CN111623767B - IMU pseudo data generation method and device for positioning, electronic equipment and medium - Google Patents

IMU pseudo data generation method and device for positioning, electronic equipment and medium Download PDF

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CN111623767B
CN111623767B CN202010281676.8A CN202010281676A CN111623767B CN 111623767 B CN111623767 B CN 111623767B CN 202010281676 A CN202010281676 A CN 202010281676A CN 111623767 B CN111623767 B CN 111623767B
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CN111623767A (en
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程风
杨晓龙
宋适宇
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Beijing Baidu Netcom Science and Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
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Abstract

The application discloses a method and a device for generating IMU pseudo data for positioning, electronic equipment and a medium, and relates to the field of automatic driving. The specific implementation scheme is as follows: collecting the speed of four wheels of a vehicle; analyzing the speed and angular speed of the IMU under a vehicle body coordinate system based on the wheel track between two wheels in the same row in four wheels of the vehicle, the wheel base between the front wheel and the rear wheel and the speed of each wheel; and generating the acceleration and the angular speed of the IMU under the IMU coordinate system based on the installation relation between the IMU and the vehicle and the speed and the angular speed of the IMU under the vehicle body coordinate system. The technical scheme of this application, based on the wheel speed of four wheels, the wheel track and the wheel base of reunion vehicle, alright in order to generate the IMU pseudo data that can replace IMU output data, compare with prior art, can avoid system redundancy, reduce system cost. And the method and the device can accurately and effectively compensate IMU data within the IMU data loss time, and effectively ensure the stable operation of the positioning system of the unmanned vehicle.

Description

IMU pseudo data generation method and device for positioning, electronic equipment and medium
Technical Field
The application relates to the technical field of computers, in particular to the field of automatic driving, and specifically relates to a method and a device for generating IMU pseudo data for positioning, an electronic device and a medium.
Background
In the automatic driving and running process of the unmanned vehicle, a positioning system is required to output continuous high-frequency and accurate positioning results in real time so as to ensure the normal work of a path planning module, a sensing module and the like. The Inertial Measurement Unit (IMU) is a sensor for measuring the three-dimensional motion acceleration and angular velocity of a carrier in real time, and the attitude position and the velocity of the unmanned vehicle under a navigation coordinate system can be obtained by solving through an Inertial navigation equation by using the Measurement data of the IMU.
The IMU has two very critical characteristics in operation: the first is that the updating frequency is high, and the working frequency can reach more than 100 Hz; and secondly, the calculation precision in a short time is high, and large errors do not exist, so that the positioning system of the unmanned vehicle can output continuous and high-frequency positioning results. However, due to the manufacturing level or hardware reasons of the IMU, when the positioning system works, the situations of loss (such as continuous loss of a plurality of IMU data) and data interruption (such as no IMU data output for more than 200 ms) occur at a certain probability, and once the situations occur, the positioning system of the unmanned vehicle is seriously influenced and cannot output a high-frequency and continuous positioning result, so that the stable operation of the positioning system of the unmanned vehicle is directly influenced. In order to avoid the above situation, the prior art implements redundant backup of IMUs by increasing the number of IMUs too much.
However, the existing method of increasing the number of IMUs causes system redundancy and increases system cost.
Disclosure of Invention
In order to solve the technical problem, the application provides a method and a device for generating IMU pseudo data, an electronic device and a storage medium, which are used for generating the pseudo data of the IMU, replacing real data output by the IMU in a short time, participating in positioning calculation and ensuring the stability of a positioning system.
According to a first aspect, there is provided a method for generating inertial measurement unit pseudo data, comprising:
collecting the speed of four wheels of a vehicle;
analyzing the speed and the angular speed of the inertia measuring instrument under a vehicle body coordinate system based on the wheel track between two wheels in the same row in the four wheels of the vehicle, the wheel base between the front wheel and the rear wheel and the speed of each wheel;
generating an acceleration and an angular velocity of the inertial measurement instrument in the inertial measurement instrument coordinate system based on an installation relationship between the inertial measurement instrument and the vehicle, and the velocity and the angular velocity of the inertial measurement instrument in the body coordinate system.
In a second aspect, the present application also provides an apparatus for generating pseudo data of an inertial measurement unit, including:
the acquisition module is used for acquiring the speeds of four wheels of the vehicle;
the analysis module is used for analyzing the speed and the angular speed of the inertial measurement instrument under a vehicle body coordinate system based on the wheel track between two wheels in the same row in four wheels of the vehicle, the wheel base between the front wheel and the rear wheel and the speed of each wheel;
a generating module, configured to generate an acceleration and an angular velocity of an inertial measurement unit in the inertial measurement unit coordinate system based on a mounting relationship between the inertial measurement unit and the vehicle, and the velocity and the angular velocity of the inertial measurement unit in the vehicle body coordinate system.
