CN110832274A

CN110832274A - Ground slope calculation method, device, equipment and storage medium

Info

Publication number: CN110832274A
Application number: CN201880041846.6A
Authority: CN
Inventors: 王石荣; 王春明
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2018-11-21
Filing date: 2018-11-21
Publication date: 2020-02-21
Also published as: WO2020103029A1

Abstract

The embodiment of the invention provides a ground slope degree calculation method, a ground slope degree calculation device, ground slope degree calculation equipment and a storage medium, wherein the method comprises the following steps: acquiring a detection value of a detection device (2) arranged on a movable platform (81) to the ground gradient; acquiring state parameters of the movable platform (81) detected by an inertial measurement unit (3); and determining the ground slope value according to the detection value of the detection equipment (2) on the ground slope and the state parameter of the movable platform (81). The ground slope value is determined according to the detection value of the detection equipment (2) to the ground slope and the state parameters of the movable platform (81), so that the accuracy of the measurement of the ground slope value can be improved, and the movable platform can realize a more stable climbing obstacle avoidance function.

Description

Ground slope calculation method, device, equipment and storage medium

Technical Field

The embodiment of the invention relates to the field of unmanned aerial vehicles, in particular to a ground slope degree calculation method, a ground slope degree calculation device, ground slope degree calculation equipment and a storage medium.

Background

In the prior art, when a movable platform moves, the slope of the ground below the movable platform needs to be estimated, and the movable platform can avoid obstacles or climb according to the slope of the ground.

The movable platform is typically provided with a detection device for detecting the slope of the ground below the movable platform, but the ground slope detected by the detection device may not be accurate enough when the amplitude of movement of the movable platform is large or the ground slope changes rapidly.

Disclosure of Invention

The embodiment of the invention provides a ground slope calculating method, a ground slope calculating device, ground slope calculating equipment and a storage medium, and aims to solve the technical problem that in the prior art, when the motion amplitude of a movable platform is large or the change of the ground slope is rapid, the ground slope detected by detection equipment is not accurate enough.

A first aspect of an embodiment of the present invention provides a ground slope calculation method, including:

acquiring a detection value of detection equipment arranged on a movable platform on the ground gradient;

acquiring state parameters of the movable platform detected by an inertial measurement unit;

and determining a ground slope value according to the detection value of the detection equipment to the ground slope and the state parameter of the movable platform.

A second aspect of an embodiment of the present invention provides a ground slope degree calculation apparatus including:

a memory and a processor;

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

A third aspect of an embodiment of the present invention is to provide a movable platform, including:

a body;

the power system is arranged on the machine body and used for providing power;

a detection device for detecting a ground slope;

an inertial measurement unit for detecting a state parameter of the movable platform; and

the ground gradient calculation apparatus according to the second aspect.

A fourth aspect of embodiments of the present invention is to provide a computer-readable storage medium having stored thereon a computer program, the computer program being executed by a processor to implement the method according to the first aspect.

According to the method, the device, the equipment and the storage medium for calculating the ground slope, the detection value of the detection equipment arranged on the movable platform to the ground slope is obtained; acquiring state parameters of the movable platform detected by an inertial measurement unit; and determining a ground slope value according to the detection value of the detection equipment to the ground slope and the state parameter of the movable platform. The ground slope value is determined according to the detection value of the detection equipment on the ground slope and the state parameters of the movable platform, so that the accuracy of ground slope value measurement can be improved, and the movable platform can realize a more stable climbing obstacle avoidance function.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 is a diagram of a network architecture upon which the present invention is based;

fig. 2 is a schematic flow chart of a method for calculating a ground gradient according to an embodiment of the present invention;

fig. 3 is a schematic flow chart of a ground gradient calculation method according to a second embodiment of the present invention;

fig. 4 is a schematic flow chart of a ground gradient calculation method according to a third embodiment of the present invention;

fig. 5 is a schematic flow chart of a method for calculating a ground gradient according to a fourth embodiment of the present invention;

fig. 6 is a schematic flow chart of a method for calculating a ground gradient according to a fifth embodiment of the present invention;

fig. 7 is a schematic flow chart of a method for calculating a ground gradient according to a sixth embodiment of the present invention;

fig. 8 is a schematic diagram illustrating adjustment of a detection apparatus according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a ground gradient calculation apparatus according to a seventh embodiment of the present invention;

fig. 10 is a schematic structural diagram of a movable platform according to an eighth embodiment of the present invention.

Reference numerals:

1: a ground slope calculation device; 2: a detection device; 3: an inertial measurement unit;

71: a memory; 72: a processor; 81: a movable platform;

82: a fuselage.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In the prior art, when a movable platform moves, the slope of the ground below the movable platform needs to be estimated, and the movable platform can avoid obstacles or climb according to the slope of the ground. The movable platform is typically provided with a detection device for detecting the slope of the ground below the movable platform, but the ground slope detected by the detection device may not be accurate enough when the amplitude of movement of the movable platform is large or the ground slope changes rapidly. In order to solve the technical problems, the invention provides a ground slope calculation method, a ground slope calculation device, ground slope calculation equipment and a storage medium. It should be noted that the ground gradient calculation method, device, equipment and storage medium provided by the invention can be applied to any calculation scene of the ground gradient.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Fig. 1 is a diagram of a network architecture on which the present invention is based, and as shown in fig. 1, the network architecture on which the present invention is based at least includes: the device comprises a ground gradient calculation device 1, a detection device 2 and an inertia measurement unit 3. The ground slope calculating device 1 is respectively connected with the detecting equipment 2 and the inertia measuring unit 3 in a communication way. The ground slope calculating device 1 can be implemented in a software and/or hardware manner, and when implemented in a software manner, it can be written in languages such as C/C + +, Java, Shell, Python, and the like; the detection device 2 is one or more of a microwave radar, an ultrasonic detection device, a TOF ranging detection device, a vision detection device and a laser radar.

Fig. 2 is a schematic flow chart of a method for calculating a ground gradient according to an embodiment of the present invention, as shown in fig. 2, the method in this embodiment may include:

and S101, acquiring a detection value of the detection equipment arranged on the movable platform to the ground gradient.

