation device, the offset pose of the inertial navigation device including the offset angular velocity of the gyroscope in the inertial navigation device;
means for performing the steps of: when the target relationship is an offset pose expression, determining a state expression and an observation expression of the inertial navigation equipment according to the offset pose expression, wherein the observation expression is used for representing the target relationship among the first course angle, the second course angle and the offset pose, and the state expression is used for representing the change states of the first course angle, the second course angle and the offset pose respectively along with time; establishing a target filtering algorithm according to the state expression and the observation expression, wherein the target filtering algorithm comprises the observation expression and the state expression;
the determining module is further configured to respectively determine a first offset pose of the inertial navigation device in a process that the target object travels along a straight line and a second offset pose of the inertial navigation device when the target object is stationary according to the first course angle, the second course angle and the target filtering algorithm of the target object in a current preset period; determining the first offset pose or the second offset pose as the offset pose of the inertial navigation device when the first offset pose and the second offset pose are the same; when the first and second offset poses are not the same, repeating the steps of determining the first and second offset poses until the first and second offset poses are the same;
the determining module comprises a first determining unit and a second determining unit, wherein the first determining unit is used for calibrating the inertial navigation equipment according to the offset pose of the previous preset period every other preset period, and determining the offset pose of the calibrated inertial navigation equipment in each preset period;
the second determining unit is configured to determine, when the offset pose corresponding to a first preset period in the preset periods is smaller than a preset threshold, or a first course angle corresponding to a second preset period in the preset periods is the same as a second course angle, an accumulated value of the offset poses in the first preset period or the preset periods before the second preset period as the offset pose of the inertial navigation apparatus;
and the calibration module is used for calibrating the inertial navigation equipment of the target object according to the offset pose of the inertial navigation equipment.
7. The apparatus of claim 6, wherein the determining module is further configured to:
acquiring sample data of the target object in a historical driving process, wherein the sample data comprises a sample angular velocity measured by the gyroscope, a sample course angle measured by the inertial navigation equipment and a sample course angle measured by the satellite navigation equipment;
and establishing the second relation among the angular speed measured by the gyroscope, the course angle measured by the inertial navigation equipment and the course angle measured by the satellite navigation equipment according to the sample data.
8. The apparatus of claim 6, wherein the second determining unit is further configured to:
for each preset period, determining the offset pose of the inertial navigation equipment in each preset period according to the first course angle and the second course angle of the target object in each preset period;
when the offset poses of the inertial navigation equipment in a plurality of preset periods reach a convergence condition, determining the offset pose reaching the convergence condition as the offset pose of the inertial navigation equipment.
9. The apparatus of claim 6, wherein the target satellite navigation device is a single-antenna satellite navigation device or a dual-antenna satellite navigation device.
10. The apparatus of claim 6, wherein the calibration module is configured to:
determining a third relationship between the heading angle measured by the inertial navigation device, the angular velocity measured by the gyroscope, and the offset angular velocity;
and correcting the course angle output by the inertial navigation equipment according to the angular speed measured by the gyroscope and the deviation angular speed on the basis of the third relation.
11. An electronic device, comprising a processor and a memory, wherein at least one instruction is stored in the memory, and the instruction is loaded by the processor and executed to implement the operations performed by the inertial navigation device calibration method according to any one of claims 1 to 5.
12. A computer-readable storage medium having stored therein at least one instruction which is loaded and executed by a processor to perform operations performed by an inertial navigation device calibration method according to any one of claims 1 to 5.
CN201811444726.9A 2018-11-29 2018-11-29 Inertial navigation equipment calibration method and device, electronic equipment and storage medium Active CN110146106B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811444726.9A CN110146106B (en) 2018-11-29 2018-11-29 Inertial navigation equipment calibration method and device, electronic equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811444726.9A CN110146106B (en) 2018-11-29 2018-11-29 Inertial navigation equipment calibration method and device, electronic equipment and storage medium

Publications (2)

Publication Number Publication Date
CN110146106A CN110146106A (en) 2019-08-20
CN110146106B true CN110146106B (en) 2023-02-10

Family

ID=67589308

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811444726.9A Active CN110146106B (en) 2018-11-29 2018-11-29 Inertial navigation equipment calibration method and device, electronic equipment and storage medium

Country Status (1)