In a third aspect, the present application further provides an electronic device, including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described above.
In a fourth aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method as described above.
In a fifth aspect, the present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the method as described above.
According to the IMU pseudo data generation method, the IMU pseudo data generation device, the electronic equipment and the storage medium, the speeds of four vehicles of the vehicles are collected; analyzing the speed and angular speed of the IMU under a vehicle body coordinate system based on the wheel track between two wheels in the same row in the four wheels of the vehicle, the wheel base between the front wheel and the rear wheel and the speed of each wheel; the IMU pseudo data can be generated by combining wheel distances and wheel distances of the vehicle instead of a plurality of IMUs without increasing the number of the IMUs, so that system redundancy can be avoided, and the system cost is reduced. The IMU pseudo data generated by the method can accurately and effectively compensate IMU data in IMU data loss time, and effectively guarantee stable operation of a positioning system of the unmanned vehicle, so that safe operation of the unmanned vehicle is guaranteed.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
FIG. 1 is a schematic illustration according to a first embodiment of the present application;
FIG. 2 is a schematic illustration according to a second embodiment of the present application;
FIG. 3 is a schematic illustration according to a third embodiment of the present application;
FIG. 4 is a schematic view of an unmanned vehicle provided herein;
FIG. 5 is a schematic illustration according to a fourth embodiment of the present application;
FIG. 6 is a schematic top view of the IMU's provided herein in a mounted position on an unmanned vehicle;
FIG. 7 is a schematic illustration according to a fifth embodiment of the present application;
FIG. 8 is a schematic illustration according to a sixth embodiment of the present application;
fig. 9 is a block diagram of an electronic device for implementing an IMU pseudo data generation method according to an embodiment of the present application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 is a schematic diagram according to a first embodiment of the present application, and as shown in fig. 1, this embodiment introduces a method for generating IMU dummy data, which may specifically include the following steps:
s101, acquiring the speeds of four wheels of a vehicle;
s102, analyzing the speed and the angular speed of the IMU in a vehicle body coordinate system based on the wheel track between two wheels in the same row in the four wheels of the vehicle, the wheel base between the front wheel and the rear wheel and the speed of each wheel;
and S103, generating the acceleration and the angular velocity of the IMU under the IMU coordinate system based on the installation relation between the IMU and the vehicle and the velocity and the angular velocity of the IMU under the vehicle body coordinate system.
The execution subject of the method for generating the IMU pseudo data is an IMU pseudo data generation device, and the IMU pseudo data generation device can be arranged in a positioning system of a vehicle of an unmanned vehicle, so that IMU pseudo data can be generated in time when the IMU is lost or data interruption occurs, real data output by the IMU can be replaced, and stable operation of the positioning system is guaranteed.
The IMU data in this embodiment refers to data output by the IMU during operation, and the data output by the IMU during operation is output data projected by the motion of the IMU to the IMU coordinate system. Wherein the motion of the IMU refers to the motion of the IMU device relative to an inertial frame, which is stationary. In practice, the IMU data refers to acceleration and angular velocity of the IMU relative to an inertial frame, in an IMU frame.
The IMU dummy data generated in this embodiment is called dummy data because it is not data actually output by the IMU, but is dummy data generated according to the technical solution of this embodiment and capable of replacing the IMU output data.
In step S101, the wheel speed meters may be used to collect the speeds of four wheels. In an actual application scenario, a wheel speed meter can be adopted corresponding to each wheel to acquire the speed of the wheel in real time.
In the unmanned vehicle, the IMU is fixedly connected with the vehicle, and the movement of the IMU is consistent with that of the vehicle all the time under a vehicle body coordinate system. In step S102, the velocity and angular velocity of the IMU in the body coordinate system are analyzed based on the wheel base between two wheels in the same row among the four wheels of the vehicle, the wheel base between the front and rear wheels, and the velocity of each wheel, which can be achieved by analyzing the velocity and angular velocity of the vehicle in the body coordinate system in this case. In this embodiment, the vehicle is mainly represented as the rotation of the wheels when the vehicle is running, so that the speed and the angular velocity of the vehicle in the vehicle body coordinate system can be analyzed together by combining the speeds of the four wheels and fixed parameters such as the wheel track between the two wheels in the same row, the wheel base between the front wheel and the rear wheel, and the like, and adopting a mathematical calculation mode according to the kinematics principle of the vehicle. Wherein the wheel base between the front and rear wheels must be the one-sided front and rear wheels, such as the wheel base between the left front and rear wheels and the left rear wheel, or the wheel base between the right front wheel and the right rear wheel.