The main body of the method of this embodiment may be a ground gradient calculating device, and the ground gradient calculating device may be disposed on the movable platform or may be an independent device, which is not limited herein. The movable platform is provided with a detection device, and the detection device can measure the ground gradient in real time according to the distance measurement data of the movable platform from the ground, which is obtained by detection, so as to obtain the detection value of the ground gradient. The ground slope calculation device is in communication connection with the detection equipment arranged on the movable platform, so that the detection value of the detection equipment to the ground slope can be acquired.

And S102, acquiring the state parameters of the movable platform detected by the inertial measurement unit.

In this embodiment, the ground slope calculation device is further in communication connection with the inertial measurement unit, so that the ground slope calculation device can acquire the state parameters of the movable platform detected by the inertial measurement unit.

And S103, determining a ground slope value according to the detection value of the detection equipment to the ground slope and the state parameter of the movable platform.

In this embodiment, because the ground slope measured when the motion amplitude of the movable platform is large or the ground slope changes rapidly by the detection device arranged on the movable platform in the prior art is often not accurate enough, in order to improve the accuracy of the detection of the ground slope, after the detection value of the detection device on the ground slope and the state parameter obtained by the measurement of the inertia measurement unit are obtained, the detection of the ground slope value can be realized together according to the detection value of the detection device on the ground slope and the state parameter of the movable platform, so as to obtain the ground slope value, and the movable platform can climb or avoid an obstacle according to the ground slope value.

In the method for calculating the ground slope provided by the embodiment, the detection value of the detection equipment arranged on the movable platform on the ground slope is obtained; acquiring state parameters of the movable platform detected by an inertial measurement unit; and determining a ground slope value according to the detection value of the detection equipment to the ground slope and the state parameter of the movable platform. The ground slope value is determined according to the detection value of the detection equipment on the ground slope and the state parameters of the movable platform, so that the accuracy of ground slope value measurement can be improved, and the movable platform can realize a more stable climbing obstacle avoidance function.

Further, on the basis of any of the above embodiments, the state parameter of the movable platform includes at least one of:

angular velocity, attitude information of the movable platform.

In this embodiment, the state parameters of the movable platform specifically include an angular velocity and attitude information of the movable platform, and accordingly, the ground slope calculation apparatus may determine the detected value of the ground slope according to the detected value of the ground slope by the detection device, and the angular velocity and attitude information detected by the inertial measurement unit.

According to the ground slope calculation method provided by the embodiment, the detection value of the ground slope is determined together with the angular velocity and the attitude information detected by the inertia measurement unit according to the detection value of the detection equipment on the ground slope, so that the accuracy of the measurement of the ground slope value can be further improved, and the movable platform can realize a more stable climbing and obstacle avoiding function.

Further, on the basis of any of the above embodiments, the posture information includes at least one of:

pitch angle, roll angle, yaw angle.

In this embodiment, the attitude information specifically includes one or more of a pitch angle, a roll angle, and a yaw angle, and accordingly, the ground slope calculation device may determine the detected value of the ground slope together with the angular velocity, the pitch angle, the roll angle, and the yaw angle detected by the inertial measurement unit according to the detected value of the ground slope by the detection device.

According to the ground slope calculation method provided by the embodiment, the detection value of the ground slope is determined together with the angular velocity, the pitch angle, the roll angle and the yaw angle detected by the inertia measurement unit according to the detection value of the detection device on the ground slope, so that the accuracy of the measurement of the ground slope value can be further improved, and further, a movable platform can realize a more stable climbing obstacle avoidance function.

Fig. 3 is a schematic flow chart of a ground gradient calculation method according to a second embodiment of the present invention, as shown in fig. 3, based on any one of the above embodiments, the method in this embodiment may include:

step S201, acquiring a detection value of a detection device arranged on a movable platform to the ground gradient;

step S202, acquiring state parameters of the movable platform detected by an inertia measurement unit;

and S203, performing fusion calculation on the detection value of the ground slope and the state parameter of the movable platform by the detection equipment by adopting a Kalman filtering algorithm, and determining the ground slope value.

In this embodiment, after the detection value of the detection device for the ground slope and the state parameter obtained by the measurement of the inertia measurement unit are obtained, the detection of the ground slope value can be realized together according to the detection value of the detection device for the ground slope and the state parameter of the movable platform, specifically, the detection value of the detection device for the ground slope and the state parameter of the movable platform can be subjected to fusion calculation by using a kalman filter algorithm to obtain a fusion value, and the fusion value is used as the ground slope value, so that the movable platform can climb or avoid an obstacle according to the ground slope value.

According to the ground slope calculation method provided by the embodiment, the detection device performs fusion calculation on the detection value of the ground slope and the state parameter of the movable platform by adopting a Kalman filtering algorithm to determine the ground slope value, so that the fused ground slope value can be accurately determined, the accuracy of ground slope value measurement is improved, and the movable platform can realize a more stable climbing and obstacle avoidance function.

Further, on the basis of any of the above embodiments, the method comprises:

and performing fusion calculation on the detection value of the ground slope and the state parameter of the movable platform by the detection equipment by adopting a Kalman filtering algorithm according to the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter, and determining the ground slope value.

In this embodiment, after the detection value of the detection device for the ground slope and the state parameter measured by the inertial measurement unit are obtained, the detection of the ground slope value can be realized together with the state parameter of the movable platform according to the detection value of the detection device for the ground slope. It will be appreciated that the accuracy of the data collected by the detection device and the inertial measurement unit may vary from one mobile platform to another. Therefore, in order to improve the accuracy of the fused ground slope detection value, a weight coefficient can be set for data collected by the detection equipment and the inertia measurement unit, the weight coefficient can be adjusted according to different conditions subsequently, and the detection equipment performs fusion calculation on the detection value of the ground slope and the state parameter of the movable platform by adopting a Kalman filtering algorithm according to the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter, so as to determine the ground slope value.

According to the method for calculating the ground slope, the detection device performs fusion calculation on the detection value of the ground slope and the state parameter of the movable platform by adopting a Kalman filtering algorithm according to the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter, and the ground slope value is determined, so that the accuracy of the fused detection value of the ground slope can be further improved, and further, the movable platform can realize a more stable climbing obstacle avoidance function.

Further, on the basis of any of the above embodiments, the method comprises:

and according to the weight coefficient corresponding to the detection value and the weight coefficient of the angular speed of the movable platform, performing fusion calculation on the detection value of the ground slope and the angular speed of the movable platform by the detection equipment by adopting a Kalman filtering algorithm to determine the ground slope value.

