CN110440827B - Parameter error calibration method and device and storage medium - Google Patents
Parameter error calibration method and device and storage medium Download PDFInfo
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- CN110440827B CN110440827B CN201910708958.9A CN201910708958A CN110440827B CN 110440827 B CN110440827 B CN 110440827B CN 201910708958 A CN201910708958 A CN 201910708958A CN 110440827 B CN110440827 B CN 110440827B
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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
Abstract
The embodiment of the invention discloses a method, a device, equipment and a storage medium for calibrating a parameter error, wherein the method comprises the following steps: acquiring output information of at least one measuring device in an inertial measuring unit; acquiring output information of the auxiliary correction module and output information of the barometric altimeter; the auxiliary correction module comprises a GPS measurement module and/or an odometer; and calibrating at least one parameter error of the measuring device in the inertial measuring unit according to the output information of at least one measuring device in the inertial measuring unit, the output information of the auxiliary correction module and the output information of the barometric altimeter. According to the technical scheme provided by the embodiment of the invention, the optimal calibration parameter is obtained by obtaining the output information of at least one measurer in the inertial measurement unit and the output information of the auxiliary correction module and the barometric altimeter and utilizing the iterative function of the genetic algorithm, so that the measurement precision of the inertial measurement unit is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of communication, in particular to a parameter error calibration method, device, equipment and storage medium.
Background
With the continuous development of science and technology, the inertial navigation technology is widely applied to the navigation and positioning field and becomes an indispensable component in the navigation and positioning field.
Inertial Navigation (Inertial Navigation) is a technology for obtaining the instantaneous speed and the instantaneous position of a target object by measuring the acceleration information of the target object (such as a vehicle) and automatically performing integral operation, so as to achieve the purpose of Navigation and positioning of the target object; the inertial navigation device or equipment is usually installed in a target object, does not depend on external information during working, does not radiate energy to the outside, and is an autonomous navigation system.
The inertial navigation device or equipment has various errors, only calibration on installation errors is needed in the prior art, effective calibration on scale factor errors and zero error factors is lacked, the measurement precision is greatly influenced, and particularly after the original data with large errors are obtained, the data information obtained through integral operation often causes serious distortion.
Disclosure of Invention
The embodiment of the invention provides a parameter error calibration method, a parameter error calibration device, equipment and a storage medium, which are used for calibrating parameter errors of measurement devices in an inertial measurement unit.
In a first aspect, an embodiment of the present invention provides a method for calibrating a parameter error, including:
acquiring output information of at least one measuring device in an inertial measuring unit;
acquiring output information of the auxiliary correction module and output information of the barometric altimeter; the auxiliary correction module comprises a GPS measurement module and/or an odometer;
and calibrating at least one parameter error of the measuring device in the inertial measuring unit according to the output information of at least one measuring device in the inertial measuring unit, the output information of the auxiliary correction module and the output information of the barometric altimeter.
In a second aspect, an embodiment of the present invention provides a parameter error calibration apparatus, including:
the output information acquisition module is used for acquiring the output information of at least one measuring device in the inertia measuring unit;
the auxiliary information acquisition module is used for acquiring the output information of the auxiliary correction module and the output information of the barometric altimeter; the auxiliary correction module comprises a GPS measurement module and/or an odometer;
and the parameter error calibration module is used for calibrating at least one parameter error of the measuring device in the inertial measuring unit according to the output information of at least one measuring device in the inertial measuring unit, the output information of the auxiliary correction module and the output information of the barometric altimeter.
In a third aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for calibrating the parameter error according to any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for calibrating a parameter error according to any embodiment of the present invention.
According to the technical scheme provided by the embodiment of the invention, the output information of at least one measurer in the inertia measuring unit and the output information of the auxiliary correction module and the barometric altimeter are obtained, the parameters of a measuring device are optimized and iteratively calculated by utilizing a genetic algorithm, the optimal calibration parameter is obtained, the variation trend of the parameter is pre-judged, the parameter in a period of time in the future is pre-judged, the functions of increasing the parameter error readjustment and the calibration time are further played, and the measuring precision of the inertia measuring unit is improved.
