CN110440797A - Vehicle attitude estimation method and system - Google Patents
Vehicle attitude estimation method and system Download PDFInfo
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- CN110440797A CN110440797A CN201910805006.9A CN201910805006A CN110440797A CN 110440797 A CN110440797 A CN 110440797A CN 201910805006 A CN201910805006 A CN 201910805006A CN 110440797 A CN110440797 A CN 110440797A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—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
- 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
The present invention relates to technical field of vehicle, a kind of vehicle attitude estimation method and system are disclosed, comprising: resolve quaternary number to be optimized according to the gyro information of the Inertial Measurement Unit of vehicle acquisition；The measurement input data evaluated error quaternary number acquired according to Inertial Measurement Unit；Quaternary number to be optimized is corrected by error quaternion, obtains the vehicle attitude of vehicle.Implement the embodiment of the present invention, according to the gyro information that Inertial Measurement Unit acquires and input data can be measured, final measurement posture is calculated, data without being acquired by other oracles calculate the posture of vehicle, the case where avoiding the data of acquisition oracle acquisition not in time, improves the calculating speed of vehicle attitude estimation.
Description
Technical field
The present invention relates to technical field of vehicle, and in particular to a kind of vehicle attitude estimation method and system.
Background technique
Currently, existing vehicle attitude estimation method would generally combine Inertial Measurement Unit (Inertial
Measurement Unit, IMU) data of acquisition and the data of other oracles acquisition jointly carry out the posture of vehicle
Estimation, other oracles can for Global Navigation Satellite System (Global Navigation Satellite System,
) and visual sensor etc. GNSS.However, it has been found in practice that being needed during carrying out vehicle attitude estimation and outside
Information source establishes communication connection, can just get the collected data of oracle later, it is seen then that is obtaining oracle
In the slow situation of the data of acquisition, the calculating speed for causing vehicle attitude to be estimated is also relatively slow.
Summary of the invention
The embodiment of the present invention discloses a kind of vehicle attitude estimation method and system, can be improved the calculating of vehicle attitude estimation
Speed.
First aspect of the embodiment of the present invention discloses a kind of vehicle attitude estimation method, which comprises
Quaternary number to be optimized is resolved according to the gyro information of the Inertial Measurement Unit of vehicle acquisition；
The measurement input data evaluated error quaternary number acquired according to the Inertial Measurement Unit；
The quaternary number to be optimized is corrected by the error quaternion, obtains the vehicle attitude of the vehicle.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described according to the inertia measurement
The measurement input data evaluated error quaternary number of unit acquisition, comprising:
The state equation that default filtering algorithm is determined according to the measurement input data of Inertial Measurement Unit acquisition, obtains
State variable；
The measurement equation of the default filtering algorithm is determined according to the measurement input data that the Inertial Measurement Unit acquires,
Obtain observed quantity；
Error quaternion is calculated according to the state variable and the observed quantity.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described to pass through the error quaternary
It is several that the quaternary number to be optimized is corrected, obtain the vehicle attitude of the vehicle, comprising:
The quaternary number to be optimized is corrected according to the error quaternion, obtains target quaternary number；
Using the target quaternary number as foundation, the vehicle attitude of the vehicle is calculated.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described with the target quaternary number
For foundation, the vehicle attitude of the vehicle is calculated, comprising:
Obtain first rotation attitude matrix of the carrier coordinate system relative to navigational coordinate system；
Corresponding first attitude angle of the target quaternary number is calculated according to the first rotation attitude matrix, and by described the
One attitude angle is determined as the vehicle attitude of the vehicle.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described to be surveyed according to the inertia of vehicle
The gyro information for measuring unit acquisition resolves quaternary number to be optimized, comprising:
The second attitude angle and angular speed are obtained from the gyro information that the Inertial Measurement Unit of the vehicle acquires；
Second rotation attitude matrix of the navigational coordinate system relative to the carrier coordinate system is obtained, and according to described
Two rotation attitude matrixes calculate the corresponding initial quaternary number of second attitude angle；
The angle increment in the default sampling time is calculated according to the angular speed；
The initial quaternary number is updated using the angle increment, obtains quaternary number to be optimized.
Second aspect of the embodiment of the present invention discloses a kind of vehicle attitude estimating system, comprising:
Solving unit, the gyro information for being acquired according to the Inertial Measurement Unit of vehicle resolve quaternary number to be optimized；
Estimation unit, the measurement input data evaluated error quaternary number for being acquired according to the Inertial Measurement Unit；
It corrects unit and obtains the vehicle for being corrected by the error quaternion to the quaternary number to be optimized
Vehicle attitude.
As an alternative embodiment, in second aspect of the embodiment of the present invention, the estimation unit includes:
Determine subelement, the measurement input data for acquiring according to the Inertial Measurement Unit determines default filtering algorithm
State equation, obtain state variable；
The determining subelement is also used to be determined according to the measurement input data that the Inertial Measurement Unit acquires described pre-
If the measurement equation of filtering algorithm, obtains observed quantity；
First computation subunit, for error quaternion to be calculated according to the state variable and the observed quantity.
As an alternative embodiment, in second aspect of the embodiment of the present invention, the correction unit includes:
It corrects subelement and obtains target for being corrected according to the error quaternion to the quaternary number to be optimized
Quaternary number；
Second computation subunit, for the vehicle attitude of the vehicle to be calculated using the target quaternary number as foundation.
The third aspect of the embodiment of the present invention discloses a kind of vehicle electronic device, comprising:
It is stored with the memory of executable program code；
The processor coupled with the memory；
The processor calls the executable program code stored in the memory, executes any of first aspect
A kind of some or all of method step.
Fourth aspect of the embodiment of the present invention discloses a kind of computer readable storage medium, the computer readable storage medium
Store program code, wherein said program code includes the part or complete for executing any one method of first aspect
The instruction of portion's step.
The 5th aspect of the embodiment of the present invention discloses a kind of computer program product, when the computer program product is calculating
When being run on machine, so that the computer executes some or all of any one method of first aspect step.
The aspect of the embodiment of the present invention the 6th disclose a kind of using distribution platform, and the application distribution platform is for publication calculating
Machine program product, wherein when the computer program product is run on computers, so that the computer executes first party
Some or all of any one method in face step.
Compared with prior art, the embodiment of the present invention has the advantages that
In the embodiment of the present invention, quaternary number to be optimized is resolved according to the gyro information of the Inertial Measurement Unit of vehicle acquisition；
The measurement input data evaluated error quaternary number acquired according to Inertial Measurement Unit；By error quaternion to quaternary number to be optimized
It is corrected, obtains the vehicle attitude of vehicle.As it can be seen that implementing the embodiment of the present invention, can be acquired according to Inertial Measurement Unit
Gyro information and measurement input data, are calculated final measurement posture, without the number acquired by other oracles
The case where calculating according to the posture to vehicle, avoiding the data of acquisition oracle acquisition not in time, improves vehicle
The calculating speed of Attitude estimation.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of flow diagram of vehicle attitude estimation method disclosed by the embodiments of the present invention；
Fig. 2 is the flow diagram of another vehicle attitude estimation method disclosed by the embodiments of the present invention；
Fig. 3 is the flow diagram of another vehicle attitude estimation method disclosed by the embodiments of the present invention；
Fig. 4 is a kind of structural schematic diagram of vehicle attitude estimating system disclosed by the embodiments of the present invention；
Fig. 5 is the structural schematic diagram of another vehicle attitude estimating system disclosed by the embodiments of the present invention；
Fig. 6 is the structural schematic diagram of another vehicle attitude estimating system disclosed by the embodiments of the present invention；
Fig. 7 is a kind of structural schematic diagram of vehicle electronic device disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
It should be noted that term " includes " and " having " and their any changes in the embodiment of the present invention and attached drawing
Shape, it is intended that cover and non-exclusive include.Such as contain the process, method of a series of steps or units, system, product or
Equipment is not limited to listed step or unit, but optionally further comprising the step of not listing or unit or optional
Ground further includes the other step or units intrinsic for these process, methods, product or equipment.
The embodiment of the present invention discloses a kind of vehicle attitude estimation method and system, can acquire according to Inertial Measurement Unit
Gyro information and measurement input data, are calculated final measurement posture, improve the calculating speed of vehicle attitude estimation.With
It is lower to be described in detail respectively.
Embodiment one
Referring to Fig. 1, Fig. 1 is a kind of flow diagram of vehicle attitude estimation method disclosed by the embodiments of the present invention.Such as
Shown in Fig. 1, which be may comprise steps of:
101, vehicle electronic device resolves quaternary number to be optimized according to the gyro information that the Inertial Measurement Unit of vehicle acquires.
In the embodiment of the present invention, Inertial Measurement Unit can collect gyro information, angle speed by angular speed detecting apparatus
Spending detection device can be gyroscope (Gyroscope) etc.；Wherein, Inertial Measurement Unit is collected by angular speed detecting apparatus
Gyro information may include zero offset (Zero Offset), the noise, attitude angle (Pitch of angular speed detecting apparatus
Attitude), the information such as angular speed, angular speed (Angular Velocity).
In the embodiment of the present invention, vehicle attitude moment in the motion process of vehicle is all changing, therefore to realize
The adaptive endurance speed of vehicle controls and the Function for Automatic Pilot such as ramp automatic parking speed control, then needs to get vehicle
Accurate vehicle attitude so that the automatic Pilot of vehicle can be safely operated.Vehicle attitude can be by gyro information
Attitude angle indicate that attitude angle may include pitch angle, rotation angle and roll angle, describing vehicle attitude by attitude angle
When, it can first determine navigational coordinate system and carrier coordinate system, wherein navigational coordinate system can be topocentric coordinate system (Local
Cartesian Coordinates Coordinate System), such as topocentric coordinate system can be for based on global positioning system
The coordinate system of (Global Positioning System, GPS), it can pre-establish the x with constant bearing according to GPS
The navigational coordinate system of axis, y-axis and z-axis；In addition, carrier coordinate system can according to vehicle establish coordinate system, the appearance of vehicle
State can indicate that the origin of carrier coordinate system can be vehicle by carrier coordinate system relative to the relationship of navigational coordinate system
The positive direction of mass center (centre of mass), the y-axis of carrier coordinate system can be the front of the driving direction of vehicle, x-axis
Positive direction can for the right vertical with y-axis, z-axis positive direction can be the surface of vehicle.Pitch angle in attitude angle
It can be angle of the carrier coordinate system x-axis relative to the x-axis of navigational coordinate system；Yaw angle in attitude angle can be carrier coordinate
It is angle of the y-axis relative to the y-axis of navigational coordinate system；Roll angle in attitude angle can be carrier coordinate system z-axis relative to leading
The angle of the z-axis of boat coordinate system.Therefore the vehicle attitude of vehicle can be described in navigational coordinate system by attitude angle.Due to logical
The operation of trigonometric function would generally be related to by crossing attitude angle and describing vehicle attitude, lead to the more difficult carry out operation of vehicle attitude, therefore
Attitude angle can be resolved, to obtain the corresponding quaternary number to be optimized of vehicle attitude, due to directly passing through angular velocity detection
Device collects gyro information, and there may be errors, therefore also need to optimize quaternary number to be optimized, can just obtain more
Accurate quaternary number, and then the final vehicle attitude of vehicle is calculated by accurate quaternary number.
In the embodiment of the present invention, vehicle electronic device can construct pose estimation according to previous collected gyro information
Device, the pose estimation device can be according to the attitude angles pair of the vehicle after the pose estimation prefixed time interval in gyro information
The quaternary number to be optimized answered, the corresponding quaternary number to be optimized of the attitude angle of vehicle may include the quaternary number of pitch angle, yaw angle
Quaternary number and roll angle quaternary number；Vehicle electronic device can read the current pose of vehicle from gyro information
Angle, and the relationship according to carrier coordinate system relative to navigational coordinate system converts the trigonometric function for being used to indicate current pose angle
For for indicating the quaternary number at current pose angle, later, vehicle electronic device will can be used to indicate the quaternary at current pose angle
Number is input in pose estimation device, obtains the quaternary to be optimized for indicating the attitude angle of the vehicle after prefixed time interval
Number.
102, the measurement input data evaluated error quaternary number that vehicle electronic device is acquired according to Inertial Measurement Unit.
In the embodiment of the present invention, Inertial Measurement Unit can collect measurement input data, and measuring input data can be
Acceleration information is collected by accelerometer (Accelerometer), can also be collected gravitation information etc., wherein
Acceleration information may include the information such as the zero offset of accelerometer, noise；Gravitation information may include current gravitational vectors
Etc. information.
It, can be by Kalman filtering (Kalman Filtering, KF) algorithm to inertia measurement in the embodiment of the present invention
The collected measurement input data of unit is calculated, and is calculated and is based on by state equation in KF algorithm and measurement equation
The state variable and observed quantity of input data are measured, and then error quaternion is determined according to state variable and observed quantity.
In the embodiment of the present invention, what vehicle electronic device was inputted into pose estimation device is used to indicate current pose angle
Quaternary number is obtained according to the gyro information of acquisition, since the quaternary number at current pose angle is not considered in calculating process
The error that the zero offset of the zero offset and accelerometer based on angular speed detecting apparatus in IMU generates, therefore posture
Also there is error in the quaternary number to be optimized of angular estimation device estimation, vehicle electronic device needs the zero point in conjunction with angular speed detecting apparatus
Error quaternion is calculated in the zero offset of biasing and accelerometer, so that error quaternion carries out quaternary number to be optimized
Correction, to eliminate in quaternary number to be optimized due to the zero offset of the zero offset of angular speed detecting apparatus and accelerometer
More accurate vehicle attitude may finally be calculated according to the quaternary number to be optimized for eliminating error in the error of generation.
103, vehicle electronic device is corrected quaternary number to be optimized by error quaternion, obtains the vehicle appearance of vehicle
State.
In the embodiment of the present invention, error quaternion and quaternary number to be optimized can be calculated by correction model, be obtained
Normalizing standardized calculation is carried out to the corresponding amendment quaternary number of quaternary number to be optimized, and to amendment quaternary number, is treated with realizing
Optimize the correction of quaternary number；Since the zero offset of angular speed detecting apparatus and the zero offset of accelerometer estimate attitude angle
Gauge estimation quaternary number to be optimized cause error, therefore, can by the zero offset based on angular speed detecting apparatus with
And the error quaternion that the zero offset of accelerometer is calculated is corrected quaternary number to be optimized, to eliminate angular speed inspection
Survey influence of the zero offset to quaternary number to be optimized of the zero offset and accelerometer of device so that after correction to
Optimization quaternary number is more accurate, it is also possible that being according to the vehicle attitude being calculated with the quaternary number to be optimized after correcting
It is more accurate.In addition, vehicle electronic device can be by the first rotation attitude matrix by the corresponding school of the attitude angle of vehicle attitude
Quaternary number to be optimized after just is converted to trigonometric function, correspondingly, can also be by preset second rotation attitude matrix by vehicle
The corresponding trigonometric function of attitude angle of posture is converted to quaternary number to be optimized, wherein the first rotation attitude matrix and the second rotation
Turning attitude matrix can be pre-stored in vehicle attitude estimating system.
In the method depicted in fig. 1, according to the gyro information that Inertial Measurement Unit acquires and input data can be measured,
Final measurement posture is calculated, improves the calculating speed of vehicle attitude estimation.
Embodiment two
Referring to Fig. 2, Fig. 2 is the flow diagram of another vehicle attitude estimation method disclosed by the embodiments of the present invention.
Compared with embodiment one, the embodiment of the present invention increases the calculation of error quaternion, improves error quaternion calculating
Accuracy.As shown in Fig. 2, the vehicle attitude estimation method may comprise steps of:
201, vehicle electronic device resolves quaternary number to be optimized according to the gyro information that the Inertial Measurement Unit of vehicle acquires.
202, vehicle electronic device determines default filtering algorithm according to the measurement input data that Inertial Measurement Unit acquires
State equation obtains state variable.
In the embodiment of the present invention, default filtering algorithm can be Kalman filtering algorithm, and vehicle electronic device can pass through
The measurement input data of Inertial Measurement Unit acquisition estimates the estimated value of vehicle attitude, estimates the side of the estimated value of vehicle attitude
Formula can measure the state equation that input data determines default filtering algorithm according to, and then be input to shape for input data is measured
In state equation, to obtain state variable, observed quantity can be calculated later, state variable can also be carried out by observed quantity
Amendment, and obtained revised state variable can be determined as to the estimated value of vehicle attitude.
In the embodiment of the present invention, the measurement input data of Inertial Measurement Unit acquisition may include angular speed detecting apparatus
Zero offset bg, angular speed detecting apparatus noise vg, data, the vehicle electronic device such as angular velocity omega angle can first be calculated
The output model y of speed detectorg:
yg=ω+bg+vg
Further derive error quaternion qeMode can for pass through calculate error quaternion first derivativeCome real
It is existing:
It can also be according to the state equation for measuring the determining default filtering algorithm of input data
Wherein,It can be the corresponding noise of zero offset of angular speed detecting apparatus, and the calculation formula of A can be with
Are as follows:
Wherein, I can as unit of matrix, [yg×] it can be ygAntisymmetric matrix, and then can according to appeal formula obtain
To state variable x:
Wherein, R can be real number.
203, vehicle electronic device determines default filtering algorithm according to the measurement input data that Inertial Measurement Unit acquires
Measurement equation obtains observed quantity.
In the embodiment of the present invention, it can be acquired simultaneously in the measurement input data of Inertial Measurement Unit acquisition and obtain each number
According to time so that vehicle electronic device can accurately choose the measurement input data of calculating observation amount according to the time.State becomes
Amount the corresponding input data that measures of current time can be estimated to preset the vehicle of the object time after sampling time interval according to
Posture, observed quantity then can be to be inputted when detecting that the time reaches the object time according to the corresponding measurement of the object time
The vehicle attitude that data calculate.
In the embodiment of the present invention, the zero point that the measurement input data of Inertial Measurement Unit acquisition may include accelerometer is inclined
Set ba, accelerometer noise vaAnd local gravity vectorEtc. data, and according to the state equation of default filtering algorithm calculate
The formula of observed quantity Z can be with are as follows:
Wherein,For quaternary number to be optimized, yaIt can be the output model of accelerometer, it may be assumed that
The output model y of accelerometer may further be passed throughaAnd quaternary number to be optimizedObserved quantity is calculated jointly
Z。
204, error quaternion is calculated according to state variable and observed quantity in vehicle electronic device.
In the embodiment of the present invention, estimation quaternary number can be calculated by KF algorithmAnd pass through estimation quaternary number
The error quaternion q that INTEGRATED SIGHT amount Z and state variable x are derived byeIt is corrected, so that error quaternion qeIt is more quasi-
Really, wherein to error quaternion qeCorrected mode can be with are as follows:
In the embodiment of the present invention, implement above-mentioned step 202~step 204, the amount that can be acquired from Inertial Measurement Unit
It surveys in input data and state variable and observed quantity is calculated, and then error quaternary is calculated by state variable and observed quantity
Number improves the accuracy of error quaternion calculating.
205, vehicle electronic device is corrected quaternary number to be optimized by error quaternion, obtains the vehicle appearance of vehicle
State.
In the method depicted in fig. 2, according to the gyro information that Inertial Measurement Unit acquires and input data can be measured,
Final measurement posture is calculated, improves the calculating speed of vehicle attitude estimation.In addition, implement method described in Fig. 2,
Improve the accuracy of error quaternion calculating.
Embodiment three
Referring to Fig. 3, Fig. 3 is the flow diagram of another vehicle attitude estimation method disclosed by the embodiments of the present invention.
Compared with embodiment one, the embodiment of the present invention is more detailed to illustrate the calculation of quaternary number to be optimized, and refines
The calculation of vehicle attitude, and further refined in such a way that vehicle attitude is calculated in target quaternary number, it is promoted
The calculating accuracy of quaternary number to be optimized also improves the accuracy for calculating vehicle attitude, in turn ensures target quaternary number energy
It is enough to be accurately converted to vehicle attitude.As shown in figure 3, the vehicle attitude estimation method may comprise steps of:
301, vehicle electronic device obtained from the gyro information that the Inertial Measurement Unit of vehicle acquires the second attitude angle and
Angular speed.
In the embodiment of the present invention, the second attitude angle of the gyro information of Inertial Measurement Unit acquisition may include initial pitching
Angle Pitch0, initial rotation angle Roll0And initial roll angle Yaw0, and the initial pitch angle Pitch in the second attitude angle0, just
Beginning rotation angle Roll0And initial roll angle Yaw0It can be indicated by trigonometric function.In addition, angular speed can be distinguished
Indicate the initial pitch angle Pitch in the second attitude angle0, initial rotation angle Roll0And initial roll angle Yaw0Angular speed and
The direction of angular speed, the corresponding current coordinate system of the angular speed got can be different from carrier coordinate system, therefore vehicle electronics
Equipment can convert angular speed into carrier coordinate system from current coordinate system, so that angular speed is calculated with according to attitude angle
Initial quaternary number be under the same coordinate system, ensure that the accuracy for calculating quaternary number to be optimized.
302, vehicle electronic device obtains second rotation attitude matrix of the navigational coordinate system relative to carrier coordinate system, and root
The corresponding initial quaternary number of the second attitude angle is calculated according to the second rotation attitude matrix.
In the embodiment of the present invention, the second rotation attitude matrix can be used to indicate that coordinate and carrier in navigational coordinate system are sat
The mapping relations of coordinate in mark system, therefore can use the second appearance that the second posture spin matrix will be indicated by trigonometric function
State angle is converted to the initial quaternary number without indicating by trigonometric function.
In the embodiment of the present invention, for initial quaternary number q will to be converted to by the second attitude angle0、q1、q2And q3
Two posture spin matrixs can be with are as follows:
q0+q1i+q2j+q3=[q0 q1 q2 q3]T
Wherein, q0、q1、q2And q3Calculation can be with are as follows:
303, vehicle electronic device calculates the angle increment in the default sampling time according to angular speed.
In the embodiment of the present invention, angular velocity omega can be obtained from angular speed, and it can be preset for presetting sampling time Δ T
The time interval of gyro information is acquired, i.e. vehicle electronic device can be surveyed every corresponding duration of default sampling time by inertia
It measures unit and acquires gyro information.
In the embodiment of the present invention, the calculation of angle increment Δ θ can be with are as follows:
Δ θ=(ω-bg)×ΔT
Wherein, pitch angle, rotation angle and the corresponding angle increment of roll angle be may include in angle increment Δ θ.
304, vehicle electronic device updates initial quaternary number using angle increment, obtains quaternary number to be optimized.
In the embodiment of the present invention, presetting the corresponding time interval of sampling time Δ T can be [tk,tk+1], quaternary to be optimized
NumberIt can be calculated by the differential equation:
Wherein,For quaternary number to be optimizedFirst derivative, ωxIt can be angular velocity omega in carrier coordinate system in x-axis
Component, ωyIt can be component of the angular velocity omega in carrier coordinate system in y-axis, ωzIt can be angular velocity omega in carrier coordinate
Component in system in z-axis, vehicle electronic device can finish card by quadravalence and solve the above-mentioned differential equation:
To obtain the first derivative of quaternary number to be optimizedAnd to the first derivative for the quaternary number to be optimized being calculated
Normalizing standardized calculation is carried out, to generate final quaternary number to be optimized
In the embodiment of the present invention, implement above-mentioned step 301~step 304, it is available to navigational coordinate system relative to
Second rotation attitude matrix of carrier coordinate system, and can be that foundation will be according in gyro information with the second rotation attitude matrix
The second attitude angle obtained is converted to initial quaternary number, can also increase the angle being calculated according to the angular speed in gyro information
Amount is updated in initial quaternary number, quaternary number to be optimized is obtained, to improve the calculating accuracy of quaternary number to be optimized.
305, the measurement input data evaluated error quaternary number that vehicle electronic device is acquired according to Inertial Measurement Unit.
306, vehicle electronic device is corrected quaternary number to be optimized according to error quaternion, obtains target quaternary number.
It, can be according to the error quaternion q being calculated in the embodiment of the present inventioneAnd quaternary number to be optimized
Revised amendment quaternary number q ' is calculated, wherein the calculation formula of amendment quaternary number q ' can be with are as follows:
It may further be to the amendment quaternary number q ' carry out normalizing standardized calculation being calculated, to obtain final mesh
Mark quaternary number q.
307, the vehicle attitude of vehicle is calculated using target quaternary number as foundation in vehicle electronic device.
In the embodiment of the present invention, the expression way of target quaternary number q can be with are as follows:
Q=q0+q1i+q2j+q3k
Wherein, i, j and k are constant obtained in target quaternary number q calculating process.
In the embodiment of the present invention, implement above-mentioned step 306~step 307, can be calculated according to error quaternion
Target quaternary number, and then calculated according to target quaternary number, the vehicle attitude of vehicle is finally obtained, improves and calculates vehicle appearance
The accuracy of state.
As an alternative embodiment, vehicle is calculated using target quaternary number as foundation in vehicle electronic device
The mode of vehicle attitude may include following steps:
Vehicle electronic device obtains first rotation attitude matrix of the carrier coordinate system relative to navigational coordinate system；
Vehicle electronic device calculates corresponding first attitude angle of target quaternary number according to the first rotation attitude matrix, and by the
One attitude angle is determined as the vehicle attitude of vehicle.
Wherein, implement this embodiment, available carrier coordinate system rotates appearance relative to the first of navigational coordinate system
State matrix, and corresponding first attitude angle of target quaternary number is calculated according to the first rotation attitude matrix, and then by the first attitude angle
It is determined as vehicle attitude, to guarantee that target quaternary number can accurately be converted to vehicle attitude.
Optionally, first rotation attitude square of the available carrier coordinate system of vehicle electronic device relative to navigational coordinate system
Battle array, and the first rotation attitude matrix may exist two kinds of representations: Eulerian angles representation and quaternary number representation,
Therefore the of vehicle can be calculated according to the Eulerian angles representation and quaternary number representation of the first rotation attitude matrix
One attitude angle may include target pitch angle Pitch, target rotation angle Roll and target roll angle in first attitude angle
The representation of Yaw, target pitch angle Pitch, target rotation angle Roll and target roll angle Yaw respectively can be with are as follows:
Pitch=arcsin (2 (q2·q3-q0·q1))
Target pitch angle Pitch, target rotation angle Roll and target roll angle Yaw can further be determined jointly
For the vehicle attitude of vehicle.
In the method depicted in fig. 3, according to the gyro information that Inertial Measurement Unit acquires and input data can be measured,
Final measurement posture is calculated, improves the calculating speed of vehicle attitude estimation.In addition, method described in implementing Fig. 3,
Improve the calculating accuracy of quaternary number to be optimized.In addition, method described in implementing Fig. 3, improves and calculates vehicle attitude
Accuracy.In addition, method described in implementing Fig. 3, ensure that target quaternary number can accurately be converted to vehicle attitude.
Example IV
Referring to Fig. 4, Fig. 4 is a kind of structural schematic diagram of vehicle attitude estimating system disclosed by the embodiments of the present invention.Such as
Shown in Fig. 4, which may include:
Solving unit 401, the gyro information for being acquired according to the Inertial Measurement Unit of vehicle resolve quaternary number to be optimized.
Estimation unit 402, the measurement input data evaluated error quaternary number for being acquired according to Inertial Measurement Unit.
Correct unit 403, the error quaternion for being estimated by estimation unit 402 to solving unit 401 resolve to
Optimization quaternary number is corrected, and obtains the vehicle attitude of vehicle.
As it can be seen that in the system described in Fig. 4 according to the gyro information that Inertial Measurement Unit acquires and input can be measured
Final measurement posture is calculated in data, improves the calculating speed of vehicle attitude estimation.
Embodiment five
Referring to Fig. 5, Fig. 5 is the structural schematic diagram of another vehicle attitude estimating system disclosed by the embodiments of the present invention.
Wherein, vehicle attitude estimating system shown in fig. 5 is that vehicle attitude estimating system as shown in Figure 4 optimizes.With
Vehicle attitude estimating system shown in Fig. 4 is compared, and vehicle attitude estimating system shown in fig. 5 further increases error quaternion
Calculation, improve error quaternion calculating accuracy, the estimation unit of vehicle attitude estimating system shown in fig. 5
402 may include:
Determine subelement 4021, the measurement input data for acquiring according to Inertial Measurement Unit determines default filtering algorithm
State equation, obtain state variable.
It determines subelement 4021, is also used to determine that default filtering is calculated according to the measurement input data that Inertial Measurement Unit acquires
The measurement equation of method, obtains observed quantity.
First computation subunit 4022, state variable and observed quantity for being obtained according to determining subelement 4021 calculate
To error quaternion.
In the embodiment of the present invention, state variable can be calculated from the measurement input data that Inertial Measurement Unit acquires
With observed quantity, and then error quaternion is calculated by state variable and observed quantity, improves the standard of error quaternion calculating
True property.
As it can be seen that in the system described in Fig. 5 according to the gyro information that Inertial Measurement Unit acquires and input can be measured
Final measurement posture is calculated in data, improves the calculating speed of vehicle attitude estimation.In addition, being described in Fig. 5
In system, the accuracy of error quaternion calculating is improved.
Embodiment six
Referring to Fig. 6, Fig. 6 is the structural schematic diagram of another vehicle attitude estimating system disclosed by the embodiments of the present invention.
Wherein, vehicle attitude estimating system shown in fig. 6 is that vehicle attitude estimating system as shown in Figure 5 optimizes.With
Vehicle attitude estimating system shown in fig. 5 is compared, vehicle attitude estimating system shown in fig. 6 is more detailed illustrate it is to be optimized
The calculation of quaternary number, and the calculation of vehicle attitude has been refined, and further refined through target quaternary number
The mode of vehicle attitude is calculated, improves the calculating accuracy of quaternary number to be optimized, also improves and calculates vehicle attitude
Accuracy in turn ensures that target quaternary number can accurately be converted to vehicle attitude, vehicle attitude estimating system shown in fig. 6
Correcting unit 403 may include:
It corrects subelement 4031 and obtains target quaternary for being corrected according to error quaternion to quaternary number to be optimized
Number.
Second computation subunit 4032, for calculating to correct target quaternary number that subelement 4031 obtains as foundation
To the vehicle attitude of vehicle.
In the embodiment of the present invention, target quaternary number can be calculated according to error quaternion, and then according to target quaternary
Number is calculated, and the vehicle attitude of vehicle is finally obtained, and improves the accuracy for calculating vehicle attitude.
As an alternative embodiment, the second computation subunit 4032 of vehicle attitude estimating system shown in fig. 6
May include:
Module 40321 is obtained, for obtaining first rotation attitude matrix of the carrier coordinate system relative to navigational coordinate system；
Computing module 40322, the first rotation attitude matrix calculating target quaternary for being obtained according to module 40321 is obtained
Corresponding first attitude angle is counted, and the first attitude angle is determined as to the vehicle attitude of vehicle.
Wherein, implement this embodiment, available carrier coordinate system rotates appearance relative to the first of navigational coordinate system
State matrix, and corresponding first attitude angle of target quaternary number is calculated according to the first rotation attitude matrix, and then by the first attitude angle
It is determined as vehicle attitude, to guarantee that target quaternary number can accurately be converted to vehicle attitude.
As an alternative embodiment, the solving unit 401 of vehicle attitude estimating system shown in fig. 6 can wrap
It includes:
Subelement 4011 is obtained, for obtaining the second attitude angle from the gyro information that the Inertial Measurement Unit of vehicle acquires
And angular speed；
Subelement 4011 is obtained, is also used to obtain second rotation attitude square of the navigational coordinate system relative to carrier coordinate system
Battle array, and the corresponding initial quaternary number of the second attitude angle is calculated according to the second rotation attitude matrix；
Third computation subunit 4012, the angular speed calculating default sampling time for being obtained according to subelement 4011 is obtained
Interior angle increment；
Subelement 4013 is updated, the angle increment for being obtained using third computation subunit 4012, which is updated, obtains subelement
4011 obtained initial quaternary numbers, obtain quaternary number to be optimized.
Wherein, implement this embodiment, available the second rotation to navigational coordinate system relative to carrier coordinate system
Attitude matrix, and can be that foundation will be converted according to the second attitude angle obtained in gyro information with the second rotation attitude matrix
For initial quaternary number, the angle increment being calculated according to the angular speed in gyro information can also be updated to initial quaternary number
In, quaternary number to be optimized is obtained, to improve the calculating accuracy of quaternary number to be optimized.
As it can be seen that in the system described in Fig. 6 according to the gyro information that Inertial Measurement Unit acquires and input can be measured
Final measurement posture is calculated in data, improves the calculating speed of vehicle attitude estimation.In addition, being described in Fig. 6
In system, the calculating accuracy of quaternary number to be optimized is improved.In addition, improving in the system described in Fig. 6 and calculating vehicle appearance
The accuracy of state.In addition, ensure that target quaternary number can accurately be converted to vehicle attitude in the system described in Fig. 6.
Embodiment seven
Referring to Fig. 7, Fig. 7 is a kind of structural schematic diagram of vehicle electronic device disclosed by the embodiments of the present invention.Such as Fig. 7 institute
Show, which may include:
It is stored with the memory 701 of executable program code；
The processor 702 coupled with memory 701；
Wherein, processor 702 calls the executable program code stored in memory 701, executes the above each method and implements
Some or all of method in example step.
A kind of computer readable storage medium is also disclosed in the embodiment of the present invention, wherein computer-readable recording medium storage
Program code, wherein program code includes for executing some or all of the method in above each method embodiment step
Instruction.
A kind of computer program product is also disclosed in the embodiment of the present invention, wherein when computer program product on computers
When operation, so that computer executes some or all of the method in such as above each method embodiment step.
The embodiment of the present invention is also disclosed a kind of using distribution platform, wherein using distribution platform for issuing computer journey
Sequence product, wherein when computer program product is run on computers, so that computer executes such as the above each method embodiment
In some or all of method step.
It should be understood that " embodiment of the present invention " that specification is mentioned in the whole text mean special characteristic related with embodiment,
Structure or characteristic is included at least one embodiment of the present invention.Therefore, the whole instruction occur everywhere " in the present invention
In embodiment " not necessarily refer to identical embodiment.In addition, these a particular feature, structure, or characteristics can be with any suitable
Mode combines in one or more embodiments.Those skilled in the art should also know that embodiment described in this description
Alternative embodiment is belonged to, related actions and modules are not necessarily necessary for the present invention.
In various embodiments of the present invention, it should be appreciated that magnitude of the sequence numbers of the above procedures are not meant to execute suitable
Successively, the execution sequence of each process should be determined by its function and internal logic the certainty of sequence, without coping with the embodiment of the present invention
Implementation process constitutes any restriction.
In addition, the terms " system " and " network " are often used interchangeably herein.It should be understood that the terms
"and/or", only a kind of incidence relation for describing affiliated partner, indicates may exist three kinds of relationships, such as A and/or B, can
To indicate: individualism A exists simultaneously A and B, these three situations of individualism B.In addition, character "/" herein, typicallys represent
Forward-backward correlation object is a kind of relationship of "or".
In embodiment provided by the present invention, it should be appreciated that " B corresponding with A " indicates that B is associated with A, can be with according to A
Determine B.It is also to be understood that determine that B is not meant to determine B only according to A according to A, it can also be according to A and/or other information
Determine B.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory,
RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits
Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One-
Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory
(Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact
Disc Read-Only Memory, CD-ROM) or other disc memories, magnetic disk storage, magnetic tape storage or can
For carrying or any other computer-readable medium of storing data.
Above-mentioned unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, can be in one place, or may be distributed over multiple nets
On network unit.Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
In addition, each functional unit in various embodiments of the present invention can integrate in one processing unit, it is also possible to
Each unit physically exists alone, and can also be integrated in one unit with two or more units.Above-mentioned integrated unit
Both it can take the form of hardware realization, can also realize in the form of software functional units.
If above-mentioned integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product,
It can store in a retrievable memory of computer.Based on this understanding, technical solution of the present invention substantially or
Person says all or part of of the part that contributes to existing technology or the technical solution, can be in the form of software products
It embodies, which is stored in a memory, including several requests are with so that a computer is set
Standby (can be personal computer, server or network equipment etc., specifically can be the processor in computer equipment) executes
Some or all of each embodiment above method of the invention step.
A kind of vehicle attitude estimation method disclosed by the embodiments of the present invention and system are described in detail above, herein
In apply that a specific example illustrates the principle and implementation of the invention, the explanation of above example is only intended to sides
Assistant solves method and its core concept of the invention；At the same time, for those skilled in the art, think of according to the present invention
Think, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not be construed as pair
Limitation of the invention.
Claims (10)
1. a kind of vehicle attitude estimation method, which is characterized in that the described method includes:
Quaternary number to be optimized is resolved according to the gyro information of the Inertial Measurement Unit of vehicle acquisition；
The measurement input data evaluated error quaternary number acquired according to the Inertial Measurement Unit；
The quaternary number to be optimized is corrected by the error quaternion, obtains the vehicle attitude of the vehicle.
2. the method according to claim 1, wherein the measurement according to Inertial Measurement Unit acquisition is defeated
Enter data evaluated error quaternary number, comprising:
The state equation that default filtering algorithm is determined according to the measurement input data of Inertial Measurement Unit acquisition, obtains state
Variable；
The measurement equation that the default filtering algorithm is determined according to the measurement input data that the Inertial Measurement Unit acquires, obtains
Observed quantity；
Error quaternion is calculated according to the state variable and the observed quantity.
3. method according to claim 1 or 2, which is characterized in that it is described by the error quaternion to described to excellent
Change quaternary number to be corrected, obtain the vehicle attitude of the vehicle, comprising:
The quaternary number to be optimized is corrected according to the error quaternion, obtains target quaternary number；
Using the target quaternary number as foundation, the vehicle attitude of the vehicle is calculated.
4. according to the method described in claim 3, being calculated it is characterized in that, described using the target quaternary number as foundation
The vehicle attitude of the vehicle, comprising:
Obtain first rotation attitude matrix of the carrier coordinate system relative to navigational coordinate system；
Corresponding first attitude angle of the target quaternary number is calculated according to the first rotation attitude matrix, and by first appearance
State angle is determined as the vehicle attitude of the vehicle.
5. the method according to claim 3 or 4, which is characterized in that it is described according to the Inertial Measurement Unit of vehicle acquisition
Gyro information resolves quaternary number to be optimized, comprising:
The second attitude angle and angular speed are obtained from the gyro information that the Inertial Measurement Unit of the vehicle acquires；
Second rotation attitude matrix of the navigational coordinate system relative to the carrier coordinate system is obtained, and according to second rotation
Turn attitude matrix and calculates the corresponding initial quaternary number of second attitude angle；
The angle increment in the default sampling time is calculated according to the angular speed；
The initial quaternary number is updated using the angle increment, obtains quaternary number to be optimized.
6. a kind of vehicle attitude estimating system characterized by comprising
Solving unit, the gyro information for being acquired according to the Inertial Measurement Unit of vehicle resolve quaternary number to be optimized；
Estimation unit, the measurement input data evaluated error quaternary number for being acquired according to the Inertial Measurement Unit；
It corrects unit and obtains the vehicle for being corrected by the error quaternion to the quaternary number to be optimized
Vehicle attitude.
7. vehicle attitude estimating system according to claim 6, which is characterized in that the estimation unit includes:
Determine subelement, the measurement input data for acquiring according to the Inertial Measurement Unit determines the shape of default filtering algorithm
State equation, obtains state variable；
The determining subelement is also used to determine the default filter according to the measurement input data that the Inertial Measurement Unit acquires
The measurement equation of wave algorithm, obtains observed quantity；
First computation subunit, for error quaternion to be calculated according to the state variable and the observed quantity.
8. vehicle attitude estimating system according to claim 6 or 7, which is characterized in that the correction unit includes:
It corrects subelement and obtains target quaternary for being corrected according to the error quaternion to the quaternary number to be optimized
Number；
Second computation subunit, for the vehicle attitude of the vehicle to be calculated using the target quaternary number as foundation.
9. a kind of vehicle electronic device characterized by comprising
It is stored with the memory of executable program code；
The processor coupled with the memory；
The processor calls the executable program code stored in the memory, and perform claim requires any one of 1~5
The vehicle attitude estimation method.
10. a kind of computer readable storage medium, which is characterized in that it stores computer program, and the computer program makes
Computer perform claim requires 1~5 described in any item vehicle attitude estimation methods.
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