In this embodiment, the state parameter measured by the inertia measurement unit may specifically be an angular velocity, and accordingly, after the detection value of the ground slope acquired by the detection device arranged on the movable platform and the angular velocity measured by the inertia measurement unit are obtained, the detection value of the ground slope and the angular velocity of the movable platform may be fusion-calculated by the detection device by using a kalman filter algorithm according to the weight coefficient corresponding to the detection value and the weight coefficient of the angular velocity of the movable platform, so as to determine the ground slope value.

For practical applications, e.g. theta_kThe detected value, omega, of the slope of the ground at the current moment output by the detection device_kFor the angular velocity of the movable platform at the current moment measured by the inertia measurement unit, the detected value theta at the current moment can be used for realizing the fusion of the observed values of the gradient_kAnd angular velocity ω at the present time_kInputting the predicted value into a preset formula 1 to obtain the predicted value of the ground slope detection value at the next moment:

wherein, theta_k+1|kThe predicted value of the ground slope detection value at the next moment is obtained; delta T is the updating period of the angular velocity measured by the inertia measuring unit; w is a_kObtained for prediction based on characteristics of inertial measurement unitThe inertial measurement unit measures the noise of the angular velocity.

Correspondingly, after the predicted value of the ground slope detection value at the next moment is obtained through calculation, the predicted value estimation covariance matrix can be obtained through formula 2:

P_k+1|k＝FP_k|kF^T+Q (2)

wherein, P_k+1|kEstimating covariance matrix for the posteriori, and taking the initial value as unit matrix; f is the system model, here the matrix

Q is the weighting factor for the angular velocity of the movable platform.

Further, the measurement margin of the ground slope detection value may be calculated according to formula 3, and the measurement margin covariance of the ground slope detection value may be calculated according to formula 4:

S_k＝HP_k|k-1H^T+R (4)

wherein, y_kMeasuring allowance of the ground slope detection value; s_kThe covariance of the measurement allowance of the ground slope detection value; h is a measurement model; r is a weight coefficient of a detection value of the ground gradient acquired by the detection equipment; p_k+1|kThe covariance matrix is estimated for the posteriori.

Further, the calculation of the kalman gain value may be implemented according to equation 5:

wherein, P_k+1|kEstimating a covariance matrix for the posteriori; s_kAnd the covariance of the measurement allowance of the ground slope detection value. Due to P_k+1|kIs obtained by calculation of a weight coefficient of the angular velocity of the movable platform, S_kWeight coefficient meter for detected values of ground gradient acquired by a detection deviceThe calculation is carried out so that when the weight coefficient changes, the kalman gain value changes accordingly.

Further, the updating can be performed according to formula 6 and formula 7, and the latest ground slope value and the corresponding state covariance matrix are obtained through fusion.

P_k+1＝(I-K_kH)P_k+1|k(7)

Wherein, y_kMeasuring allowance of the ground slope detection value; k_kIs a kalman gain value. When the weight coefficient changes, the Kalman gain value also changes, and correspondingly, the latest ground slope value obtained by fusion is different, so that the calculation accuracy of the ground slope value can be further improved.

It should be noted that after the latest ground slope value is obtained by fusion, on one hand, functions of climbing, obstacle avoidance and the like can be realized according to the ground slope value, and on the other hand, because the frequency of the detection value of the ground slope collected by the detection device is low, the fused ground slope value can be used as the slope detection value at the current moment to perform fusion of the ground slope value of the next round until the movable platform stops operating.

According to the ground slope calculation method provided by the embodiment, the detection device performs fusion calculation on the detection value of the ground slope and the angular velocity of the movable platform by adopting a Kalman filtering algorithm according to the weight coefficient corresponding to the detection value and the weight coefficient of the angular velocity of the movable platform, and the ground slope value is determined, so that the accuracy of the fused ground slope detection value can be further improved, and further, the movable platform can realize a more stable climbing obstacle avoidance function.

Fig. 4 is a schematic flow chart of a method for calculating a ground gradient according to a third embodiment of the present invention, where on the basis of any one of the above embodiments, as shown in fig. 4, the method in this embodiment may include:

s301, acquiring a detection value of a detection device arranged on a movable platform on the ground gradient;

step S302, acquiring the state parameters of the movable platform detected by an inertia measurement unit;

step S303, determining the motion amplitude of the movable platform;

step S304, adjusting a weight coefficient corresponding to the detection value and a weight coefficient corresponding to the state parameter according to the motion amplitude of the movable platform;

and S305, performing fusion calculation on the detection value of the ground slope and the state parameter of the movable platform by the detection equipment by adopting a Kalman filtering algorithm according to the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter.

In this embodiment, due to different operating conditions of the movable platform, the accuracy of the data collected by the detection device and the inertia measurement unit may be different, for example, if the motion amplitude of the movable platform is small, the accuracy of the data collected by the detection device and the inertia measurement unit is high, and if the motion amplitude of the movable platform is large, the accuracy of the data collected by the detection device is low due to an excessively large jitter amplitude. Therefore, in order to improve the accuracy of the fusion calculation, the weight coefficients corresponding to the detection values and the weight coefficients corresponding to the state parameters may be adjusted according to different operating conditions. Specifically, the motion amplitude of the movable platform may be determined first, and the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter may be adjusted according to the motion amplitude. And performing fusion calculation on the detection value of the ground gradient and the state parameter of the movable platform by the detection equipment by adopting a Kalman filtering algorithm according to the weight coefficient corresponding to the adjusted detection value and the weight coefficient corresponding to the state parameter. It can be understood that when the weight coefficient changes, the kalman gain value changes correspondingly, and accordingly, the latest ground slope value obtained by fusion is different, so that the calculation accuracy of the ground slope value can be further improved.

In the method for calculating the ground gradient provided by the embodiment, the motion amplitude of the movable platform is determined; and adjusting the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter according to the motion amplitude of the movable platform, so that the calculation accuracy of the ground slope value can be improved.

Further, on the basis of any of the above embodiments, the method comprises:

determining a magnitude of motion of the movable platform;

when the motion amplitude of the movable platform is larger than a preset amplitude, reducing the weight coefficient corresponding to the detection value and increasing the weight coefficient corresponding to the state parameter;

and performing fusion calculation on the detection value of the ground slope and the state parameter of the movable platform by the detection equipment by adopting a Kalman filtering algorithm according to the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter.