Drawings
Fig. 1A is a flowchart of a method for calibrating a parameter error according to an embodiment of the present invention;
fig. 1B is a structural diagram of a coordinate system in the parameter error calibration method according to an embodiment of the present invention;
fig. 1C is a flowchart of a parameter error calibration method according to an embodiment of the present invention;
fig. 1D is a flowchart of a parameter error calibration method according to an embodiment of the present invention;
fig. 1E is a flowchart of a parameter error calibration method according to an embodiment of the present invention;
fig. 1F is a flowchart of a parameter error calibration method according to an embodiment of the present invention;
FIG. 2 is a block diagram of a parameter error calibration apparatus according to a second embodiment of the present invention;
fig. 3 is a block diagram of a device according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings, not all of them.
Example one
Fig. 1A is a flowchart of a parameter error calibration method according to an embodiment of the present invention, where this embodiment is applicable to a case of calibrating a parameter error of a measurement device in an inertial navigation device or an apparatus, and the method may be executed by the parameter error calibration device according to any embodiment of the present invention, where the parameter error calibration device may be implemented by software and/or hardware, and may be generally integrated on the inertial navigation device or the apparatus, and the method specifically includes the following steps:
and S110, acquiring output information of at least one measuring device in the inertia measuring unit.
An Inertial Measurement Unit (IMU) is a device that measures angular velocity and acceleration of an object in a three-dimensional space, and is installed in a device or equipment that needs to be subjected to motion control, such as an automobile and a robot.
Alternatively, in an embodiment of the present invention, the inertial measurement unit may include three single-axis accelerometers and three single-axis gyroscopes. Specifically, acquiring output information of at least one measuring device in the inertial measurement unit includes: acquiring angular velocity information output by a gyroscope and acceleration information output by an accelerometer in an inertial measurement unit; the angular velocity information output by the gyroscope comprises horizontal angular velocity information output by the horizontal gyroscope, forward angular velocity information output by the forward gyroscope and antenna direction angular velocity information output by the antenna direction gyroscope; the acceleration information output by the accelerometer comprises horizontal acceleration information output by the horizontal accelerometer, forward acceleration information output by the forward accelerometer and day acceleration information output by the day accelerometer. As shown in fig. 1B, the horizontal direction, i.e., the X-axis direction, points to the lateral direction of the device or equipment to be tested; the forward direction is the Y-axis direction and points to the motion direction of the device or equipment to be measured; the sky direction is the Z-axis direction, is perpendicular to the plane of the device or equipment to be measured and is vertically upward.
Optionally, in the embodiment of the present invention, the inertial measurement unit may further include a three-axis accelerometer and a three-axis gyroscope. The three-axis accelerometer is used for acquiring acceleration information in horizontal, forward and sky directions; and the three-axis gyroscope is used for acquiring angular velocity information of horizontal, forward and sky directions.
S120, acquiring output information of the auxiliary correction module and output information of the barometric altimeter; the auxiliary correction module includes a GPS measurement module and/or an odometer.
Optionally, in an embodiment of the present invention, the obtaining output information of the auxiliary correction module and output information of the barometric altimeter includes: and obtaining east-direction speed information and north-direction speed information output by the auxiliary correction module and altitude information output by the barometric altimeter.
A GPS (Global Positioning System) measurement module is an integrated circuit that integrates an RF radio frequency chip, a baseband chip, a core CPU, and related circuits, and is configured to convert a received satellite signal into identifiable location information; the output information of the GPS measurement module includes longitude information, latitude information, east-direction speed information, and north-direction speed information. The odometer is a device for measuring the travel of a measured object (such as the automobile and the robot), and can acquire speed information of the measured object according to the travel record of the odometer, wherein the speed information comprises east speed information and north speed information; the air pressure altimeter obtains the height information of the measured object by observing the air pressure by utilizing the relation between the air pressure and the height.
In particular, in order to ensure the accuracy of data acquisition, the sampling frequency of the GPS measurement module and the odometer is more than or equal to 1 Hz; the sampling frequency of the barometric altimeter is greater than or equal to 10 Hz; meanwhile, in order to ensure the synchronism of data acquisition, the auxiliary correction module, the barometric altimeter and the inertial measurement unit have a unified time reference.
S130, calibrating at least one parameter error of the measuring device in the inertial measuring unit according to the output information of at least one measuring device in the inertial measuring unit, the output information of the auxiliary correction module and the output information of the barometric altimeter.