In addition, the IMU is installed on the vehicle, and there is necessarily a certain installation relation with the vehicle, such as an installation angle or an installation position. Further, in this embodiment, the acceleration and the velocity of the IMU in the IMU coordinate system may be generated by referring to the mapping relationship between the IMU coordinate system and the vehicle body coordinate system according to the installation relationship between the IMU and the vehicle and the velocity and the angular velocity of the IMU in the vehicle body coordinate system, and using a mathematical calculation method, where the acceleration and the velocity of the IMU in the IMU coordinate system are the acceleration and the velocity of the IMU in the IMU coordinate system, that is, the pseudo data of the IMU.
And through theoretical analysis, under the condition that the vehicle attitude is unchanged in a short time, IMU pseudo data generated by the application is the same as real data of the IMU theoretically. Therefore, experiments prove that the pseudo-IMU data of the embodiment can support the loss of IMU data of about 10s in a scene in which the vehicle is running straight, and can support the loss of IMU data of about 5s in a case in which the vehicle is turning.
In the method for generating IMU pseudo data of the embodiment, the speeds of four vehicles of the vehicle are collected; analyzing the speed and angular speed of the IMU under a vehicle body coordinate system based on the wheel track between two wheels in the same row in four wheels of the vehicle, the wheel base between the front wheel and the rear wheel and the speed of each wheel; based on the installation relation between the IMU and the vehicle and the speed and the angular velocity of the IMU under the vehicle body coordinate system, the acceleration and the angular velocity of the IMU under the IMU coordinate system are generated. The IMU pseudo data generated by the embodiment can accurately and effectively compensate IMU data in IMU data loss time, and effectively guarantee stable operation of a positioning system of the unmanned vehicle, so that safe operation of the unmanned vehicle is guaranteed.
Fig. 2 is a schematic diagram according to a second embodiment of the present application, and the method for generating IMU dummy data according to this embodiment further describes the technical solution of the present application in more detail on the basis of the technical solution of the embodiment shown in fig. 1. As shown in fig. 2, the method for generating IMU dummy data in this embodiment may specifically include the following steps:
s201, acquiring the speeds of four wheels of a vehicle by using a wheel speed meter;
specifically, each wheel is provided with a wheel speed meter, and the speed of the corresponding wheel is acquired in real time.
S202, acquiring the speed of the IMU in a vehicle body coordinate system based on the wheel track between two wheels in the same row in four wheels of the vehicle, the wheel base between the front wheel and the rear wheel and the speed of each wheel;
in the body coordinate system, the IMU and the body of the vehicle are relatively fixed, and specifically, the speed of the vehicle in the body coordinate system can be calculated. The origin of the body coordinate system may be the center of mass of the body of the vehicle, which may be a point on the body, or may not fall on the body. Or the origin of the vehicle body coordinate system can be other points on the vehicle body. After the vehicle body coordinate system is determined, the speed of the vehicle in the vehicle body coordinate system can be obtained by referring to the kinematics principle and mathematical calculation of the vehicle based on the speeds of the four wheels of the vehicle, the wheel track and the wheel base on the vehicle.
S203, acquiring the angular speed of the IMU in a vehicle body coordinate system based on the wheel track between two wheels in the same row of the vehicle and the speed of each wheel in two rear wheels;
similarly, the angular velocity of the IMU in the body coordinate system may also be obtained by obtaining the angular velocity of the vehicle in the body coordinate system. Similarly, the speed of the vehicle in the body coordinate system can be obtained by referring to the kinematics principle and mathematical calculation of the vehicle according to the wheel track of the vehicle and the speed of each wheel of the two rear wheels.
Steps S202 and S203 of the present embodiment are an implementation of step S102 of the embodiment shown in fig. 1.
S204, acquiring the angular velocity of the IMU in the IMU coordinate system according to the installation relation between the IMU and the vehicle and the angular velocity of the IMU in the vehicle body coordinate system;
based on the obtained angular velocity of the IMU in the vehicle body coordinate system, the conversion between the vehicle body coordinate system and the IMU coordinate system can be realized according to the installation relation of the IMU on the vehicle, and the angular velocity of the IMU in the IMU coordinate system is obtained.
S205, acquiring the acceleration of the IMU under the IMU coordinate system according to the installation relation between the IMU and the vehicle and the speed of the IMU under the vehicle body coordinate system.