In this embodiment, since the detection value of the detection device for the ground slope is often lower in accuracy when the motion amplitude of the movable platform is larger, in order to further improve the calculation accuracy of the ground slope value, if it is detected that the motion amplitude of the current movable platform is larger than the preset amplitude, the weight coefficient corresponding to the detection value may be reduced, and the weight coefficient corresponding to the state parameter may be increased. For example, if the detection value corresponds to a weight coefficient R of 100.0 and the state parameter corresponds to a weight coefficient Q of 1.0 under the normal operation condition, if the motion amplitude of the movable platform is detected to be greater than the preset amplitude, the weight coefficient R corresponding to the detection value may be adjusted from 100.0 to 25.0, and the weight coefficient Q corresponding to the state parameter may be adjusted from 1.0 to 10.0. Because the parameters corresponding to the detection values are reduced, the influence caused by low accuracy of the detection values can be weakened, and the calculation accuracy of the ground slope value is further improved.

According to the ground slope calculation method provided by the embodiment, when the motion amplitude of the movable platform is larger than the preset amplitude, the weight coefficient corresponding to the detection value is reduced, and the weight coefficient corresponding to the state parameter is increased, so that the calculation accuracy of the ground slope value can be further improved.

Further, on the basis of any of the above embodiments, the method comprises:

determining the motion amplitude of the movable platform according to the state parameters of the movable platform and detection values of the detection equipment for respectively detecting the ground gradient at adjacent moments;

adjusting the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter according to the motion amplitude of the movable platform;

It can be understood that, when the movable platform moves normally, because the movement is relatively smooth, the difference between the data collected at two adjacent moments is relatively small, and the state parameter of the movable platform is also relatively small, and when the movement amplitude of the movable platform is relatively large, the data collected at two adjacent moments may have relatively large deviation and the state parameter of the movable platform is also relatively large, so that the movement amplitude of the movable platform can be determined according to the state parameter of the movable platform and the detection value of the detection equipment for respectively detecting the ground gradient at the adjacent moments.

According to the ground slope calculation method provided by the embodiment, the motion amplitude of the movable platform is determined according to the state parameters of the movable platform and the detection values of the detection equipment for respectively detecting the ground slope at adjacent moments, so that the motion amplitude of the current movable platform can be accurately determined, and a basis is provided for calculation of a subsequent ground slope value.

Further, on the basis of any of the above embodiments, the method comprises:

if the angular velocity of the movable platform is greater than a preset angular velocity or the pitch angle of the movable platform is greater than a preset angle, and the effective rate of the detection device to the ground slope at the current moment is greater than a preset proportion compared with the effective rate of the detection device to the ground slope at the last moment, determining that the motion amplitude of the movable platform is greater than a preset amplitude;

In this embodiment, when the motion amplitude of the movable platform is large, a large deviation may exist in data acquired at two adjacent moments, and the state parameter of the movable platform is also large, if it is detected that the angular velocity of the movable platform is greater than a preset angle or the pitch angle of the movable platform is greater than a preset angle, and the effective rate of the detection value of the detection device to the ground slope at the current moment is greater than a preset proportion compared with the effective rate of the detection value of the detection device to the ground slope at the previous moment, it is determined that the motion amplitude of the movable platform is greater than the preset amplitude. The preset angle may be set according to the current moving scene, and for example, may be set to 10 °. It should be noted that the effective rate of the detection value of the detection device to the ground slope at the current time is the ratio of the number of the observable points acquired by the detection device at the current time to the number of all the observable points. It can be understood that if the effective ratio of the detection values acquired by the movable platform at two adjacent moments is greater than the preset ratio and the angular velocity or pitch angle is greater than the preset angle, it represents that the current motion amplitude of the movable platform is too large, and therefore the weight coefficient can be adjusted subsequently according to the judgment result.

The ground slope calculation method that this embodiment provided, through if the angular velocity of movable platform is greater than predetermined angular velocity or movable platform's pitch angle is greater than predetermined angle, just detection equipment is right at the present moment the effective rate of the detected value of ground slope with detection equipment is right at last moment the effective rate of the detected value of ground slope is compared and is greater than the preset proportion, then confirms movable platform's motion amplitude is greater than preset amplitude to can confirm current movable platform's motion amplitude accurately, provide the basis for the calculation of follow-up ground slope value.

Fig. 5 is a schematic flow chart of a ground gradient calculation method according to a fourth embodiment of the present invention, where on the basis of any of the foregoing embodiments, as shown in fig. 5, the method in this embodiment may include:

s401, acquiring a detection value of a detection device arranged on a movable platform on the ground gradient;

s402, acquiring the state parameters of the movable platform detected by an inertia measurement unit;

step S403, determining the detection value of the detection equipment on the ground gradient and the validity of the state parameter of the movable platform;

step S404, when the detection value of the detection equipment to the ground gradient and the state parameter of the movable platform are effective, determining the motion amplitude of the movable platform;

step S405, adjusting a weight coefficient corresponding to the detection value and a weight coefficient corresponding to the state parameter according to the motion amplitude of the movable platform;

and S406, performing fusion calculation on the detection value of the ground slope and the state parameter of the movable platform by the detection equipment by adopting a Kalman filtering algorithm according to the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter.

In this embodiment, after acquiring the detection value of the detection device provided on the movable platform on the ground gradient and the state parameter of the movable platform detected by the inertial measurement unit, it is first necessary to determine whether the acquired data is valid. It can be understood that, if the detected value of the ground slope by the detecting device disposed on the collected movable platform and the state parameter of the movable platform detected by the inertial measurement unit are both invalid, it represents that the movable platform may be in failure currently, and the state of the movable platform needs to be reported to the processor, so that the processor adjusts the moving state according to the current state, and specifically may adopt a method of stopping moving, and the like, and in addition, if any one group of data of the detected value of the ground slope by the detecting device disposed on the collected movable platform and the state parameter of the movable platform detected by the inertial measurement unit is invalid, the ground slope value calculated according to the invalid data fusion is not accurate enough, so as to improve the calculation accuracy of the ground slope value, it is first necessary to determine whether the obtained data is valid, when the data is valid, the detection equipment determines the motion amplitude of the movable platform when the detection equipment is valid for the detection value of the ground gradient and the state parameter of the movable platform, the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter are adjusted according to the motion amplitude of the movable platform, and the detection equipment performs fusion calculation on the detection value of the ground gradient and the state parameter of the movable platform by adopting a Kalman filtering algorithm according to the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter.

According to the ground slope calculation method provided by the embodiment, the detection value of the detection equipment on the ground slope and the validity of the state parameter of the movable platform are determined, and when the detection value of the detection equipment on the ground slope and the state parameter of the movable platform are valid, the motion amplitude of the movable platform is determined, so that the operation condition of the movable platform can be known in time on the basis of calculation of the ground slope value.

Further, on the basis of any of the above embodiments, the method comprises:

determining the effectiveness of the detection equipment on the detection value of the ground gradient according to the terrain where the movable platform is located;

determining the validity of the state parameter according to the time interval of the state parameter output by the inertial measurement unit and/or the size of the state parameter output by the inertial measurement unit at the adjacent moment;

determining a motion amplitude of the movable platform when the detection device is valid for the detected value of the ground slope and the state parameter of the movable platform;

In this embodiment, the data collected are different due to different terrain conditions, for example, the data collected by the movable platform on flat ground and sloping ground are different. Therefore, after the detection value of the detection equipment arranged on the movable platform to the ground gradient and the state parameter of the movable platform detected by the inertia measurement unit are obtained, the effectiveness of the detection value of the detection equipment to the ground gradient can be determined according to the terrain where the movable platform is located currently. In addition, the inertia measurement unit has a fixed data output frequency, and if the current inertia measurement unit normally operates, the difference value of the state parameters output at adjacent moments is small, so that the validity of the state parameters can be determined according to the time interval of the state parameters output by the inertia measurement unit and/or the size of the state parameters output by the inertia measurement unit at the adjacent moments. When the detection equipment is effective on the detection value of the ground slope and the state parameter of the movable platform, determining the motion amplitude of the movable platform, adjusting the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter according to the motion amplitude of the movable platform, and performing fusion calculation on the detection value of the ground slope and the state parameter of the movable platform by the detection equipment by adopting a Kalman filtering algorithm according to the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter.

According to the method for calculating the ground slope, the validity of the detection value of the detection equipment for the ground slope is determined according to the terrain where the movable platform is located, and the validity of the state parameter is determined according to the time interval of the state parameter output by the inertial measurement unit and/or the size of the state parameter output by the inertial measurement unit at the adjacent moment, so that the detection value of the current ground slope and the validity of the state parameter of the movable platform can be accurately determined, and a basis is provided for calculating the subsequent ground slope value.

Further, on the basis of any of the above embodiments, the method comprises:

if the difference value between the detection value of the detection equipment to the ground slope at the current moment and the detection value of the detection equipment to the ground slope at the previous moment is smaller than a first preset angle according to the condition that the flat ground is below the movable platform, and the effective rate of the detection equipment to the detection value of the ground slope at the current moment is larger than a first threshold value, determining that the detection value of the detection equipment to the ground slope at the current moment is effective;

if the difference value between the detection value of the detection device to the ground slope at the current moment and the detection value of the detection device to the ground slope at the previous moment is smaller than a second preset angle according to the condition that the mountain land is below the movable platform, and the effective rate of the detection device to the detection value of the ground slope at the current moment is larger than a second threshold value, determining that the detection value of the detection device to the ground slope at the current moment is effective;

the first preset angle is smaller than the second preset angle, and the first threshold is larger than the second threshold;

In the present embodiment, in order to further improve the accuracy of the ground slope value so as to be compatible with different working environments such as flat ground and sloping ground, different data validity determination methods may be adopted for different terrains. Specifically, if the lower part of the current movable platform is a flat ground, if it is detected that the difference between the detection value of the detection device for the ground slope at the current moment and the detection value of the detection device for the ground slope at the previous moment is smaller than a first preset angle, and the effective rate of the detection device for the ground slope at the current moment is larger than a first threshold value, it is determined that the detection value of the detection device for the ground slope at the current moment is effective; correspondingly, if the lower part of the current movable platform is a mountain land, if it is detected that the difference value between the detection value of the detection device to the ground slope at the current moment and the detection value of the detection device to the ground slope at the last moment is smaller than a second preset angle, and the effective rate of the detection device to the detection value of the ground slope at the current moment is larger than a second threshold value, it is determined that the detection value of the detection device to the ground slope at the current moment is effective. It will be appreciated that the movement of the movable platform on a flat ground is generally smaller than the movement on a sloping ground, and therefore the first predetermined angle is smaller than the second predetermined angle, and the first threshold value is larger than the second threshold value, and in practical applications, the first predetermined angle may be set to 20 °, the second predetermined angle may be set to 50 °, the first threshold value may be 50%, and the second threshold value may be 40%.

As an implementable manner, since the detection device needs to calculate the detected value of the ground slope according to the detected distance measurement information, in an initial state, as long as the detected value of the ground slope output by the detection device is received, that is, the data is considered to be valid, the above-described embodiment may be subsequently employed to determine the validity of the detected value of the ground slope.

In the method for calculating a ground slope provided by this embodiment, if a difference between a detected value of the detection device for the ground slope at a current time and a detected value of the detection device for the ground slope at a previous time is smaller than a first preset angle according to that a flat ground is located below the movable platform, and an effective rate of the detection device for the detected value of the ground slope at the current time is greater than a first threshold, it is determined that the detected value of the detection device for the ground slope at the current time is effective; if the difference value between the detection value of the detection device to the ground slope at the current moment and the detection value of the detection device to the ground slope at the previous moment is smaller than a second preset angle according to the condition that the mountain land is below the movable platform, and the effective rate of the detection device to the detection value of the ground slope at the current moment is larger than a second threshold value, determining that the detection value of the detection device to the ground slope at the current moment is effective; the first preset angle is smaller than the second preset angle, the first threshold value is larger than the second threshold value, and different data validity judging modes are adopted according to different terrains, so that the accuracy of the ground slope value can be improved, and the ground slope value can be compatible with different working environments such as flat ground, sloping ground and the like.