After the inertial measurement unit is installed on a measured object (e.g., a vehicle), calibration of inertial navigation parameters is usually performed by simple movement (i.e., slow movement) of the measured object; because the motion speed and the acceleration are low in simple movement, the measurement precision errors influencing the movement of the inertial measurement unit in the plane direction (namely the horizontal direction and the forward direction) are mainly zero errors of a horizontal gyroscope, the forward gyroscope, a zenith gyroscope, a horizontal accelerometer and a forward accelerometer; the measurement precision error influencing the movement of the inertial measurement unit in the space direction (namely the direction of the sky) is mainly the scale factor error of the accelerometer in the sky direction; however, the installation error of the gyroscope and the accelerometer is a physical error, and after the installation is completed and the calibration is performed according to the prior art, the installation error does not change any longer for a long time (for example, 5 years), and the installation error is taken as a known parameter in the embodiment of the present invention, and therefore, in the embodiment of the present invention, the parameters to be calibrated by the inertial measurement unit include the zero error of the horizontal gyroscope, the zero error of the forward-direction gyroscope, the zero error of the zenith gyroscope, the zero error of the horizontal accelerometer, the zero error of the forward-direction accelerometer, and the scale factor error of the zenith accelerometer.
As shown in fig. 1C, optionally, in the embodiment of the present invention, the calibrating, according to the output information of at least one measuring device in the inertial measurement unit, the output information of the auxiliary correction module, and the output information of the barometric altimeter, at least one parameter error of the measuring device in the inertial measurement unit specifically includes: acquiring speed information, position information, a target zero position error and a scale factor error of an accelerometer according to angular speed information output by a gyroscope and acceleration information output by the accelerometer in the inertial measurement unit; the speed information comprises horizontal speed information, forward speed information and space speed information; the position information comprises horizontal position information, forward position information and sky position information; the target zero position error comprises a zero position error of the horizontal gyroscope, a zero position error of the forward-facing gyroscope, a zero position error of the zenith gyroscope, a zero position error of the horizontal accelerometer and a zero position error of the forward-facing accelerometer.
Specifically, the speed information and the position information of the inertial measurement unit are obtained by using an inertial navigation mechanical arrangement algorithm according to the angular velocity information output by the gyroscope and the acceleration information output by the accelerometer in the inertial measurement unit. The inertial navigation mechanical arrangement algorithm is to obtain speed information and position information by calculating acceleration information and angular velocity information acquired by an inertial measurement device through coordinate transformation and the like. In the embodiment of the invention, the inertial measurement device is an inertial measurement unit, and the inertial navigation mechanical arrangement algorithm is a strapdown inertial navigation mechanical arrangement algorithm.
Specifically, according to acceleration information output by an accelerometer in the inertial measurement unit, a velocity error equation in an error model of a strapdown inertial navigation system is utilized to obtain a zero error of a horizontal accelerometer, a zero error of a forward accelerometer and a scale factor error of a zenith accelerometer in the inertial measurement unit; and acquiring the zero error of the horizontal gyroscope, the zero error of the forward gyroscope and the zero error of the zenith gyroscope in the inertial measurement unit by utilizing an attitude error equation in an error model of the strapdown inertial navigation system according to the angular velocity information output by the gyroscope in the inertial measurement unit.
Optionally, in an embodiment of the present invention, after acquiring speed information, position information, a target zero position error, and a scale factor error of a zenith accelerometer of the inertial measurement unit according to angular velocity information output by a gyroscope and acceleration information output by an accelerometer in the inertial measurement unit, the method includes: and calibrating the target zero position error and the scale factor error of the vertical accelerometer through a genetic algorithm.
Genetic Algorithm (Genetic Algorithm) is a calculation model of a biological evolution process by using the evolution law of the biological world (namely survival of a suitable person, and a victory or victory Genetic mechanism) and a Genetic mechanism, and is a method for searching an optimal solution by simulating a natural evolution process. In the embodiment of the invention, the target Population is screened by the genetic algorithm, the data which generate variation is automatically eliminated after calculation, optimization and iterative calculation are continuously carried out to obtain the optimal calibration parameter, meanwhile, an inertia measurement unit can be diagnosed to judge the variation trend of the parameter, and the parameter in a period of time in the future is pre-judged, thereby playing the role of increasing the readjustment and calibration time.
