CN110231031A - A kind of attitude angle determines method, apparatus and system - Google Patents
A kind of attitude angle determines method, apparatus and system Download PDFInfo
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- CN110231031A CN110231031A CN201810178701.2A CN201810178701A CN110231031A CN 110231031 A CN110231031 A CN 110231031A CN 201810178701 A CN201810178701 A CN 201810178701A CN 110231031 A CN110231031 A CN 110231031A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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Abstract
This application discloses a kind of attitude angles to determine method, apparatus and system, the application is less than in a period of time of setting speed threshold value using speed before the current detection moment, the measurement result of gyroscope determines the bias drift of current detection moment gyroscope, and then the measurement result of current detection moment gyroscope is modified, automobile attitude quaternary number is determined using measurement result after amendment, and determine the attitude angle of automobile, reduce influence of the bias drift to attitude error of gyroscope, improve the accuracy in computation of attitude angle, and then improve the positioning accuracy positioned according to attitude angle.
Description
Technical field
This application involves technical field of navigation and positioning, determine method, apparatus more specifically to a kind of attitude angle and are
System.
Background technique
Currently, gyroscope has been widely used in navigation positioning system.Existing vehicle positioning scheme generally utilizes gyro
Instrument determines the attitude angle (including pitch angle, roll angle and course angle) of automobile, does positioning further combined with speed signal and calculates.This
Kind method is not having the field of GNSS (Global Navigation Satellite System, Global Navigation Satellite System) for a long time
There are accumulated errors under scape.
By analyzing error source, can determine gyroscope bias drift be cause one of error it is important because
Element.The bias drift of gyroscope refers to the phenomenon that gyroscope output result displaced from zero in a stationary situation, the zero bias of gyroscope
Drift value can measure to obtain in laboratory environments；But for batch vehicle positioning application scenarios produced, it cannot achieve and be directed to
The measurement of the bias drift value of each vehicle-mounted gyroscope.The prior art is carrying out navigator fix process using gyroscope, generally adopts
With the bias drift value for ignoring gyroscope, it is clear that the inaccuracy of attitude angle determined by this mode, and then influence positioning accuracy.
Summary of the invention
In view of this, this application provides a kind of attitude angles to determine method, apparatus and system, to solve existing to ignore gyro
The problem of attitude angle brought by the bias drift value of instrument calculates inaccuracy, influences positioning accuracy.
To achieve the goals above, it is proposed that scheme it is as follows:
A kind of attitude angle determines method, comprising:
Before the current detection moment in set period of time, when speed is less than setting speed threshold value, obtains gyroscope and exist
Measurement result before the current detection moment in set period of time；
According to measurement result of the gyroscope before the current detection moment in set period of time, when obtaining current detection
Carve the bias drift of the gyroscope；
According to the bias drift of the gyroscope, the measurement result at gyroscope current detection moment is modified, is obtained
Measurement result after amendment；
According to measurement result after the attitude quaternion of upper detection moment automobile and the amendment, when determining current detection
Carve the attitude quaternion of automobile；
According to the attitude quaternion of current detection moment automobile, the attitude angle of current detection moment automobile, the appearance are determined
State angle includes pitch angle, roll angle and course angle.
Preferably, this method further include:
If it is determined that before the current detection moment in set period of time, the case where there are speed being more than setting speed threshold value, then
The bias drift of gyroscope determined by a detection moment nearest before the current detection moment is determined as the current detection moment
The bias drift of the gyroscope.
Preferably, this method further include:
Before determining the current detection moment in set period of time, when speed is less than setting speed threshold value, obtains and accelerate
Measurement result of the degree meter before the current detection moment in set period of time；
According to measurement result of the accelerometer before the current detection moment in set period of time, current detection is determined
The pitch angle and roll angle of moment automobile；
By the pitch angle and roll angle of the current detection moment automobile according to determined by accelerometer measures result, Yi Jigen
The course angle of current detection moment automobile is as final result determined by attitude quaternion according to automobile.
Preferably, the determination process of the attitude quaternion of initial detecting moment automobile, comprising:
Obtain measurement result of the accelerometer after automobile initial start in set period of time；
According to measurement result of the accelerometer after the automobile initial start in set period of time, determination is initial from automobile
By the pitch angle and roll angle of the automobile at set period of time moment after starting；
According to Global Satellite Navigation System GNSS signal, determine from after automobile initial start by the set period of time moment
The course angle of automobile；
According to from after automobile initial start by pitch angle, roll angle and the course angle of the automobile at set period of time moment,
The attitude quaternion for determining automobile, the attitude quaternion as initial detecting moment automobile.