Further, on the basis of any of the above embodiments, the method comprises:

if the time interval between the current moment when the inertia measurement unit outputs the state parameters and the last moment when the inertia measurement unit outputs the state parameters is smaller than a preset time interval, and/or the difference value between the state parameters output by the inertia measurement unit at the current moment and the state parameters output by the inertia measurement unit at the last moment is smaller than a preset difference value, determining that the state parameters output by the inertia measurement unit at the current moment are valid;

In this embodiment, the frequency of the inertial measurement unit detecting the state parameter of the movable platform is 15Hz, so that the validity of the state parameter of the movable platform can be determined according to the time interval of the output state parameter of the inertial measurement unit, and if the time interval of the output state parameter of the inertial measurement unit is greater than a preset threshold, the state parameter output by the inertial measurement unit is represented to be invalid. In addition, because the state parameters collected by the inertia measurement unit are stable in the moving process of the movable platform, the validity of the state parameters of the movable platform can be judged according to the size of the state parameters output by the inertia measurement unit at the adjacent moment, and if the difference value of the state parameters output by the inertia measurement unit at the adjacent moment is greater than a preset threshold value, the state parameters output by the representation inertia measurement unit are invalid. It should be noted that the above two embodiments may be implemented individually or in combination, and the present invention is not limited herein.

In the method for calculating the ground slope provided by this embodiment, if a time interval between a current time when the inertia measurement unit outputs the state parameter and a previous time when the inertia measurement unit outputs the state parameter is smaller than a preset time interval, and/or a difference between the state parameter output by the inertia measurement unit at the current time and the state parameter output by the inertia measurement unit at the previous time is smaller than a preset difference, it is determined that the state parameter output by the inertia measurement unit at the current time is valid, so that the validity of the state parameter of the movable platform can be accurately determined, and a basis is provided for calculating a subsequent ground slope value.

Fig. 6 is a schematic flow chart of a ground gradient calculation method according to a fifth embodiment of the present invention, where on the basis of any of the foregoing embodiments, as shown in fig. 6, the method in this embodiment may include:

s501, acquiring a detection value of detection equipment arranged on a movable platform on the ground gradient;

step S502, acquiring the state parameters of the movable platform detected by an inertia measurement unit;

and S503, when the detection device is effective on the detection value of the ground gradient at the current moment and the state parameter output by the inertial measurement unit at the current moment is invalid, performing fusion calculation on the detection value of the ground gradient at the current moment and the state parameter output by the inertial measurement unit at the next moment by adopting a Kalman filtering algorithm.

In this embodiment, since the update frequency of the detected value of the ground slope is slower than the state parameter of the movable platform, if it is detected that the detection device is valid at the current time for the detected value of the ground slope, and the state parameter output by the inertia measurement unit at the current time is invalid, since the update frequency of the state parameter of the movable platform is fast, the kalman filtering algorithm can be adopted to perform fusion calculation on the detected value of the ground slope and the state parameter output by the inertia measurement unit at the next time by the detection device at the current time, so as to achieve the acquisition of the ground slope value.

According to the ground slope calculation method provided by the embodiment, when the detection device is effective on the detection value of the ground slope at the current moment and the state parameter output by the inertia measurement unit at the current moment is invalid, the Kalman filtering algorithm is adopted to perform fusion calculation on the detection value of the ground slope at the current moment and the state parameter output by the inertia measurement unit at the next moment, so that the calculation of the ground slope value can be realized when the state parameter is invalid, and the movable platform can realize more stable climbing and obstacle avoidance functions.

Further, on the basis of any of the above embodiments, the method comprises:

and when the detection device is invalid to the detection value of the ground gradient at the current moment and the state parameter output by the inertia measurement unit at the current moment is valid, performing fusion calculation on the detection value of the ground gradient and the state parameter output by the inertia measurement unit at the current moment by the detection device by adopting a Kalman filtering algorithm.

In this embodiment, since the update frequency of the detected value of the ground slope is slower than the state parameter of the movable platform, if it is detected that the detected value of the ground slope by the detection device is invalid at the current time and the state parameter output by the inertia measurement unit at the current time is valid, the update frequency of the detection device is slower, so that the detected value of the ground slope at the previous time can be adopted for fusion, and specifically, the kalman filter algorithm is adopted to perform fusion calculation on the detected value of the ground slope by the detection device at the previous time and the state parameter output by the inertia measurement unit at the current time.

According to the ground slope calculation method provided by the embodiment, when the detection device is invalid at the current moment, and the inertial measurement unit outputs the state parameters at the current moment, the Kalman filtering algorithm is adopted to perform fusion calculation on the detection value of the ground slope and the state parameters output by the inertial measurement unit at the current moment, so that the calculation of the ground slope value can be realized when the detection value of the ground slope is invalid, and the movable platform can realize more stable climbing and obstacle avoidance functions.

Fig. 7 is a schematic flow chart of a method for calculating a ground gradient according to a sixth embodiment of the present invention; fig. 8 is a schematic diagram of adjustment of a detection device according to an embodiment of the present invention, and based on any of the above embodiments, as shown in fig. 7, a method in this embodiment may include:

s601, acquiring a detection value of a detection device arranged on a movable platform on the ground gradient;

step S602, acquiring the state parameters of the movable platform detected by the inertial measurement unit;

step S603, determining a ground slope value according to the detection value of the detection equipment on the ground slope and the state parameter of the movable platform;

and S604, controlling the detection angle of the detection equipment according to the ground slope value.

In this embodiment, after the detection value of the detection device arranged on the movable platform for the ground gradient and the state parameter of the movable platform detected by the inertia measurement unit are obtained, and the ground gradient value is determined according to the detection value and the state parameter of the ground gradient, the detection angle of the detection device can be adjusted according to the ground gradient value in order to realize more stable climbing and obstacle avoidance functions. Specifically, the detection angle of the detection device may be adjusted to be parallel to the ground slope.

As shown in fig. 8, when the movable platform moves on a slope, the ground slope calculation apparatus may determine a current ground slope value according to a detection value of the detection device for the ground slope and the state parameter of the movable platform detected by the inertia measurement unit, and adjust the detection angle according to the ground slope value, so that the detection angle of the detection device is adjusted to be parallel to the ground slope, thereby implementing a climbing function.

According to the ground slope calculation method provided by the embodiment, the detection angle of the detection equipment is controlled according to the ground slope value, so that more stable climbing and obstacle avoidance functions can be realized.

Further, on the basis of any of the above embodiments, the detection device includes at least one of:

microwave radar, ultrasonic detection equipment, TOF ranging detection equipment, vision detection equipment and laser radar.

Further, on the basis of any of the above embodiments, the movable platform comprises at least one of:

remote control car, unmanned vehicles.

Fig. 9 is a schematic structural diagram of a ground gradient calculation apparatus according to a seventh embodiment of the present invention, and as shown in fig. 9, the ground gradient calculation apparatus includes: a memory 71 and a processor 72;

the memory 71 is used for storing program codes;

the processor 72, which invokes the program code, when executed, is configured to:

angular velocity, attitude information of the movable platform.

pitch angle, roll angle, yaw angle.

Further, on the basis of any of the above embodiments, when the processor 72 determines the ground slope value according to the detected value of the ground slope by the detection device and the state parameter of the movable platform, the processor is specifically configured to:

and performing fusion calculation on the detection value of the ground slope and the state parameter of the movable platform by the detection equipment by adopting a Kalman filtering algorithm to determine the ground slope value.

Further, on the basis of any of the above embodiments, the processor 72 performs fusion calculation on the detection value of the ground slope and the state parameter of the movable platform by using a kalman filter algorithm, and when determining the ground slope value, is specifically configured to:

Further, on the basis of any of the above embodiments, the processor 72 performs fusion calculation on the detection value of the ground slope and the state parameter of the movable platform by the detection device according to the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter by using a kalman filter algorithm, and when determining the ground slope value, is specifically configured to:

Further, on the basis of any of the above embodiments, before the processor 72 performs fusion calculation on the detection value of the ground slope and the state parameter of the movable platform by using a kalman filter algorithm according to the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter, the processor is further configured to:

determining a magnitude of motion of the movable platform;

and adjusting the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter according to the motion amplitude of the movable platform.

Further, on the basis of any of the above embodiments, when the processor 72 adjusts the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter according to the motion amplitude of the movable platform, the processor is specifically configured to:

and when the motion amplitude of the movable platform is larger than the preset amplitude, reducing the weight coefficient corresponding to the detection value and increasing the weight coefficient corresponding to the state parameter.

Further, on the basis of any of the above embodiments, when the processor 72 determines the motion amplitude of the movable platform, it is specifically configured to:

and determining the motion amplitude of the movable platform according to the state parameters of the movable platform and detection values of the detection equipment for respectively detecting the ground gradient at adjacent moments.

Further, on the basis of any of the above embodiments, when the processor 72 determines the motion amplitude of the movable platform according to the state parameter of the movable platform and the detection value of the detection device for respectively detecting the ground gradient at adjacent time, specifically, the processor is configured to:

if the angular velocity of the movable platform is greater than the preset angular velocity or the pitch angle of the movable platform is greater than the preset angle, and the effective rate of the detection value of the ground slope at the current moment is greater than the preset proportion compared with the effective rate of the detection value of the ground slope at the last moment by the detection equipment, the motion amplitude of the movable platform is determined to be greater than the preset amplitude.

determining the validity of the detection device on the detected value of the ground slope and the state parameter of the movable platform;

determining a magnitude of motion of the movable platform when the detection device is valid for the detected value of the ground slope and the state parameter of the movable platform.

Further, on the basis of any of the above embodiments, when the processor 72 determines the validity of the detected value of the ground gradient and the state parameter of the movable platform by the detection device, it is specifically configured to:

and determining the validity of the state parameter according to the time interval of the state parameter output by the inertial measurement unit and/or the size of the state parameter output by the inertial measurement unit at the adjacent moment.

Further, on the basis of any of the above embodiments, when the processor 72 determines the validity of the detected value of the ground gradient by the detection device according to the terrain where the movable platform is located, the processor is specifically configured to:

the first preset angle is smaller than the second preset angle, and the first threshold is larger than the second threshold.

Further, on the basis of any of the above embodiments, when the processor 72 determines the validity of the state parameter according to the time interval of the state parameter output by the inertial measurement unit and/or the size of the state parameter output by the inertial measurement unit at adjacent time, it is specifically configured to:

and if the time interval between the current moment when the inertia measurement unit outputs the state parameters and the last moment when the inertia measurement unit outputs the state parameters is smaller than a preset time interval, and/or the difference value between the state parameters output by the inertia measurement unit at the current moment and the state parameters output by the inertia measurement unit at the last moment is smaller than a preset difference value, determining that the state parameters output by the inertia measurement unit at the current moment are valid.

Further, on the basis of any of the above embodiments, when the processor 72 performs fusion calculation on the detection value of the ground gradient and the state parameter of the movable platform by using a kalman filter algorithm, the method is specifically configured to:

and when the detection device is effective on the detection value of the ground slope at the current moment and the state parameter output by the inertial measurement unit at the current moment is invalid, performing fusion calculation on the detection value of the ground slope at the current moment and the state parameter output by the inertial measurement unit at the next moment by adopting a Kalman filtering algorithm.

Further, on the basis of any of the above embodiments, after determining the ground slope value according to the detected value of the ground slope by the detecting device and the state parameter of the movable platform, the processor 72 is further configured to:

and controlling the detection angle of the detection equipment according to the ground slope value.

Fig. 9 is a schematic structural diagram of a movable platform according to an eighth embodiment of the present invention, and as shown in fig. 9, the movable platform 81 includes:

a fuselage 82;

the power system is arranged on the machine body and used for providing power;

the detection device 2 is used for detecting the ground gradient;

an inertial measurement unit 3 for detecting a state parameter of the movable platform; and

the ground gradient calculation apparatus 1 according to any one of the above embodiments.

remote control car, unmanned vehicles.

Yet another embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the ground gradient calculation method according to any one of the above embodiments.

In addition, the present embodiment also provides a computer-readable storage medium on which a computer program is stored, the computer program being executed by a processor to implement the ground gradient calculation method described in the above embodiment.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A ground slope calculation method, comprising:

2. The method of claim 1, wherein the state parameters of the movable platform comprise at least one of:

angular velocity, attitude information of the movable platform.

3. The method of claim 2, wherein the pose information comprises at least one of:

pitch angle, roll angle, yaw angle.