Similarly, according to the speed of the IMU in the vehicle body coordinate system, the conversion between the vehicle body coordinate system and the IMU coordinate system can be realized according to the installation relation of the IMU on the vehicle, and the speed of the IMU in the IMU coordinate system can be obtained. In addition, the acceleration of the IMU in the IMU coordinate system may be acquired with reference to the manner of acquiring the acceleration, that is, the amount of change in the velocity per unit time.
Steps S204 and S205 of the present embodiment are an implementation manner of step S103 of the embodiment shown in fig. 1.
According to the IMU pseudo data generation method, by adopting the technical scheme, the acceleration and the angular speed of the IMU under the IMU coordinate system can be obtained based on the wheel track between two wheels in the same row in four wheels of the vehicle, the wheel base between the front wheel and the rear wheel and the speed of each wheel, so that the generation of the pseudo IMU data is realized, the accuracy of the generated pseudo IMU data can be ensured based on the vehicle kinematics principle in the whole generation process, the IMU data can be replaced by lost IMU data within the IMU data loss time by adopting a mathematical calculation method, the positioning operation is participated, the stable operation of a positioning system of an unmanned vehicle is effectively ensured, and the safe operation of the unmanned vehicle is further ensured.
Further, fig. 3 is a schematic diagram according to a third embodiment of the present application, and as shown in fig. 3, specifically, a specific implementation manner of the step S202 in the embodiment described in fig. 2 above, acquiring the speed of the IMU in the body coordinate system based on the track distance between two wheels in the same row of four wheels of the vehicle, the wheel distance between the front wheel and the rear wheel, and the speed of each wheel may specifically include the following steps:
s301, calculating the speed of a virtual steering wheel positioned at the central point of two front wheels of the vehicle according to the speeds of the two front wheels of the vehicle;
the present embodiment may be specifically described with reference to the schematic driving diagram of the unmanned vehicle shown in fig. 4. As shown in fig. 4, wherein A, B, C, D denotes the left front wheel, right front wheel, left rear wheel and right rear wheel of the vehicle, respectively.
The four-wheel speed meter is modeled based on a vehicle kinematic model, for a conventional vehicle, the rear wheels are generally non-steering wheels, the front wheels are steering wheels, and the front wheels have a deflection angle in the turning process of the vehicle
Figure GDA0003435160020000072
As shown in FIG. 4, O 1 For the center points of the two front wheels A and B of the vehicle, O can be assumed 1 Is provided with a virtual steering wheel O 1 Velocity V of D Approximately equal to the speed V of the left front wheel A Front left And the speed V of the right front wheel B Front right I.e.:
Figure GDA0003435160020000071
i.e. V D ＝V wheel 。
S302, calculating a course angle change rate of the vehicle according to the speeds of two rear wheels of the vehicle and the wheel track between the two rear wheels;
continuing with reference to FIG. 4, O above 2 The center points of the left and right rear wheels C and D of the two rear wheels of the vehicle can be considered as O 2 There is also a non-steered virtual rear wheel at the point. According to the vehicle steering principle, the driving tracks of the virtual steering wheel and the virtual non-steering wheel are concentric arcs when the vehicle turns, as shown in fig. 4, the turning radius of the concentric arcs is R, and the circle center is O. Assuming the heading angle change rate ω of the vehicle, the left rear wheel C and the right rear wheel D can be expressed by the following formulas:
Figure GDA0003435160020000081
wherein l Track width Indicating the track width between the left and right rear wheels C and D.
Based on the above formula (2), the obtained heading angle change rate ω of the vehicle can be expressed as the following formula:
Figure GDA0003435160020000082
s303, calculating the turning radius of the vehicle according to the speed and the course angle change rate of the virtual steering wheel;
correspondingly, with reference to the above formula, the turning radius R can be expressed as:
Figure GDA0003435160020000083
s304, calculating a steering angle according to the wheel base and the turning radius between the front wheel and the rear wheel of the vehicle;
turning radius of vehicle and wheel base l of vehicle obtained by combining the above formula Wheelbase Such as the distance between the right front wheel B and the right rear wheel D in fig. 4, the steering angle of the vehicle can be obtained
Figure GDA0003435160020000084
Is represented as follows:
Figure GDA0003435160020000085
referring to FIG. 4, according to the principle of triangles, V is D Perpendicular to OO 1 ，O 1 O 2 Perpendicular to OO 2 So that < OO 1 O 2 +∠O 1 OO 2 90 degrees, and
Figure GDA0003435160020000086
degree of, therefore
Figure GDA0003435160020000087
Figure GDA0003435160020000088
And S305, calculating the speed of the IMU in the vehicle body coordinate system according to the speed and the steering angle of the virtual steering wheel.