Optionally, the calibrating, by a genetic algorithm, the target zero position error and the scale factor error of the accelerometer includes: performing iterative processing on the scale factor error of the weather-oriented accelerometer according to the position information of the inertial measurement unit and the height information of the barometric altimeter by using a genetic algorithm so as to realize calibration of the scale factor error of the weather-oriented accelerometer; and performing iterative processing on the target zero-position error according to the speed information of the inertial measurement unit and the east-direction speed information and the north-direction speed information output by the auxiliary correction module through a genetic algorithm so as to realize the calibration of the target zero-position error.
Specifically, an iteration function in the genetic algorithm is divided into two parts, as shown in fig. 1D, for a spatial direction (i.e., a direction in the sky), a difference value between height information output by the barometric altimeter and information about a position in the sky of the inertial measurement unit is used as an observation cost function, a target population to be estimated is a scale factor of the accelerometer in the sky, an iteration step is less than or equal to 0.1ppm, and an iteration length is a calibrated result value ± 100 ppm; wherein, 1ppm is 0.001 per mill; as shown in fig. 1E, for the plane direction (i.e. the horizontal direction and the forward direction), the difference between the east-direction velocity information output by the auxiliary correction module and the horizontal velocity information of the inertial measurement unit is squared, and then the north-direction velocity information output by the auxiliary correction module and the horizontal velocity information of the inertial measurement unit are summedPerforming square operation on the difference value of the forward flat velocity information of the inertial measurement unit, and finally taking the sum result of the two operations as an observation cost function, wherein the target population to be estimated is the zero position of the horizontal gyroscope, the zero position of the forward gyroscope, the zero position of the zenith gyroscope, the zero position of the horizontal accelerometer and the zero position of the forward accelerometer; the iteration step length of the zero position of the horizontal accelerometer and the zero position of the forward accelerometer are both less than or equal to 0.1 mu g (1 mu g-10)-6g) The iteration step size of the zero position of the horizontal gyroscope, the zero position of the forward gyroscope and the zero position of the zenithal gyroscope is less than or equal to 0.0001 degree/h (0.0001 degree per hour); the iteration lengths of the zero position of the horizontal accelerometer and the zero position of the forward accelerometer are both calibrated result values of +/-100 mu g; the iteration lengths of the zero position of the horizontal gyroscope, the zero position of the forward gyroscope and the zero position of the zenith gyroscope are all calibrated result values +/-0.1 degree/h. Particularly, if the auxiliary correction module includes a GPS measurement module and a odometer, the average value of the speed information output by the GPS measurement module and the odometer may be calculated, and the calculation result is used as the speed information output by the auxiliary correction module, that is, the calculation result obtained by dividing the sum of the eastern speed information output by the GPS measurement module and the eastern speed information output by the odometer by 2 is used as the eastern speed information output by the auxiliary correction module, and similarly, the calculation result obtained by dividing the sum of the northern speed information output by the measurement module and the northern speed information output by the odometer by 2 is used as the northern speed information output by the auxiliary correction module.
Optionally, if the auxiliary correction module includes a GPS measurement module; then the calibrating the target zero position error and the scale factor error of the accelerometer by genetic algorithm includes: and performing iterative processing on the target zero error according to the position information of the inertial measurement unit and longitude information and latitude information output by the auxiliary correction module through a genetic algorithm to realize calibration of the target zero error.
As shown in fig. 1F, specifically, if the auxiliary correction module includes a GPS measurement module, for an iterative function in a planar direction (i.e., a horizontal direction and a forward direction), a difference between longitude information output by the auxiliary correction module and horizontal position information of the inertial measurement unit is squared, a difference between latitude information output by the auxiliary correction module and forward horizontal position information of the inertial measurement unit is squared, and finally a sum of the two operations is used as an observed cost function. The target population, the iteration step length and the iteration length may all be the same as the settings in the above technical scheme.
According to the technical scheme provided by the embodiment of the invention, the output information of at least one measurer in the inertia measuring unit and the output information of the auxiliary correction module and the barometric altimeter are obtained, the parameters of a measuring device are optimized and iteratively calculated by utilizing a genetic algorithm, the optimal calibration parameter is obtained, the variation trend of the parameter is pre-judged, the parameter in a period of time in the future is pre-judged, the functions of increasing the parameter error readjustment and the calibration time are further played, and the measuring precision of the inertia measuring unit is improved.
Example two
Fig. 2 is a block diagram of a calibration apparatus for parameter errors according to a second embodiment of the present invention, the apparatus specifically includes: an output information acquisition module 210, an auxiliary information acquisition module 220, and a parameter error calibration module 230.