Preferably, the measurement result according to gyroscope before the current detection moment in set period of time, is obtained
Take the bias drift of gyroscope described in the current detection moment, comprising:
Several measured values that gyroscope exports in set period of time before the current detection moment are sought average
It is worth, as a result the bias drift as gyroscope described in the current detection moment.
A kind of attitude angle determining device, comprising:
Gyroscope historical measurement acquiring unit, in set period of time, speed to be not before the current detection moment
When more than setting speed threshold value, measurement result of the gyroscope before the current detection moment in set period of time is obtained；
First bias drift determination unit, for according to gyroscope before the current detection moment in set period of time
Measurement result, obtain the current detection moment described in gyroscope bias drift；
Gyroscope measurement result amending unit, for the bias drift according to the gyroscope, to gyroscope current detection
The measurement result at moment is modified, measurement result after being corrected；
Current pose quaternary number determination unit, for according to the attitude quaternion of upper detection moment automobile and described repairing
Measurement result after just, determines the attitude quaternion of current detection moment automobile；
First attitude angle determination unit determines current detection for the attitude quaternion according to current detection moment automobile
The attitude angle of moment automobile, the attitude angle include pitch angle, roll angle and course angle.
Preferably, the device further include:
Second bias drift determination unit, for if it is determined that there are speeds before the current detection moment in set period of time
The case where more than setting speed threshold value, then by zero of gyroscope determined by a detection moment nearest before the current detection moment
It drifts about partially and is determined as the bias drift of gyroscope described in the current detection moment.
Preferably, the device further include:
Accelerometer historical measurement acquiring unit, for before determining the current detection moment in set period of time,
When speed is less than setting speed threshold value, measurement knot of the accelerometer before the current time in set period of time is obtained
Fruit；
Second attitude angle determination unit, for according to accelerometer before the current detection moment in set period of time
Measurement result, determine the pitch angle and roll angle of current detection moment automobile；
Final result determination unit, for by the current detection moment automobile according to determined by accelerometer measures result
Pitch angle and roll angle, and the course angle of the current detection moment automobile according to determined by the attitude quaternion of automobile are used as most
Terminate fruit.
Preferably, further includes: initial attitude quaternary number determination unit is used for:
Obtain measurement result of the accelerometer after automobile initial start in set period of time；
According to measurement result of the accelerometer after the automobile initial start in set period of time, determination is initial from automobile
By the pitch angle and roll angle of the automobile at set period of time moment after starting；
According to Global Satellite Navigation System GNSS signal, determine from after automobile initial start by the set period of time moment
The course angle of automobile；
According to from after automobile initial start by pitch angle, roll angle and the course angle of the automobile at set period of time moment,
The attitude quaternion for determining automobile, the attitude quaternion as initial detecting moment automobile.
Preferably, the first bias drift determination unit includes:
It is averaging unit, several for being exported in set period of time before the current detection moment to gyroscope
Measured value averaged, the as a result bias drift as gyroscope described in the current detection moment.
A kind of attitude angle determines system, comprising: controller and gyroscope, wherein
The controller is used for, and before the current detection moment in set period of time, speed is less than setting speed threshold value
When, obtain measurement result of the gyroscope before the current detection moment in set period of time；According to the gyroscope
Measurement result before the current detection moment in set period of time obtains the zero bias of gyroscope described in the current detection moment
Drift；According to the bias drift of the gyroscope, the measurement result at gyroscope current detection moment is modified, is corrected
Measurement result afterwards；According to measurement result after the attitude quaternion of upper detection moment automobile and the amendment, current inspection is determined
Survey the attitude quaternion of moment automobile；According to the attitude quaternion of current detection moment automobile, current detection moment automobile is determined
Attitude angle, the attitude angle includes pitch angle, roll angle and course angle.
Preferably, further includes: accelerometer；
The controller is also used to, and before determining the current detection moment in set period of time, speed is less than setting speed
When spending threshold value, measurement result of the accelerometer before the current detection moment in set period of time is obtained；According to institute
Measurement result of the accelerometer before the current detection moment in set period of time is stated, determines current detection moment automobile
Pitch angle and roll angle；By the pitch angle of current detection moment automobile and rolling according to determined by accelerometer measures result
Angle, and the current detection moment automobile according to determined by the attitude quaternion of automobile course angle as final result.