4. A method according to any one of claims 1 to 3, wherein said determining a ground grade value from the detected value of the ground grade by the detection device and the state parameter of the movable platform comprises:

5. The method of claim 4, wherein the determining the ground grade value by performing a fused computation of the detected value of the ground grade and the state parameter of the movable platform by the detection device using a Kalman filtering algorithm comprises:

6. The method according to claim 5, wherein the determining the ground slope value by performing fusion calculation on the detection value of the ground slope and the state parameter of the movable platform by the detection device according to the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter by using a Kalman filtering algorithm comprises:

7. The method according to claim 5 or 6, wherein before performing the fusion calculation of the detected value of the ground gradient and the state parameter of the movable platform by the detection device using the Kalman filtering algorithm according to the weight coefficient corresponding to the detected value and the weight coefficient corresponding to the state parameter, the method further comprises:

determining a magnitude of motion of the movable platform;

8. The method according to claim 7, wherein the adjusting the weight coefficients corresponding to the detection values and the state parameters according to the motion amplitude of the movable platform comprises:

9. The method of claim 7 or 8, wherein the determining the magnitude of motion of the movable platform comprises:

10. The method of claim 9, wherein determining the amplitude of the movement of the movable platform based on the state parameter of the movable platform and the detected value of the detection device for detecting the ground slope at adjacent times, respectively, comprises:

11. The method of any of claims 7-10, wherein the determining the magnitude of motion of the movable platform comprises:

12. The method of claim 11, wherein said determining the validity of the detected value of the ground slope and the state parameter of the movable platform by the detection device comprises:

13. The method of claim 12, wherein determining the validity of the detected value of the ground slope by the detection device based on the terrain in which the movable platform is located comprises:

14. The method of claim 12, wherein the determining the validity of the state parameter according to the time interval of the state parameter output by the inertial measurement unit and/or the magnitude of the state parameter output by the inertial measurement unit at the adjacent time comprises:

15. The method according to claim 5 or 6, wherein the performing the fusion calculation of the detected value of the ground gradient and the state parameter of the movable platform by the detection device by using the Kalman filtering algorithm comprises:

16. The method according to claim 5 or 6, wherein the performing the fusion calculation of the detected value of the ground gradient and the state parameter of the movable platform by the detection device by using the Kalman filtering algorithm comprises:

17. The method of claim 1, wherein after determining the ground grade value based on the detected value of the ground grade by the detection device and the state parameter of the movable platform, further comprising:

18. The method of any one of claims 1-17, wherein the detection device comprises at least one of:

19. The method of any one of claims 1-17, wherein the movable platform comprises at least one of:

remote control car, unmanned vehicles.

20. A ground slope calculation apparatus, comprising: a memory and a processor;

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

21. The ground grade calculation apparatus of claim 20 wherein the state parameters of the movable platform include at least one of:

angular velocity, attitude information of the movable platform.

22. The ground slope calculation device of claim 21, wherein the attitude information comprises at least one of:

pitch angle, roll angle, yaw angle.

23. A ground slope calculation apparatus according to any one of claims 20 to 22, wherein the processor is configured to determine the ground slope value based on the detected value of the ground slope by the detection device and the state parameter of the movable platform, and is further configured to:

24. The ground slope calculation device according to claim 23, wherein the processor performs fusion calculation on the detection value of the ground slope and the state parameter of the movable platform by using a kalman filter algorithm, and is specifically configured to, when determining the ground slope value:

25. The ground slope calculation device according to claim 24, wherein the processor performs fusion calculation on the detection value of the ground slope and the state parameter of the movable platform by the detection device using a kalman filter algorithm according to the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter, and is specifically configured to:

26. The ground gradient calculation apparatus according to claim 24 or 25, wherein the processor is further configured to, before performing the fusion calculation on the detected value of the ground gradient and the state parameter of the movable platform by the detection device using a kalman filter algorithm according to the weight coefficient corresponding to the detected value and the weight coefficient corresponding to the state parameter:

determining a magnitude of motion of the movable platform;

27. The ground slope calculation device according to claim 26, wherein the processor is configured to, when adjusting the weight coefficient corresponding to the detection value and the weight coefficient corresponding to the state parameter according to the motion amplitude of the movable platform, specifically:

28. The ground slope calculation apparatus of claim 26 or 27, wherein the processor, when determining the amplitude of motion of the movable platform, is configured to:

29. The ground slope calculation apparatus according to claim 28, wherein the processor is configured to, when determining the motion amplitude of the movable platform according to the state parameter of the movable platform and the detection value of the detection device that detects the ground slope at adjacent time, specifically:

30. A ground slope calculation apparatus according to any one of claims 26 to 29 wherein the processor, when determining the amplitude of movement of the moveable platform, is configured to:

31. The ground slope calculation apparatus of claim 30, wherein the processor, when determining the validity of the detected value of the ground slope and the state parameter of the movable platform by the detection device, is configured to:

32. The ground slope calculation apparatus of claim 31, wherein the processor is configured to, when determining the validity of the detected value of the ground slope by the detection device based on the terrain on which the movable platform is located:

33. The ground grade calculation apparatus according to claim 31, wherein the processor is configured to determine validity of the state parameter according to a time interval of the state parameter output by the inertial measurement unit and/or a magnitude of the state parameter output by the inertial measurement unit at an adjacent time, and specifically:

34. The ground slope calculation device according to claim 24 or 25, wherein the processor is configured to, when performing the fusion calculation on the detected value of the ground slope and the state parameter of the movable platform by using the kalman filter algorithm, specifically:

35. The ground slope calculation device according to claim 24 or 25, wherein the processor is configured to, when performing the fusion calculation on the detected value of the ground slope and the state parameter of the movable platform by using the kalman filter algorithm, specifically:

36. The ground slope calculation apparatus of claim 20, wherein the processor, after determining the ground slope value based on the detected value of the ground slope by the detection device and the state parameter of the movable platform, is further configured to:

37. The ground slope calculation apparatus according to any one of claims 20 to 36, wherein the detection device comprises at least one of:

38. A movable platform, comprising:

a body;

the power system is arranged on the machine body and used for providing power;

a detection device for detecting a ground slope;

the ground slope calculation apparatus of any one of claims 20-37.

39. The movable platform of claim 38, wherein the movable platform comprises at least one of:

remote control car, unmanned vehicles.

40. A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 1-19.