An output information obtaining module 210, configured to obtain output information of at least one measurement device in the inertial measurement unit;
an auxiliary information obtaining module 220, configured to obtain output information of the auxiliary correction module and output information of the barometric altimeter; the auxiliary correction module comprises a GPS measurement module and/or an odometer;
a parameter error calibration module 230, configured to calibrate at least one parameter error of at least one measuring device in the inertial measurement unit according to the output information of the at least one measuring device in the inertial measurement unit, the output information of the auxiliary correction module, and the output information of the barometric altimeter.
According to the technical scheme provided by the embodiment of the invention, the output information of at least one measurer in the inertia measuring unit and the output information of the auxiliary correction module and the barometric altimeter are obtained, the parameters of a measuring device are optimized and iteratively calculated by utilizing a genetic algorithm, the optimal calibration parameter is obtained, the variation trend of the parameter is pre-judged, the parameter in a period of time in the future is pre-judged, the functions of increasing the parameter error readjustment and the calibration time are further played, and the measuring precision of the inertia measuring unit is improved.
Optionally, on the basis of the above technical solution, the output information obtaining module 210 is specifically configured to:
acquiring angular velocity information output by a gyroscope and acceleration information output by an accelerometer in an inertial measurement unit;
the angular velocity information output by the gyroscope comprises horizontal angular velocity information output by the horizontal gyroscope, forward angular velocity information output by the forward gyroscope and antenna direction angular velocity information output by the antenna direction gyroscope;
the acceleration information output by the accelerometer comprises horizontal acceleration information output by the horizontal accelerometer, forward acceleration information output by the forward accelerometer and day acceleration information output by the day accelerometer.
Optionally, on the basis of the above technical solution, the auxiliary information obtaining module 220 is specifically configured to:
and obtaining east-direction speed information and north-direction speed information output by the auxiliary correction module and altitude information output by the barometric altimeter.
Optionally, on the basis of the foregoing technical solution, the parameter error calibration module 230 is specifically configured to:
acquiring speed information, position information, a target zero position error and a scale factor error of an accelerometer according to angular speed information output by a gyroscope and acceleration information output by the accelerometer in the inertial measurement unit; the speed information comprises horizontal speed information, forward speed information and space speed information; the position information comprises horizontal position information, forward position information and sky position information; the target zero position error comprises a zero position error of the horizontal gyroscope, a zero position error of the forward-facing gyroscope, a zero position error of the zenith gyroscope, a zero position error of the horizontal accelerometer and a zero position error of the forward-facing accelerometer.
Optionally, on the basis of the above technical solution, the parameter error calibration apparatus further includes:
and the genetic algorithm execution module is used for calibrating the target zero position error and the scale factor error of the weather-oriented accelerometer through a genetic algorithm.
Optionally, on the basis of the above technical solution, the genetic algorithm execution module further includes:
the altitude information processing unit is used for carrying out iterative processing on the scale factor error of the zenith accelerometer according to the position information of the inertial measurement unit and the altitude information of the barometric altimeter through a genetic algorithm so as to realize calibration of the scale factor error of the zenith accelerometer;
and the speed information processing unit is used for performing iterative processing on the target zero position error according to the speed information of the inertial measurement unit and the east-direction speed information and the north-direction speed information output by the auxiliary correction module through a genetic algorithm so as to realize the calibration of the target zero position error.
Optionally, on the basis of the above technical solution, the genetic algorithm execution module further includes:
and the position information processing unit is used for performing iterative processing on the target zero position error according to the position information of the inertia measurement unit and the longitude information and the latitude information output by the auxiliary correction module through a genetic algorithm so as to realize calibration of the target zero position error.
The device can execute the parameter error calibration method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in this embodiment, reference may be made to the method provided in any embodiment of the present invention.
EXAMPLE III
Fig. 3 is a schematic structural diagram of an apparatus according to a third embodiment of the present invention, as shown in fig. 3, the apparatus includes a processor 30, a memory 31, an input device 32, and an output device 33; the number of processors 30 in the device may be one or more, and one processor 30 is taken as an example in fig. 3; the device processor 30, the memory 31, the input means 32 and the output means 33 may be connected by a bus or other means, as exemplified by the bus connection in fig. 3.
The memory 31 is used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as the modules (the output information obtaining module 210, the auxiliary information obtaining module 220, and the parameter error calibrating module 230) corresponding to the parameter error calibrating apparatus in the second embodiment of the present invention. The processor 30 executes various functional applications of the device and data processing by executing software programs, instructions and modules stored in the memory 31, namely, the above-mentioned parameter error calibration method is realized.
The memory 31 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 31 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 31 may further include memory located remotely from the processor 30, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 32 may be used to receive input numeric or character information and to generate key signal inputs relating to user settings and function controls of the apparatus. The output device 33 may include a display device such as a display screen.
Example four
An embodiment of the present invention further provides a computer-readable storage medium, which when executed by a computer processor, is configured to perform a calibration method for parameter errors, where the method includes:
acquiring output information of at least one measuring device in an inertial measuring unit;
acquiring output information of the auxiliary correction module and output information of the barometric altimeter; the auxiliary correction module comprises a GPS measurement module and/or an odometer;
and calibrating at least one parameter error of the measuring device in the inertial measuring unit according to the output information of at least one measuring device in the inertial measuring unit, the output information of the auxiliary correction module and the output information of the barometric altimeter.
Of course, the storage medium provided by the embodiments of the present invention includes computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the parameter error calibration method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk, or an optical disk of a computer, and includes instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the parameter error calibration method according to the embodiments of the present invention.
It should be noted that, in the embodiment of the parameter error calibration apparatus, each included unit and module are only divided according to functional logic, but are not limited to the above division, as long as the corresponding function can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (5)
1. A method for calibrating a parameter error is characterized by comprising the following steps:
acquiring angular velocity information output by a gyroscope and acceleration information output by an accelerometer in an inertial measurement unit; the angular speed information output by the gyroscope comprises horizontal angular speed information output by a horizontal gyroscope, forward angular speed information output by a forward gyroscope and natural angular speed information output by a natural gyroscope; the acceleration information output by the accelerometer comprises horizontal acceleration information output by the horizontal accelerometer, forward acceleration information output by the forward accelerometer and day acceleration information output by the day accelerometer;
obtaining east-direction speed information and north-direction speed information output by the auxiliary correction module and altitude information output by the barometric altimeter; wherein the auxiliary correction module comprises a GPS measurement module and/or an odometer;
acquiring speed information, position information, a target zero position error and a scale factor error of a weather-oriented accelerometer of the inertial measurement unit according to angular speed information output by a gyroscope and acceleration information output by the accelerometer in the inertial measurement unit; wherein the speed information comprises horizontal speed information, forward speed information and sky speed information; the position information comprises horizontal position information, forward position information and sky position information; the target zero position error comprises a zero position error of the horizontal gyroscope, a zero position error of the forward-direction gyroscope, a zero position error of the zenith gyroscope, a zero position error of the horizontal accelerometer and a zero position error of the forward-direction accelerometer;
calibrating the target zero position error and the scale factor error of the vertical accelerometer through a genetic algorithm;
the calibration of the target zero position error and the scale factor error of the accelerometer by a genetic algorithm comprises:
performing iterative processing on the scale factor error of the zenith accelerometer according to the position information of the inertial measurement unit and the height information of the barometric altimeter through a genetic algorithm so as to realize calibration of the scale factor error of the zenith accelerometer;
the step of performing iterative processing on the scale factor error of the weather-oriented accelerometer according to the position information of the inertial measurement unit and the altitude information of the barometric altimeter by using a genetic algorithm to realize calibration of the scale factor error of the weather-oriented accelerometer comprises the following steps:
taking the difference value between the altitude information of the barometric altimeter and the sky-direction position information of the inertial measurement unit as an observation cost function, and taking the scale factor of the sky-direction accelerometer as a target population;
performing iterative processing on the target zero-position error according to the speed information of the inertial measurement unit and the east-direction speed information and the north-direction speed information output by the auxiliary correction module through a genetic algorithm to realize calibration of the target zero-position error;
the step of performing iterative processing on the target zero-position error through a genetic algorithm according to the speed information of the inertial measurement unit and the east-direction speed information and the north-direction speed information output by the auxiliary correction module to realize calibration of the target zero-position error comprises the following steps:
and carrying out summation operation on the square of the difference value between the east-direction speed information output by the auxiliary correction module and the horizontal speed information of the inertial measurement unit and the square of the difference value between the north-direction speed information output by the auxiliary correction module and the forward-direction horizontal speed information of the inertial measurement unit, taking the summation operation result as an observed cost function, and taking the target zero position error as a target population.
2. The method of claim 1, wherein if the auxiliary calibration module comprises a GPS measurement module; then the calibrating the target zero position error and the scale factor error of the accelerometer by genetic algorithm includes:
and performing iterative processing on the target zero position error according to the position information of the inertial measurement unit and the longitude information and the latitude information output by the auxiliary correction module by a genetic algorithm to realize the calibration of the target zero position error.
3. A calibration apparatus for parameter error, comprising:
the output information acquisition module is used for acquiring angular velocity information output by a gyroscope and acceleration information output by an accelerometer in the inertial measurement unit; the angular velocity information output by the gyroscope comprises horizontal angular velocity information output by the horizontal gyroscope, forward angular velocity information output by the forward gyroscope and antenna direction angular velocity information output by the antenna direction gyroscope; the acceleration information output by the accelerometer comprises horizontal acceleration information output by the horizontal accelerometer, forward acceleration information output by the forward accelerometer and day acceleration information output by the day accelerometer;
the auxiliary information acquisition module is used for acquiring speed information, position information, target zero position error and scale factor error of the accelerometer according to angular velocity information output by a gyroscope and acceleration information output by the accelerometer in the inertial measurement unit; wherein the speed information comprises horizontal speed information, forward speed information and sky speed information; the position information comprises horizontal position information, forward position information and sky position information; the target zero position error comprises a zero position error of the horizontal gyroscope, a zero position error of the forward direction gyroscope, a zero position error of the zenith gyroscope, a zero position error of the horizontal accelerometer and a zero position error of the forward direction accelerometer; calibrating the target zero position error and the scale factor error of the vertical accelerometer through a genetic algorithm;
the parameter error calibration module is used for acquiring speed information, position information, a target zero position error and a scale factor error of the accelerometer according to angular speed information output by a gyroscope and acceleration information output by the accelerometer in the inertial measurement unit; wherein the speed information comprises horizontal speed information, forward speed information and sky speed information; the position information comprises horizontal position information, forward position information and sky position information; the target zero position error comprises a zero position error of the horizontal gyroscope, a zero position error of the forward direction gyroscope, a zero position error of the zenith gyroscope, a zero position error of the horizontal accelerometer and a zero position error of the forward direction accelerometer;
the genetic algorithm execution module is used for calibrating the target zero position error and the scale factor error of the accelerometer through a genetic algorithm;
the genetic algorithm execution module specifically comprises:
the height information processing unit is used for carrying out iterative processing on the scale factor error of the zenith accelerometer according to the position information of the inertial measurement unit and the height information of the barometric pressure gauge through a genetic algorithm so as to realize calibration of the scale factor error of the zenith accelerometer;
the iterative processing is carried out on the scale factor error of the zenith accelerometer according to the position information of the inertial measurement unit and the height information of the barometric altimeter through a genetic algorithm so as to realize the calibration of the scale factor error of the zenith accelerometer, and the calibration comprises the following steps: taking the difference value between the altitude information of the barometric altimeter and the sky-direction position information of the inertial measurement unit as an observation cost function, and taking the scale factor of the sky-direction accelerometer as a target population;
the speed information processing unit is used for carrying out iterative processing on the target zero position error according to the speed information of the inertial measurement unit and the east-direction speed information and the north-direction speed information output by the auxiliary correction module through a genetic algorithm so as to realize calibration of the target zero position error;
the step of performing iterative processing on the target zero-position error through a genetic algorithm according to the speed information of the inertial measurement unit and the east-direction speed information and the north-direction speed information output by the auxiliary correction module to realize calibration of the target zero-position error comprises the following steps: and carrying out summation operation on the square of the difference value between the east-direction speed information output by the auxiliary correction module and the horizontal speed information of the inertial measurement unit and the square of the difference value between the north-direction speed information output by the auxiliary correction module and the forward-direction horizontal speed information of the inertial measurement unit, taking the summation operation result as an observed cost function, and taking the target zero position error as a target population.
4. An inertial navigation device, characterized in that it comprises:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method of calibration of parameter errors as claimed in claim 1 or 2.
5. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method for calibration of a parameter error as claimed in claim 1 or 2.
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| CN112344959A (en) * | 2020-10-13 | 2021-02-09 | 深圳市富临通实业股份有限公司 | Method and system for calibrating low-cost IMU |
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