It can be seen from the above technical scheme that the attitude angle of the application determines method, set before the current detection moment
It fixes time in section, when speed is less than setting speed threshold value, acquisition gyroscope is before the current detection moment in set period of time
Measurement result, and according to the measurement result obtain the current detection moment described in gyroscope bias drift；According to the gyro
The bias drift of instrument is modified the measurement result at gyroscope current detection moment, measurement result after being corrected；According to upper
Measurement result after the attitude quaternion of one detection moment automobile and the amendment determines the posture four of current detection moment automobile
First number；According to the attitude quaternion of current detection moment automobile, determine that the attitude angle of current detection moment automobile, attitude angle include
Pitch angle, roll angle and course angle.Since the measurement result of the gyroscope when speed is low is close to bias drift, the application utilizes vehicle
Speed was less than in a period of time of setting speed threshold value, and the measurement result of gyroscope determines the zero bias of current detection moment gyroscope
Drift, and then the measurement result of current detection moment gyroscope is modified, automobile appearance is determined using measurement result after amendment
State quaternary number, and determine the attitude angle of automobile, influence of the bias drift to attitude error of gyroscope is reduced, appearance is improved
The accuracy in computation at state angle, and then improve the positioning accuracy positioned according to attitude angle.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of application for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 determines method flow diagram for a kind of attitude angle disclosed in the embodiment of the present application；
Fig. 2 determines method flow diagram for a kind of initial time automobile attitude quaternary number disclosed in the embodiment of the present application；
Fig. 3 is that another kind attitude angle disclosed in the embodiment of the present application determines method flow diagram；
Fig. 4 is that another attitude angle disclosed in the embodiment of the present application determines method flow diagram；
Fig. 5 is a kind of attitude angle determining device structural schematic diagram disclosed in the embodiment of the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
The application attitude angle determines that method for determining the attitude angle of automobile, is provided with controller, gyroscope, adds on automobile
Speedometer.Controller can determine the attitude angle of automobile according to the measurement result of gyroscope, accelerometer.Next from control
The angle of device determines that method is introduced in conjunction with attitude angle of the Fig. 1 to the application, as shown in Figure 1, this method comprises:
Step S100, it before the current detection moment in set period of time, when speed is less than setting speed threshold value, obtains
Measurement result of the gyroscope before the current detection moment in set period of time；
Specifically, for controller, a detection moment is reached at regular intervals according to setting logic.Control
Device is before determining the current detection moment in set period of time, when speed is less than setting speed threshold value, available gyroscope
Measurement result before the current detection moment in set period of time.
X-th of detection moment of controller is indicated with t-x, then x is the integer from 0-n.A upper detection moment of t-x is t-
(x-1)。
X=now, t-now indicate the current detection moment.Set period of time is indicated with T, then is obtained in this step from time point
T-now to the gyroscope of this period between time point [(t-now)-T] measurement result.
Wherein, setting speed threshold value can be other numerical value such as 0.5m/s, and set period of time T can be 5s or other numbers
Value.It will be appreciated by those skilled in the art that being configured as required in actual scene.
Step S110, the measurement result according to gyroscope before the current detection moment in set period of time obtains
The bias drift of gyroscope described in the current detection moment；
Specifically, measurement result of the gyroscope when speed is not high relatively bias drift value.In turn, it is determining currently
It, can be according to gyroscope in the setting when car speed is less than setting speed threshold value before detection moment in set period of time
Measurement result in period obtains the bias drift of current detection moment gyroscope.
Step S120, according to the bias drift of the gyroscope, the measurement result at gyroscope current detection moment is carried out
Amendment, measurement result after being corrected；
Specifically, current to gyroscope using the bias drift after the bias drift for obtaining gyroscope in the previous step
The measurement result of detection moment is modified.Correcting mode is usually to subtract the measurement result at gyroscope current detection moment
Bias drift, as a result as measurement result after amendment.
It is modified by using measurement result of the bias drift to the gyroscope current detection moment, so that revised survey
It is more accurate to measure result.
Step S130, it according to measurement result after the attitude quaternion of upper detection moment automobile and the amendment, determines
The attitude quaternion of current detection moment automobile；
Specifically, the attitude quaternion and top of the attitude quaternion of current detection moment automobile and upper detection moment automobile
Relationship between spiral shell instrument amendment measurement result is referred to following formula:
Q=a+bi+cj+dk
Wherein, q indicates the attitude quaternion of upper detection moment automobile,Indicate the posture four of current detection moment automobile
First number, wxMeasurement result after expression current detection moment gyroscope X-axis amendment, wyIndicate the amendment of current detection moment gyroscope Y-axis
Measurement result afterwards, wzMeasurement result after expression current detection moment gyroscope Z axis amendment.