Country Link
CN (1) CN110146106B (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110987023B (en) * 2019-12-26 2021-09-21 成都路行通信息技术有限公司 Inertial navigation dynamic alignment method
CN111536996B (en) * 2020-05-14 2022-10-11 阿波罗智联(北京)科技有限公司 Temperature drift calibration method, device, equipment and medium
WO2022198590A1 (en) * 2021-03-25 2022-09-29 华为技术有限公司 Calibration method and apparatus, intelligent driving system, and vehicle
CN113923774B (en) * 2021-12-09 2022-03-25 腾讯科技（深圳）有限公司 Target terminal position determining method and device, storage medium and electronic equipment
CN114295149A (en) * 2021-12-27 2022-04-08 率为科技(北京)有限责任公司 Error self-calibration method suitable for unmanned MEMS inertial navigation system
CN114723924A (en) * 2022-03-23 2022-07-08 杭州易现先进科技有限公司 Method, system, device and medium for positioning large-scene augmented reality

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104991565A (en) * 2015-06-10 2015-10-21 西安爱生技术集团公司 Parachute fixed-wing unmanned aerial vehicle autonomous fixed-point recovery method
CN206161871U (en) * 2016-11-02 2017-05-10 上海海积信息科技股份有限公司 Vehicle control appearance that traveles
CN107633256A (en) * 2017-08-15 2018-01-26 中国电子科技集团公司第二十八研究所 Joint objective positioning and sensor registration method under a kind of multi-source ranging

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012185111A (en) * 2011-03-08 2012-09-27 Seiko Epson Corp Positioning device and positioning method
CN102997918B (en) * 2011-09-15 2016-05-25 北京自动化控制设备研究所 A kind of inertia/attitude of satellite fusion method
CN106646539A (en) * 2016-12-02 2017-05-10 上海华测导航技术股份有限公司 Method and system for testing GNSS (Global Navigation Satellite System) receiver heading angle

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104991565A (en) * 2015-06-10 2015-10-21 西安爱生技术集团公司 Parachute fixed-wing unmanned aerial vehicle autonomous fixed-point recovery method
CN206161871U (en) * 2016-11-02 2017-05-10 上海海积信息科技股份有限公司 Vehicle control appearance that traveles
CN107633256A (en) * 2017-08-15 2018-01-26 中国电子科技集团公司第二十八研究所 Joint objective positioning and sensor registration method under a kind of multi-source ranging

Also Published As

Publication number Publication date
CN110146106A (en) 2019-08-20

Similar Documents

Publication Publication Date Title
CN110146106B (en) Inertial navigation equipment calibration method and device, electronic equipment and storage medium
WO2021128777A1 (en) Method, apparatus, device, and storage medium for detecting travelable region
CN108682036B (en) Pose determination method, pose determination device and storage medium
CN110967011B (en) Positioning method, device, equipment and storage medium
CN110986930B (en) Equipment positioning method and device, electronic equipment and storage medium
CN111768454B (en) Pose determination method, pose determination device, pose determination equipment and storage medium
CN109166150B (en) Pose acquisition method and device storage medium
CN110134744B (en) Method, device and system for updating geomagnetic information
CN110926473A (en) Method and device for identifying floor, electronic equipment and storage medium
CN111126276B (en) Lane line detection method, lane line detection device, computer equipment and storage medium
CN111256676B (en) Mobile robot positioning method, device and computer readable storage medium
CN108196701B (en) Method and device for determining posture and VR equipment
CN111928861B (en) Map construction method and device
CN111538009B (en) Radar point marking method and device
CN113326800B (en) Lane line position determination method and device, vehicle-mounted terminal and storage medium
CN113432620B (en) Error estimation method and device, vehicle-mounted terminal and storage medium
CN114372395A (en) CAE (computer aided engineering) automatic modeling method, system, terminal and storage medium for kinematic pairs
CN111717205B (en) Vehicle control method, device, electronic equipment and computer readable storage medium
CN108871356B (en) Driving navigation method and mobile terminal
CN113255906A (en) Method, device, terminal and storage medium for returning obstacle 3D angle information in automatic driving
CN111583339A (en) Method, device, electronic equipment and medium for acquiring target position
CN111859549A (en) Method for determining weight and gravity center information of single-configuration whole vehicle and related equipment
CN113110552B (en) Attitude control method, device and equipment for aircraft and readable storage medium
CN112525554B (en) Method and device for determining collision angle of automobile and computer storage medium
CN112329355B (en) Method and device for determining single-well control area, computer equipment and storage medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant