CN110440827A - A kind of scaling method of parameter error, device and storage medium - Google Patents
A kind of scaling method of parameter error, device and storage medium Download PDFInfo
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- CN110440827A CN110440827A CN201910708958.9A CN201910708958A CN110440827A CN 110440827 A CN110440827 A CN 110440827A CN 201910708958 A CN201910708958 A CN 201910708958A CN 110440827 A CN110440827 A CN 110440827A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
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- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the invention discloses a kind of scaling method of parameter error, device, equipment and storage mediums, this method comprises: obtaining the output information of at least one measurement device in Inertial Measurement Unit；Obtain the output information of auxiliary corrective module and the output information of barometertic altimeter；The auxiliary corrective module includes GPS measurement module and/or odometer；According to the output information of the output information of at least one measurement device, the output information of the auxiliary corrective module and the barometertic altimeter in the Inertial Measurement Unit, at least one parameter error of measurement device described in the Inertial Measurement Unit is demarcated.Technical solution provided in an embodiment of the present invention, by the output information for obtaining at least one measuring appliance in Inertial Measurement Unit, and the output information of auxiliary corrective module and barometertic altimeter, and utilize the iteration function of genetic algorithm, optimal calibrating parameters have been got, the measurement accuracy of Inertial Measurement Unit is improved.
Description
Technical field
The present embodiments relate to field of communication technology more particularly to a kind of scaling methods of parameter error, device, equipment
And storage medium.
Background technique
With the continuous development of science and technology, inertial navigation technology is widely used in navigation and positioning field, becomes and leads
Indispensable component part in boat and positioning field.
Inertial navigation (Inertial Navigation) is the acceleration letter by measuring target object (for example, vehicle)
Breath, and integral operation is carried out automatically, the technology of target object instantaneous velocity and instantaneous position is obtained, to reach to target object
The purpose of navigator fix；Inertial navigation unit or equipment are typically mounted on inside target object, and when work does not depend on external information,
Also not outwardly radiation energy, is a kind of autonomic navigation system.
There is a variety of errors for inertial navigation unit or equipment, only lack in the prior art to the calibration of installation error
Effective calibration to scale factor error and error of zero factor, strong influence measurement accuracy, especially gets
After the biggish initial data of error, then by integral operation, the data information of acquisition often results in serious distortion.
Summary of the invention
The embodiment of the invention provides a kind of scaling method of parameter error, device, equipment and storage mediums, with realization pair
The calibration of the parameter error of measurement device in Inertial Measurement Unit.
In a first aspect, the embodiment of the invention provides a kind of scaling methods of parameter error, comprising:
Obtain the output information of at least one measurement device in Inertial Measurement Unit；
Obtain the output information of auxiliary corrective module and the output information of barometertic altimeter；The auxiliary corrective module
Including GPS measurement module and/or odometer；
According to the output information of at least one measurement device in the Inertial Measurement Unit, the auxiliary corrective module it is defeated
Information and the output information of the barometertic altimeter out, at least one of measurement device described in the Inertial Measurement Unit
Parameter error is demarcated.
Second aspect, the embodiment of the invention provides a kind of caliberating devices of parameter error, comprising:
Output information obtains module, for obtaining the output information of at least one measurement device in Inertial Measurement Unit；
Auxiliary information obtains module, for obtaining the output information of auxiliary corrective module and the output of barometertic altimeter
Information；The auxiliary corrective module includes GPS measurement module and/or odometer；
Parameter error demarcating module, for being believed according to the output of at least one measurement device in the Inertial Measurement Unit
The output information of breath, the output information of the auxiliary corrective module and the barometertic altimeter, to the Inertial Measurement Unit
Described at least one parameter error of measurement device demarcated.
The third aspect, the embodiment of the invention also provides a kind of equipment, the equipment includes:
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes the scaling method of parameter error described in any embodiment of that present invention.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program realizes the scaling method of parameter error described in any embodiment of that present invention when the program is executed by processor.
Technical solution provided in an embodiment of the present invention, by the output for obtaining at least one measuring appliance in Inertial Measurement Unit
The output information of information and auxiliary corrective module and barometertic altimeter, and using genetic algorithm to the parameter of measurement device into
Row optimization and iterative calculation, get optimal calibrating parameters, while having prejudged the variation tendency of parameter, to following a period of time
Parameter prejudged, and then play the role of increase the parameter error biharmonic nominal time, improve Inertial Measurement Unit
Measurement accuracy.
Detailed description of the invention
Figure 1A is a kind of flow chart of the scaling method for parameter error that the embodiment of the present invention one provides；
Figure 1B is the structure chart of coordinate system in the scaling method for the parameter error that the embodiment of the present invention one provides；
Fig. 1 C is a kind of flow chart of the scaling method for parameter error that the embodiment of the present invention one provides；
Fig. 1 D is a kind of flow chart of the scaling method for parameter error that the embodiment of the present invention one provides；
Fig. 1 E is a kind of flow chart of the scaling method for parameter error that the embodiment of the present invention one provides；
Fig. 1 F is a kind of flow chart of the scaling method for parameter error that the embodiment of the present invention one provides；
Fig. 2 is a kind of structural block diagram of the caliberating device of parameter error provided by Embodiment 2 of the present invention；
Fig. 3 is a kind of structural block diagram for equipment that the embodiment of the present invention three provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Figure 1A is a kind of flow chart of the scaling method for parameter error that the embodiment of the present invention one provides, and the present embodiment can fit
The case where demarcating for the parameter error to measurement device in inertial navigation unit or equipment, this method can be by the present invention
The caliberating device of parameter error in any embodiment executes, which can be and general by software and or hardware realization
It can integrate on inertial navigation unit or equipment, this method specifically comprises the following steps:
S110, the output information for obtaining at least one measurement device in Inertial Measurement Unit.
Inertial Measurement Unit (Inertial measurement unit, IMU) is to measure the angle of object in three dimensions
The device of velocity and acceleration is installed in the device for needing to carry out motion control or equipment, for example, automobile and robot, In
In the embodiment of the present invention, the type of the device or equipment that are equipped with Inertial Measurement Unit is not especially limited.
Optionally, in embodiments of the present invention, Inertial Measurement Unit may include three uniaxial accelerometers and three
Uniaxial gyroscope.Specifically, obtaining the output information of at least one measurement device in Inertial Measurement Unit, comprising: obtain used
Property measuring unit in gyroscope output angular velocity information and accelerometer output acceleration information；Wherein, the gyroscope
The angular velocity information of output includes the forward direction angular speed of the horizontal angular velocity information of horizontal gyro output, the output of forward direction gyroscope
Information and day are to the day that gyroscope exports to angular velocity information；The acceleration information of the accelerometer output includes horizontal accelerates
What the horizontal acceleration information of degree meter output, the forward acceleration information of forward acceleration meter output and day were exported to accelerometer
It is to acceleration information.As shown in Figure 1B, horizontal is X-direction, is directed toward the side surface direction of tested device or equipment；Forward direction, that is, Y
Axis direction is directed toward the direction of motion of tested device or equipment；It is to i.e. Z-direction, simultaneously perpendicular to tested device or equipment plane
Straight up.
Optionally, in embodiments of the present invention, Inertial Measurement Unit can also include a three axis accelerometer and one
Three-axis gyroscope.Three axis accelerometer, for obtaining the acceleration information of horizontal, forward direction and day to direction；Three-axis gyroscope is used
In obtaining the angular velocity information of horizontal, forward direction and day to direction.
The output information of S120, the output information for obtaining auxiliary corrective module and barometertic altimeter；The auxiliary corrective
Module includes GPS measurement module and/or odometer.
Optionally, in embodiments of the present invention, the output information and barometertic altimeter for obtaining auxiliary corrective module
Output information, comprising: obtain the east orientation speed information and north orientation speed information and pressure altitude of the output of auxiliary corrective module
Count the elevation information of output.
GPS (Global Positioning System, global positioning system) measurement module is to be integrated with RF radio frequency core
Piece, baseband chip, core CPU and interlock circuit an integrated circuit, for being converted to and can know received satellite-signal
Other location information；The output information of GPS measurement module includes longitude information, latitude information, east orientation speed information and north orientation speed
Spend information.Odometer is the device for measuring testee (for example, above-mentioned automobile and robot) stroke, according to the stroke of odometer
Record, the available velocity information to testee, including east orientation speed information and north orientation speed information；Barometertic altimeter is
Using the relationship of air pressure and altitude, the elevation information of testee is obtained by observation air pressure.
Particularly, in order to guarantee that the accuracy of data acquisition, the sample frequency of GPS measurement module and odometer are greater than or wait
In 1 hertz；The sample frequency of barometertic altimeter is greater than or equal to 10 hertz；Meanwhile the synchronism in order to guarantee data acquisition, it is auxiliary
Assisted correction module, barometertic altimeter and Inertial Measurement Unit have unified time reference.
S130, according to the output information of at least one measurement device, the auxiliary corrective mould in the Inertial Measurement Unit
The output information of the output information of block and the barometertic altimeter, extremely to measurement device described in the Inertial Measurement Unit
A few parameter error is demarcated.
After Inertial Measurement Unit is installed on testee (for example, vehicle), usually (i.e. by the simple movement of testee
Microinching) carry out inertial navigation parameter calibration；Since movement velocity and acceleration are lower in simple movement, shadow
Ringing Inertial Measurement Unit in-plane (i.e. horizontal direction and forward direction) mobile measurement accuracy error is mainly horizontal gyro
The error of zero of instrument, the error of zero of forward direction gyroscope, day are to the error of zero of gyroscope, the error of zero of horizontal accelerometer
With the error of zero of forward acceleration meter；And influence Inertial Measurement Unit direction in space (i.e. day Xiang Fangxiang) mobile measurement accuracy
Error is mainly scale factor error of the day to accelerometer；And the installation error of gyroscope and accelerometer is physical mistake
Difference, after being installed and being demarcated according to the prior art, (for example, 5 years) will not change again in longer time, in this hair
Known parameters are used as in bright embodiment, therefore, in embodiments of the present invention, it includes upper that Inertial Measurement Unit, which needs the parameter demarcated,
State the error of zero to gyroscope of the error of zero of horizontal gyro, the error of zero of forward direction gyroscope, day, horizontal accelerometer
The error of zero, the error of zero of forward acceleration meter and scale factor error from day to accelerometer.
As shown in Figure 1 C, optionally, in embodiments of the present invention, described according at least one in the Inertial Measurement Unit
The output information of the output information of measurement device, the output information of the auxiliary corrective module and the barometertic altimeter is right
At least one parameter error of measurement device described in the Inertial Measurement Unit is demarcated, and is specifically included: according to described used
Property measuring unit in gyroscope output angular velocity information and accelerometer output acceleration information, obtain the inertia measurement
Scale factor error of velocity information, location information, the target error of zero and the day of unit to accelerometer；The velocity information
Including horizontal velocity information, forward speed information and sky orientation speed information；The location information includes horizontal position information, forward direction
Location information and day are to location information；The target error of zero includes the error of zero of horizontal gyro, forward direction gyroscope
The error of zero, day are to the error of zero of gyroscope, the error of zero of the error of zero of horizontal accelerometer and forward acceleration meter.
Specifically, being added according to what the angular velocity information and accelerometer of gyroscope output in the Inertial Measurement Unit exported
Velocity information obtains the velocity information and location information of the Inertial Measurement Unit using inertial navigation mechanization algorithm.It is used
Property navigate mechanical Arrangement algorithm, be the acceleration information and angular velocity information for obtaining inertial measuring unit, by coordinate transform
Equal operations obtain velocity information and location information.In embodiments of the present invention, inertial measuring unit is Inertial Measurement Unit, inertia
The mechanical Arrangement algorithm that navigates is strap-down inertial mechanization algorithm.
Specifically, being led according to the acceleration information that accelerometer in the Inertial Measurement Unit exports using strap down inertial navigation
Velocity error equation in the error model of boat system, the zero-bit for obtaining horizontal accelerometer in the Inertial Measurement Unit are missed
The scale factor error of difference, the error of zero of forward acceleration meter and day to accelerometer；According in the Inertial Measurement Unit
The angular velocity information of gyroscope output obtains institute using the attitude error equations in the error model of strapdown inertial navigation system
The error of zero of horizontal gyro in Inertial Measurement Unit, the error of zero of forward direction gyroscope and day is stated to miss to the zero-bit of gyroscope
Difference.
Optionally, in embodiments of the present invention, believe in the angular speed exported according to gyroscope in the Inertial Measurement Unit
The acceleration information of breath and accelerometer output, obtains velocity information, location information, the target zero-bit of the Inertial Measurement Unit
Error and day are to after the scale factor error of accelerometer, comprising: by genetic algorithm, to the target error of zero and institute
Day is stated to be demarcated to the scale factor error of accelerometer.
Genetic algorithm (Genetic Algorithm) is to use for reference the evolution laws of living nature (the i.e. survival of the fittest, the survival of the fittest
Genetic mechanism) and genetic mechanisms biological evolution process computation model, be a kind of by simulation natural evolution process searches
The method of optimal solution.Genetic algorithm is the In since the target population (Population) of the possible potential disaggregation of the problem that represents
In the embodiment of the present invention, screening by genetic algorithm to target population, automatic rejection generates the data of variation after calculating, and
It constantly optimizes and iterates to calculate, obtain optimal calibrating parameters, while can diagnose to Inertial Measurement Unit, judge
The trend of Parameters variation out prejudges the parameter of following a period of time, increases the biharmonic nominal time to play
Effect.
Optionally, described by genetic algorithm, to the target error of zero and scale from the day to accelerometer because
Number error is demarcated, comprising: by genetic algorithm, according to the location information of the Inertial Measurement Unit and the pressure altitude
The elevation information of meter is iterated processing to the scale factor error of accelerometer to the day, to realize to the day to adding
The calibration of the scale factor error of speedometer；By genetic algorithm, according to the velocity information of the Inertial Measurement Unit, Yi Jisuo
The east orientation speed information and north orientation speed information for stating the output of auxiliary corrective module, are iterated place to the target error of zero
Reason, to realize the calibration to the target error of zero.
Specifically, the iteration function in genetic algorithm is divided into two parts, as shown in figure iD, for direction in space (i.e. day
To direction), using barometertic altimeter output elevation information and Inertial Measurement Unit difference from day to location information as observe
Cost function, the target population for needing to estimate be scale factor of the day to accelerometer, iteration step length be less than or equal to
0.1ppm, iteration length are the end value ± 100ppm of calibration；Wherein, 1ppm=0.001 ‰；As referring to figure 1E, for plane
Direction (i.e. horizontal direction and forward direction), the east orientation speed information for first exporting correcting module and Inertial Measurement Unit
The difference of horizontal velocity information carries out square operation, then north orientation speed information and inertia measurement list that correcting module is exported
The difference of the flat velocity information of forward direction of member carries out square operation, finally using the summed result of above two operation as the generation of observation
Valence function, the target population for needing to estimate are the zero-bit of horizontal gyro, the zero-bit of forward direction gyroscope, day to the zero of gyroscope
Position, the zero-bit of horizontal accelerometer and forward acceleration meter zero-bit；The zero-bit of horizontal accelerometer and forward acceleration meter
The iteration step length of zero-bit is less than or equal to 0.1 μ g (1 μ g=10-6G), the zero-bit of horizontal gyro, forward direction gyroscope zero
Position and day to the iteration step length of the zero-bit of gyroscope be less than or equal to 0.0001 °/h (per hour 0.0001 degree)；Level adds
The iteration length of the zero-bit of the zero-bit and forward acceleration meter of speedometer is ± 100 μ g of end value of calibration；Horizontal gyro
Zero-bit, the zero-bit of forward direction gyroscope and day to end value ± 0.1 ° that the iteration length of the zero-bit of gyroscope is calibration/h.
Particularly, if auxiliary corrective module includes GPS measurement module and odometer, GPS measurement module and odometer can be distinguished
The velocity information of output carries out average value operation, the velocity information that operation result is exported as auxiliary corrective module, i.e., by GPS
The east orientation speed information of measurement module output and the sum of east orientation speed information of odometer output again divided by 2 calculated result conduct
The east orientation speed information of correcting module output equally exports the north orientation speed information of measurement module output and odometer
The north orientation speed information that is exported again divided by 2 calculated result as correcting module of the sum of north orientation speed information.
Optionally, if the auxiliary corrective module includes GPS measurement module；It is then described by genetic algorithm, to the mesh
The mark error of zero and the day are demarcated to the scale factor error of accelerometer, comprising: by genetic algorithm, according to described
The location information of Inertial Measurement Unit and the longitude information and latitude information of auxiliary corrective module output, to the mesh
The mark error of zero is iterated processing, to realize the calibration to the target error of zero.
As shown in fig. 1F, specifically, if the auxiliary corrective module includes GPS measurement module, for in-plane (i.e. water
Square to and forward direction) iteration function, the water of the longitude information and Inertial Measurement Unit that first export correcting module
The difference of flat location information carries out square operation, before the latitude information and Inertial Measurement Unit for exporting correcting module
Square operation is carried out to the difference of flat location information, finally using the summed result of above two operation as the cost letter of observation
Number.And target population, iteration step length and iteration length can be identical as the setting in above-mentioned technical proposal.
Technical solution provided in an embodiment of the present invention, by the output for obtaining at least one measuring appliance in Inertial Measurement Unit
The output information of information and auxiliary corrective module and barometertic altimeter, and using genetic algorithm to the parameter of measurement device into
Row optimization and iterative calculation, get optimal calibrating parameters, while having prejudged the variation tendency of parameter, to following a period of time
Parameter prejudged, and then play the role of increase the parameter error biharmonic nominal time, improve Inertial Measurement Unit
Measurement accuracy.
Embodiment two
Fig. 2 is a kind of structural block diagram of the caliberating device of parameter error provided by the embodiment of the present invention two, device tool
Body includes: that output information obtains module 210, auxiliary information obtains module 220 and parameter error demarcating module 230.
Output information obtains module 210, for obtaining the output information of at least one measurement device in Inertial Measurement Unit；
Auxiliary information obtain module 220, for obtain auxiliary corrective module output information and barometertic altimeter it is defeated
Information out；The auxiliary corrective module includes GPS measurement module and/or odometer；
Parameter error demarcating module 230, for the output according at least one measurement device in the Inertial Measurement Unit
The output information of information, the output information of the auxiliary corrective module and the barometertic altimeter, to the inertia measurement list
At least one parameter error of measurement device described in member is demarcated.
Technical solution provided in an embodiment of the present invention, by the output for obtaining at least one measuring appliance in Inertial Measurement Unit
The output information of information and auxiliary corrective module and barometertic altimeter, and using genetic algorithm to the parameter of measurement device into
Row optimization and iterative calculation, get optimal calibrating parameters, while having prejudged the variation tendency of parameter, to following a period of time
Parameter prejudged, and then play the role of increase the parameter error biharmonic nominal time, improve Inertial Measurement Unit
Measurement accuracy.
Optionally, based on the above technical solution, output information obtains module 210, is specifically used for:
Obtain the acceleration information of the angular velocity information of gyroscope output and accelerometer output in Inertial Measurement Unit；
Wherein, the angular velocity information of gyroscope output includes the horizontal angular velocity information, preceding of horizontal gyro output
The forward direction angular velocity information and day exported to gyroscope is to the day that gyroscope exports to angular velocity information；
The acceleration information of the accelerometer output includes the horizontal acceleration information of horizontal accelerometer output, forward direction
The forward acceleration information and day of accelerometer output are to the day that accelerometer exports to acceleration information.
Optionally, based on the above technical solution, auxiliary information obtains module 220, is specifically used for:
What the east orientation speed information and north orientation speed information and barometertic altimeter of acquisition auxiliary corrective module output exported
Elevation information.
Optionally, based on the above technical solution, parameter error demarcating module 230, is specifically used for:
The acceleration letter of angular velocity information and the accelerometer output exported according to gyroscope in the Inertial Measurement Unit
Breath, obtain velocity information, location information, the target error of zero and the day of scale from the Inertial Measurement Unit to accelerometer because
Number error；The velocity information includes horizontal velocity information, forward speed information and sky orientation speed information；The location information packet
Horizontal position information, forward location information and day are included to location information；The target error of zero includes the zero of horizontal gyro
Position error, the error of zero of forward direction gyroscope, the error of zero from day to gyroscope, the error of zero of horizontal accelerometer and forward direction
The error of zero of accelerometer.
Optionally, based on the above technical solution, the caliberating device of parameter error, further includes:
Genetic algorithm execution module, for by genetic algorithm, to the target error of zero and the day to acceleration
The scale factor error of meter is demarcated.
Optionally, based on the above technical solution, genetic algorithm execution module, further includes:
Elevation information processing unit, for passing through genetic algorithm, according to the location information of the Inertial Measurement Unit and institute
The elevation information for stating barometertic altimeter is iterated processing to the scale factor error of accelerometer to the day, with realization pair
Scale factor error from the day to accelerometer calibration；
Velocity information processing unit, for passing through genetic algorithm, according to the velocity information of the Inertial Measurement Unit, and
The east orientation speed information and north orientation speed information of the auxiliary corrective module output, are iterated place to the target error of zero
Reason, to realize the calibration to the target error of zero.
Optionally, based on the above technical solution, genetic algorithm execution module, further includes:
Position information process unit, for passing through genetic algorithm, according to the location information of the Inertial Measurement Unit, and
The longitude information and latitude information of the auxiliary corrective module output, are iterated processing to the target error of zero, with reality
Now to the calibration of the target error of zero.
The scaling method of parameter error provided by any embodiment of the invention can be performed in above-mentioned apparatus, has execution method
Corresponding functional module and beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to the present invention is arbitrarily real
The method that example offer is provided.
Embodiment three
Fig. 3 is a kind of structural schematic diagram for equipment that the embodiment of the present invention three provides, as shown in figure 3, the equipment includes place
Manage device 30, memory 31, input unit 32 and output device 33；The quantity of processor 30 can be one or more in equipment,
In Fig. 3 by taking a processor 30 as an example；Device handler 30, memory 31, input unit 32 and output device 33 can pass through
Bus or other modes connect, in Fig. 3 for being connected by bus.
Memory 31 is used as a kind of computer readable storage medium, can be used for storing software program, journey can be performed in computer
Sequence and module, such as the corresponding module of caliberating device (the output information acquisition module of the parameter error in the embodiment of the present invention two
210, auxiliary information obtains module 220 and parameter error demarcating module 230).Processor 30 is stored in memory 31 by operation
In software program, instruction and module realized above-mentioned thereby executing the various function application and data processing of equipment
The scaling method of parameter error.
Memory 31 can mainly include storing program area and storage data area, wherein storing program area can store operation system
Application program needed for system, at least one function；Storage data area, which can be stored, uses created data etc. according to terminal.This
Outside, memory 31 may include high-speed random access memory, can also include nonvolatile memory, for example, at least a magnetic
Disk storage device, flush memory device or other non-volatile solid state memory parts.In some instances, memory 31 can be further
Including the memory remotely located relative to processor 30, these remote memories can pass through network connection to equipment.It is above-mentioned
The example of network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
Input unit 32 can be used for receiving the number or character information of input, and generate with the user setting of equipment and
The related key signals input of function control.Output device 33 may include that display screen etc. shows equipment.
Example IV
The embodiment of the present invention four additionally provides a kind of computer readable storage medium, and the computer readable storage medium exists
For executing the scaling method of parameter error when being executed by computer processor, this method comprises:
Obtain the output information of at least one measurement device in Inertial Measurement Unit；
Obtain the output information of auxiliary corrective module and the output information of barometertic altimeter；The auxiliary corrective module
Including GPS measurement module and/or odometer；
According to the output information of at least one measurement device in the Inertial Measurement Unit, the auxiliary corrective module it is defeated
Information and the output information of the barometertic altimeter out, at least one of measurement device described in the Inertial Measurement Unit
Parameter error is demarcated.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
The method operation that executable instruction is not limited to the described above, can also be performed parameter error provided by any embodiment of the invention
Scaling method in relevant operation.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is more
Good embodiment.Based on this understanding, technical solution of the present invention substantially in other words contributes to the prior art
Part can be embodied in the form of software products, which can store in computer readable storage medium
In, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is set
Standby (can be personal computer, server or the network equipment etc.) executes parameter error described in each embodiment of the present invention
Scaling method.
It is worth noting that, in the embodiment of the caliberating device of above-mentioned parameter error, included each unit and module
It is only divided according to the functional logic, but is not limited to the above division, as long as corresponding functions can be realized；
In addition, the specific name of each functional unit is also only for convenience of distinguishing each other, the protection scope being not intended to restrict the invention.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of scaling method of parameter error characterized by comprising
Obtain the output information of at least one measurement device in Inertial Measurement Unit；
Obtain the output information of auxiliary corrective module and the output information of barometertic altimeter；The auxiliary corrective module includes
GPS measurement module and/or odometer；
According to the output letter of the output information of at least one measurement device, the auxiliary corrective module in the Inertial Measurement Unit
The output information of breath and the barometertic altimeter, at least one parameter of measurement device described in the Inertial Measurement Unit
Error is demarcated.
2. the method according to claim 1, wherein at least one measuring appliance in the acquisition Inertial Measurement Unit
The output information of part, comprising:
Obtain the acceleration information of the angular velocity information of gyroscope output and accelerometer output in Inertial Measurement Unit；
Wherein, the angular velocity information of the gyroscope output includes the horizontal angular velocity information of horizontal gyro output, forward direction top
The forward direction angular velocity information and day of spiral shell instrument output are to the day that gyroscope exports to angular velocity information；
The acceleration information of the accelerometer output includes the horizontal acceleration information of horizontal accelerometer output, forward direction acceleration
The forward acceleration information and day of degree meter output are to the day that accelerometer exports to acceleration information.
3. according to the method described in claim 2, it is characterized in that, it is described obtain auxiliary corrective module output information, and
The output information of barometertic altimeter, comprising:
Obtain the height of east orientation speed information and north orientation speed information and barometertic altimeter output that auxiliary corrective module exports
Information.
4. according to the method described in claim 3, it is characterized in that, described survey according at least one in the Inertial Measurement Unit
The output information of the output information of metering device, the output information of the auxiliary corrective module and the barometertic altimeter, to institute
At least one parameter error for stating measurement device described in Inertial Measurement Unit is demarcated, comprising:
The acceleration information of angular velocity information and the accelerometer output exported according to gyroscope in the Inertial Measurement Unit, is obtained
Velocity information, location information, the target error of zero and the day of the Inertial Measurement Unit is taken to miss to the scale factor of accelerometer
Difference；The velocity information includes horizontal velocity information, forward speed information and sky orientation speed information；The location information includes water
Flat location information, forward location information and day are to location information；The target error of zero includes that the zero-bit of horizontal gyro is missed
Difference, the error of zero of forward direction gyroscope, day accelerate to the error of zero, the error of zero of horizontal accelerometer and forward direction of gyroscope
Spend the error of zero of meter.
5. according to the method described in claim 4, it is characterized in that, according to gyroscope output in the Inertial Measurement Unit
The acceleration information of angular velocity information and accelerometer output, obtain the velocity information of the Inertial Measurement Unit, location information,
The target error of zero and day are to after the scale factor error of accelerometer, comprising:
By genetic algorithm, the target error of zero and the day are demarcated to the scale factor error of accelerometer.
6. according to the method described in claim 5, it is characterized in that, described by genetic algorithm, to the target error of zero
It is demarcated with the day to the scale factor error of accelerometer, comprising:
It is right according to the elevation information of the location information of the Inertial Measurement Unit and the barometertic altimeter by genetic algorithm
The day is iterated processing to the scale factor error of accelerometer, to realize to the day to the scale factor of accelerometer
The calibration of error；
By genetic algorithm, the east exported according to the velocity information of the Inertial Measurement Unit and the auxiliary corrective module
To velocity information and north orientation speed information, processing is iterated to the target error of zero, to realize to the target zero-bit
The calibration of error.
7. according to the method described in claim 5, it is characterized in that, if the auxiliary corrective module includes GPS measurement module；Then
It is described that the target error of zero and the day are demarcated to the scale factor error of accelerometer by genetic algorithm,
Include:
By genetic algorithm, the warp exported according to the location information of the Inertial Measurement Unit and the auxiliary corrective module
Information and latitude information are spent, processing is iterated to the target error of zero, to realize the mark to the target error of zero
It is fixed.
8. a kind of caliberating device of parameter error characterized by comprising
Output information obtains module, for obtaining the output information of at least one measurement device in Inertial Measurement Unit；
Auxiliary information obtains module, for obtaining the output information of auxiliary corrective module and the output information of barometertic altimeter；
The auxiliary corrective module includes GPS measurement module and/or odometer；
Parameter error demarcating module, for according to the output information of at least one measurement device, institute in the Inertial Measurement Unit
The output information of auxiliary corrective module and the output information of the barometertic altimeter are stated, to described in the Inertial Measurement Unit
At least one parameter error of measurement device is demarcated.
9. a kind of equipment, which is characterized in that the equipment includes:
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
The now scaling method of the parameter error as described in any in claim 1-7.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The scaling method of the parameter error as described in any in claim 1-7 is realized when execution.
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