Based on above-mentioned formula it is found that by measurement result after the attitude quaternion of upper detection moment automobile and the amendment
It brings formula into, that is, can determine the attitude quaternion of current detection moment automobile.
Step S140, according to the attitude quaternion of current detection moment automobile, the posture of current detection moment automobile is determined
Angle.
Attitude angle includes pitch angle, roll angle and course angle.Wherein, the attitude angle of the attitude quaternion of automobile and automobile it
Between there are following formula corresponding relationships:
Wherein, θ indicates that pitch angle pitch, φ indicate that roll angle row, ψ indicate course angle yaw.
Derive above-mentioned formula it follows that
θ=arcsin [- c31]
It follows that after the attitude quaternion that current detection moment automobile has been determined, bringing into above-mentioned can determine square
Battle arrayAnd then according to matrixElement, in conjunction with above formula can solve the pitch angle of current detection moment automobile, roll angle and
Course angle.
Attitude angle disclosed in the embodiment of the present application determines method, the set period of time before determining the current detection moment
It is interior, when speed is less than setting speed threshold value, obtain measurement knot of the gyroscope before the current time in set period of time
Fruit, and then the bias drift of the gyroscope according to the measurement result acquisition current detection moment；According to the zero of the gyroscope
Drift partially, is modified the measurement result at gyroscope current detection moment, measurement result after being corrected；According to a upper detection
Measurement result after the attitude quaternion of moment automobile and the amendment, determines the attitude quaternion of current detection moment automobile；
According to the attitude quaternion of current detection moment automobile, the attitude angle of current detection moment automobile is determined.Due to when speed is low
The measurement result of gyroscope is less than in a period of time of setting speed threshold value close to bias drift, the application using speed, top
The measurement result of spiral shell instrument determines the bias drift of current detection moment gyroscope, and then to the measurement result of current time gyroscope
It is modified, determines automobile attitude quaternary number using measurement result after amendment, and determine the attitude angle of automobile, reduce gyroscope
Influence of the bias drift to attitude error, improve the accuracy in computation of attitude angle, so improve according to attitude angle into
The positioning accuracy of row positioning.
Optionally, above-mentioned steps S110, according to survey of the gyroscope before the current detection moment in set period of time
The process as a result, bias drift of gyroscope described in the acquisition current detection moment is measured, can specifically include:
Several measured values that gyroscope exports in set period of time before the current detection moment are sought average
It is worth, as a result the bias drift as gyroscope described in the current detection moment.
Specifically, gyroscope can be three-axis gyroscope, to gyroscope each moment measures in the set time period X, Y, Z
Axis measurement result distinguishes averaged, and each axial measurement average value is as each axial zero bias of current detection moment gyroscope
Drift.
Optionally, it needs to use when determining the attitude quaternion of current detection moment automobile in abovementioned steps S130
The attitude quaternion of one detection moment automobile.For the attitude quaternion of initial detecting moment automobile, such as lower section can be passed through
Formula determines.
Its speed will not be too fast in initial start-up procedures for automobile, therefore can use the survey of accelerometer in this process
Result is measured to determine the pitch angle and roll angle of automobile.Further, by Global Satellite Navigation System GNSS signal, automobile is determined
Course angle.It is based on, pitch angle, roll angle and the course angle of determining automobile determine the attitude quaternion of automobile, as initial
Attitude quaternion.
The specific implementation of the process is referred to shown in Fig. 2, comprising:
Step S200, measurement result of the accelerometer after automobile initial start in set period of time is obtained；
Show for example, after automobile starting the 5s moment, accelerometer respectively measures axial measurement result in 5s before obtaining.
Step S210, the measurement result according to accelerometer after the automobile initial start in set period of time determines
From after automobile initial start by the pitch angle and roll angle of the automobile at set period of time moment；
Specifically, the corresponding relationship between automotive pitch angle, roll angle and accelerometer measures result is referred to following public affairs
Formula:
Wherein, fx、fyAnd fzIt respectively indicates accelerometer in set period of time and respectively measures being averaged for axial measurement result
Value, pitch indicate that pitch angle, roll indicate roll angle.
Step S220, according to Global Satellite Navigation System GNSS signal, when determining from after automobile initial start by setting
Between the section moment automobile course angle；
Specifically, the course angle yaw of automobile can be determined according to GNSS signal.
Step S230, basis is from after automobile initial start by pitch angle, the roll angle of the automobile at set period of time moment
And course angle, determine the attitude quaternion of automobile, the attitude quaternion as initial detecting moment automobile.
Specifically, corresponding according to the formula between the attitude quaternion of the automobile of above-mentioned formula introduction and the attitude angle of automobile
Relationship brings the pitch angle, roll angle and course angle of determining automobile into formula, can seek the attitude quaternion of automobile.
This embodiment describes the methods of determination of the attitude quaternion of initial detecting moment automobile.Initial time is being determined
After the attitude quaternion of automobile, each detection moment automobile after being sought based on the attitude quaternion of initial time automobile
Attitude quaternion.
In another embodiment of the application, describes another attitude angle and determine method, as shown in figure 3, this method
Include:
Step S300, it before the current detection moment in set period of time, when speed is less than setting speed threshold value, obtains
Measurement result of the gyroscope before the current detection moment in set period of time；
Step S310, the measurement result according to gyroscope before the current detection moment in set period of time obtains
The bias drift of gyroscope described in the current detection moment；
It step S320, is more than setting speed threshold value there are speed if it is determined that before the current detection moment in set period of time
The case where, then the bias drift of gyroscope determined by a detection moment nearest before the current detection moment is determined as currently
The bias drift of gyroscope described in detection moment；
Specifically, if a certain moment speed before the current detection moment in set period of time has been more than setting speed threshold
Value will lead to bias drift if continuing to use gyroscope measurement result and determining bias drift and calculate inaccuracy, be this this step
When the bias drift of gyroscope determined by a nearest detection moment is determined as current detection before the middle moment by current detection
Carve the bias drift of the gyroscope.
Step S330, according to the bias drift of the gyroscope, the measurement result at gyroscope current detection moment is carried out
Amendment, measurement result after being corrected；
Step S340, it according to measurement result after the attitude quaternion of upper detection moment automobile and the amendment, determines
The attitude quaternion of current detection moment automobile；
Step S350, according to the attitude quaternion of current detection moment automobile, the posture of current detection moment automobile is determined
Angle.
Wherein, step S330-S350 and step S120-S140 in previous embodiment is corresponded, and details are not described herein again.
In the scheme of the present embodiment introduction, before determining the current detection moment in set period of time, there are speeds to be more than
When the case where setting speed threshold value, by the zero bias of gyroscope determined by a nearly detection moment nearest before the current detection moment
Drift is determined as the bias drift of gyroscope described in the current detection moment, avoids continuing to use gyroscope measurement result to determine zero
Big, the inaccurate problem of error caused by drift partially.
In another embodiment of the application, describes another attitude angle and determine method, as shown in figure 4, this method
Include:
Step S400, it before the current detection moment in set period of time, when speed is less than setting speed threshold value, obtains
Measurement result of the gyroscope before the current detection moment in set period of time；
Step S410, the measurement result according to gyroscope before the current detection moment in set period of time determines
The bias drift of gyroscope described in the current detection moment；
Step S420, according to the bias drift of the gyroscope, the measurement result at gyroscope current detection moment is carried out
Amendment, measurement result after being corrected；
Step S430, it according to measurement result after the attitude quaternion of upper detection moment automobile and the amendment, determines
The attitude quaternion of current detection moment automobile；
Step S440, according to the attitude quaternion of current detection moment automobile, the posture of current detection moment automobile is determined
Angle；
Wherein, attitude angle includes pitch angle, roll angle and course angle.
Step S400-S440 is corresponded with step S100-S140 in previous embodiment, and details are not described herein again.
Step S450, measurement result of the accelerometer before the current detection moment in set period of time is obtained；
Step S460, the measurement result according to accelerometer before the current detection moment in set period of time, really
The pitch angle and roll angle of settled preceding detection moment automobile；
Specifically, before determining the current detection moment in set period of time, when speed is less than setting speed threshold value, this
Further the measurement result according to accelerometer before the current detection moment in set period of time, determination are current in step
The pitch angle and roll angle of detection moment automobile.Wherein, calculation is referred to the calculation formula in step S210.
Since there are accumulated errors for gyroscope, and when speed is no more than setting speed threshold value, accelerometer measures result
It can more accurately estimate the pitch angle and roll angle of automobile, therefore, be set before determining the current detection moment in this step
In period, when speed is less than setting speed threshold value, current detection moment automobile is determined by the measurement result of acceleration
Pitch angle and roll angle.
Step S470, by the pitch angle of current detection moment automobile and rolling according to determined by accelerometer measures result
Angle, and the current detection moment automobile according to determined by the attitude quaternion of automobile course angle as final result.
It is understood that the current detection moment automobile according to determined by accelerometer measures result in step S460
Pitch angle and roll angle are theoretically than the current detection moment vapour according to determined by the attitude quaternion of automobile in step S440
The pitch angle and roll angle of vehicle are accurate, for this purpose, the application is by the step S460 pitch angle calculated and roll angle and step
The course angle calculated in S440, the attitude angle as finally determining current detection moment automobile.
Embodiment adds the process for using accelerometer to rectify a deviation automobile attitude angle, guarantee the automobile calculated
Attitude angle is more accurate.
Attitude angle determining device provided by the embodiments of the present application is described below, attitude angle described below determines dress
It sets and determines that method can correspond to each other reference with above-described attitude angle.
Referring to Fig. 5, Fig. 5 is a kind of attitude angle determining device structural schematic diagram disclosed in the embodiment of the present application.Such as Fig. 5 institute
Show, which includes:
Gyroscope historical measurement acquiring unit 11 is used for before the current detection moment in set period of time, speed
When being less than setting speed threshold value, measurement result of the gyroscope before the current detection moment in set period of time is obtained；
First bias drift determination unit 12, for according to gyroscope before the current detection moment set period of time
Interior measurement result obtains the bias drift of gyroscope described in the current detection moment；
Gyroscope measurement result amending unit 13 currently examines gyroscope for the bias drift according to the gyroscope
The measurement result for surveying the moment is modified, measurement result after being corrected；
Current pose quaternary number determination unit 14, for according to the attitude quaternion of upper detection moment automobile and described
Measurement result after amendment determines the attitude quaternion of current detection moment automobile；
First attitude angle determination unit 15 determines current inspection for the attitude quaternion according to current detection moment automobile
The attitude angle of moment automobile is surveyed, the attitude angle includes pitch angle, roll angle and course angle.
The attitude angle determining device of the application, is less than in a period of time of setting speed threshold value, gyroscope using speed
Measurement result determine the bias drift of current detection moment gyroscope, and then to the measurement result of current detection moment gyroscope
It is modified, determines automobile attitude quaternary number using measurement result after amendment, and determine the attitude angle of automobile, reduce gyroscope
Influence of the bias drift to attitude error, improve the accuracy in computation of attitude angle, so improve according to attitude angle into
The positioning accuracy of row positioning.
Optionally, the attitude angle determining device of the application can also include:
Second bias drift determination unit, for if it is determined that there are speeds before the current detection moment in set period of time
The case where more than setting speed threshold value, then by zero of gyroscope determined by a detection moment nearest before the current detection moment
It drifts about partially and is determined as the bias drift of gyroscope described in the current detection moment.
Optionally, the attitude angle determining device of the application can also include:
Accelerometer historical measurement acquiring unit, for before determining the current detection moment in set period of time,
When speed is less than setting speed threshold value, measurement knot of the accelerometer before the current time in set period of time is obtained
Fruit；
Second attitude angle determination unit, for according to accelerometer before the current detection moment in set period of time
Measurement result, determine the pitch angle and roll angle of current detection moment automobile；
Final result determination unit, for by the current detection moment automobile according to determined by accelerometer measures result
Pitch angle and roll angle, and the course angle of the current detection moment automobile according to determined by the attitude quaternion of automobile are used as most
Terminate fruit.
Optionally, the attitude angle determining device of the application can also include: initial attitude quaternary number determination unit, be used for:
Obtain measurement result of the accelerometer after automobile initial start in set period of time；
According to measurement result of the accelerometer after the automobile initial start in set period of time, determination is initial from automobile
By the pitch angle and roll angle of the automobile at set period of time moment after starting；
According to Global Satellite Navigation System GNSS signal, determine from after automobile initial start by the set period of time moment
The course angle of automobile；
According to from after automobile initial start by pitch angle, roll angle and the course angle of the automobile at set period of time moment,
The attitude quaternion for determining automobile, the attitude quaternion as initial detecting moment automobile.
Optionally, the first bias drift determination unit may include:
It is averaging unit, several for being exported in set period of time before the current detection moment to gyroscope
Measured value averaged, the as a result bias drift as gyroscope described in the current detection moment.
The embodiment of the present application also discloses a kind of attitude angle and determines system, which may include controller and gyroscope.
Wherein, gyroscope works according to fixed frequency, obtains measurement result.
Controller is used for, and before the current detection moment in set period of time, when speed is less than setting speed threshold value, is obtained
Take measurement result of the gyroscope before the current detection moment in set period of time；According to the gyroscope described
Measurement result before the current detection moment in set period of time obtains the bias drift of gyroscope described in the current detection moment；
According to the bias drift of the gyroscope, the measurement result at gyroscope current detection moment is modified, is surveyed after being corrected
Measure result；According to measurement result after the attitude quaternion of upper detection moment automobile and the amendment, when determining current detection
Carve the attitude quaternion of automobile；According to the attitude quaternion of current detection moment automobile, the appearance of current detection moment automobile is determined
State angle, the attitude angle include pitch angle, roll angle and course angle.
The attitude angle of the embodiment of the present application determines system, and controller is less than using speed and is set according to above-mentioned processing logic
Determine in a period of time of threshold speed, the measurement result of gyroscope determines the bias drift of current detection moment gyroscope, in turn
The measurement result of current detection moment gyroscope is modified, determines automobile attitude quaternary number using measurement result after amendment,
And determine the attitude angle of automobile, influence of the bias drift to attitude error of gyroscope is reduced, the meter of attitude angle is improved
It calculates exactness accurately, and then improves the positioning accuracy positioned according to attitude angle.
Further, above system can also include: accelerometer, and accelerometer works according to fixed frequency, be surveyed
Measure result.
On this basis, controller can be also used for, and before determining the current detection moment in set period of time, speed is not
When more than setting speed threshold value, measurement knot of the accelerometer before the current detection moment in set period of time is obtained
Fruit；According to measurement result of the accelerometer before the current detection moment in set period of time, current detection is determined
The pitch angle and roll angle of moment automobile；By the pitching of the current detection moment automobile according to determined by accelerometer measures result
Angle and roll angle, and the course angle conduct of the current detection moment automobile according to determined by the attitude quaternion of automobile most terminate
Fruit.
According to foregoing description it is found that since there are accumulated errors for gyroscope, and when speed is no more than setting speed threshold value,
Accelerometer measures result can more accurately estimate the pitch angle and roll angle of automobile, therefore, determine currently in this step
Before detection moment in set period of time, when speed is less than setting speed threshold value, determined by the measurement result of acceleration
The pitch angle and roll angle of current detection moment automobile.And work as further combined with determined by the attitude quaternion according to automobile
The course angle of preceding detection moment automobile obtains the final carriage angle of automobile.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments makes professional and technical personnel in the field can be realized or use the application.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the application.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (12)
1. a kind of attitude angle determines method characterized by comprising
Before the current detection moment in set period of time, when speed is less than setting speed threshold value, gyroscope is obtained described
Measurement result before the current detection moment in set period of time；
According to measurement result of the gyroscope before the current detection moment in set period of time, current detection moment institute is obtained
State the bias drift of gyroscope；
According to the bias drift of the gyroscope, the measurement result at gyroscope current detection moment is modified, is corrected
Measurement result afterwards；
According to measurement result after the attitude quaternion of upper detection moment automobile and the amendment, current detection moment vapour is determined
The attitude quaternion of vehicle；
According to the attitude quaternion of current detection moment automobile, the attitude angle of current detection moment automobile, the attitude angle are determined
Including pitch angle, roll angle and course angle.
2. the method according to claim 1, wherein this method further include:
If it is determined that before the current detection moment in set period of time, the case where there are speed being more than setting speed threshold value, then will work as
The bias drift of gyroscope determined by a nearest detection moment was determined as described in the current detection moment before preceding detection moment
The bias drift of gyroscope.
3. the method according to claim 1, wherein this method further include:
Before determining the current detection moment in set period of time, when speed is less than setting speed threshold value, accelerometer is obtained
Measurement result before the current detection moment in set period of time；
According to measurement result of the accelerometer before the current detection moment in set period of time, the current detection moment is determined
The pitch angle and roll angle of automobile；
By the pitch angle and roll angle of the current detection moment automobile according to determined by accelerometer measures result, and according to vapour
The course angle of current detection moment automobile is as final result determined by the attitude quaternion of vehicle.
4. the method according to claim 1, wherein the attitude quaternion of initial detecting moment automobile determined
Journey, comprising:
Obtain measurement result of the accelerometer after automobile initial start in set period of time；
According to measurement result of the accelerometer after the automobile initial start in set period of time, determine from automobile initial start
Afterwards by the pitch angle and roll angle of the automobile at set period of time moment；
According to signal of global navigation satellite system, determine from after automobile initial start by the boat of the automobile at set period of time moment
To angle；
It, by pitch angle, roll angle and the course angle of the automobile at set period of time moment, is determined according to from after automobile initial start
The attitude quaternion of automobile, the attitude quaternion as initial detecting moment automobile.
5. method according to claim 1-4, which is characterized in that it is described according to gyroscope in the current detection
Measurement result before moment in set period of time obtains the bias drift of gyroscope described in the current detection moment, comprising:
To several measured value averageds that gyroscope exports in set period of time before the current detection moment, knot
Bias drift of the fruit as gyroscope described in the current detection moment.
6. a kind of attitude angle determining device characterized by comprising
Gyroscope historical measurement acquiring unit, in set period of time, speed to be less than before the current detection moment
When setting speed threshold value, measurement result of the gyroscope before the current detection moment in set period of time is obtained；
First bias drift determination unit, for the survey according to gyroscope before the current detection moment in set period of time
Amount is as a result, obtain the bias drift of gyroscope described in the current detection moment；
Gyroscope measurement result amending unit, for the bias drift according to the gyroscope, to the gyroscope current detection moment
Measurement result be modified, measurement result after being corrected；
Current pose quaternary number determination unit, after according to the attitude quaternion of upper detection moment automobile and the amendment
Measurement result determines the attitude quaternion of current detection moment automobile；
First attitude angle determination unit determines the current detection moment for the attitude quaternion according to current detection moment automobile
The attitude angle of automobile, the attitude angle include pitch angle, roll angle and course angle.
7. device according to claim 6, which is characterized in that the device further include:
Second bias drift determination unit, for if it is determined that there are speeds to be more than before the current detection moment in set period of time
The case where setting speed threshold value, then floats the zero bias of gyroscope determined by a detection moment nearest before the current detection moment
Move the bias drift for being determined as gyroscope described in the current detection moment.
8. device according to claim 6, which is characterized in that the device further include:
Accelerometer historical measurement acquiring unit, for before determining the current detection moment in set period of time, speed
When being less than setting speed threshold value, measurement result of the accelerometer before the current time in set period of time is obtained；
Second attitude angle determination unit, for the survey according to accelerometer before the current detection moment in set period of time
Amount is as a result, determine the pitch angle and roll angle of current detection moment automobile；
Final result determination unit, for by the pitching of the current detection moment automobile according to determined by accelerometer measures result
Angle and roll angle, and the course angle conduct of the current detection moment automobile according to determined by the attitude quaternion of automobile most terminate
Fruit.
9. device according to claim 6, which is characterized in that further include: initial attitude quaternary number determination unit is used for:
Obtain measurement result of the accelerometer after automobile initial start in set period of time；
According to measurement result of the accelerometer after the automobile initial start in set period of time, determine from automobile initial start
Afterwards by the pitch angle and roll angle of the automobile at set period of time moment；
According to signal of global navigation satellite system, determine from after automobile initial start by the boat of the automobile at set period of time moment
To angle；
It, by pitch angle, roll angle and the course angle of the automobile at set period of time moment, is determined according to from after automobile initial start
The attitude quaternion of automobile, the attitude quaternion as initial detecting moment automobile.
10. according to the described in any item devices of claim 6-9, which is characterized in that the first bias drift determination unit packet
It includes:
It is averaging unit, several measurements for exporting in set period of time before the current detection moment to gyroscope
It is worth averaged, as a result the bias drift as gyroscope described in the current detection moment.
11. a kind of attitude angle determines system characterized by comprising controller and gyroscope, wherein
The controller is used for, and before the current detection moment in set period of time, when speed is less than setting speed threshold value, is obtained
Take measurement result of the gyroscope before the current detection moment in set period of time；According to the gyroscope described
Measurement result before the current detection moment in set period of time obtains the bias drift of gyroscope described in the current detection moment；
According to the bias drift of the gyroscope, the measurement result at gyroscope current detection moment is modified, is surveyed after being corrected
Measure result；According to measurement result after the attitude quaternion of upper detection moment automobile and the amendment, when determining current detection
Carve the attitude quaternion of automobile；According to the attitude quaternion of current detection moment automobile, the appearance of current detection moment automobile is determined
State angle, the attitude angle include pitch angle, roll angle and course angle.
12. system according to claim 11, which is characterized in that further include: accelerometer；
The controller is also used to, and before determining the current detection moment in set period of time, speed is less than setting speed threshold
When value, measurement result of the accelerometer before the current detection moment in set period of time is obtained；Added according to described
Measurement result of the speedometer before the current detection moment in set period of time, determines the pitching of current detection moment automobile
Angle and roll angle；By the pitch angle and roll angle of the current detection moment automobile according to determined by accelerometer measures result, with
And the course angle of the current detection moment automobile according to determined by the attitude quaternion of automobile is as final result.
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