From the steering angle
Figure GDA0003435160020000089
A virtual steering wheel O can be obtained 1 Velocity V of wheel The projection in the vehicle body coordinate system can be expressed as:
Figure GDA00034351600200000810
since the vehicle and the IMU are fixedly connected, the velocity of the IMU in the body coordinate system is expressed by the expression (6) above.
Based on the embodiment shown in fig. 3, wherein step S203 in the embodiment shown in fig. 2 obtains the angular velocity of the IMU in the vehicle body coordinate system based on the wheel track between the two rear wheels of the vehicle and the velocity of each of the two rear wheels, specifically, the heading angle change rate of the vehicle may be obtained according to step S302; and then determining the angular speed of the IMU in the vehicle body coordinate system based on the course angle change rate of the vehicle.
For example, based on the heading angle change rate ω of the vehicle obtained from the above equation (3), it can be obtained that the angular velocity of the obtained vehicle projected to the vehicle body coordinate system can be approximated as
Figure GDA0003435160020000091
Since the vehicle and the IMU are fixedly connected, the angular velocity of the IMU in the body coordinate system can be expressed as shown in the above equation (7).
Further, step S204 in the embodiment shown in fig. 2 may specifically calculate the angular velocity of the IMU in the IMU coordinate system according to the installation angle between the IMU and the vehicle and the angular velocity of the IMU in the vehicle body coordinate system.
For example, assume that the IMU presents a mounting angle to the vehicle, which is converted to a direction cosine matrix, which may be expressed as
Figure GDA0003435160020000092
This may be referred to as a conversion signature of the setting angle. Based on the conversion characteristic expression of the mounting angle, the angular velocity under the vehicle body coordinate system can be projected to the angular velocity under the IMU coordinate system, namely the angular velocity in the generated pseudo IMU data
Figure GDA0003435160020000093
Can be expressed as:
Figure GDA0003435160020000094
the angular velocity in the pseudo IMU data can be obtained by adopting the formula (8), the calculation process is simple, convenient and accurate, and the angular velocity value of the IMU motion under the IMU coordinate system can be accurately obtained.
By adopting the method for generating the IMU pseudo data, the speed and the angular speed of the IMU in the vehicle body coordinate system can be simply, conveniently and accurately calculated, and the accuracy of the acceleration and the angular speed generation in the follow-up pseudo IMU data can be effectively improved.
Fig. 5 is a schematic diagram according to a fourth embodiment of the present application, as shown in fig. 5, specifically, a specific implementation manner of the step S205 in the embodiment described in fig. 2, acquiring the acceleration of the IMU in the IMU coordinate system according to the mounting relationship between the IMU and the vehicle and the speed of the IMU in the vehicle body coordinate system may specifically include the following steps:
s501, acquiring the speed of the position of the IMU of the vehicle according to the installation position of the IMU on the vehicle and the speed of the IMU in a vehicle body coordinate system;
s502, acquiring the speed of the IMU under an IMU coordinate system according to the installation angle between the IMU and the vehicle and the speed of the IMU of the vehicle at the position;
s503, calculating the acceleration of the IMU in the IMU coordinate system according to the speeds of two continuous IMUs in the IMU coordinate system in a preset time interval.
When the vehicle runs, the vertical installation error of the IMU and the vehicle body of the vehicle has little influence on the speed, and the horizontal error of the IMU relative to the vehicle body is not considered at all, the overlooking installation position of the IMU on the vehicle of the unmanned vehicle is shown in the figure 6, the horizontal distance from the IMU to the central axis of the CD wheel is dx, and the vertical distance from the AB connecting line is dy, so that the projection of the speed of the position of the IMU on the vehicle under the vehicle body coordinate system can be obtained
Figure GDA0003435160020000101
Can be expressed as:
Figure GDA0003435160020000102
also considering that the IMU has an installation angle with the vehicle, projecting the velocity of the IMU in the body coordinate system into the IMU coordinate system can be expressed as:
Figure GDA0003435160020000103
let the current time be k, and the projection of the corresponding IMU speed in the IMU coordinate system be
Figure GDA0003435160020000104
Specifically, it can be expressed as:
Figure GDA0003435160020000105
wherein: v wheel (k) The velocity of the vehicle in the body coordinate system at time k is represented, and since the vehicle and the IMU are relatively fixed in the vehicle coordinate system, it can also be said that the velocity of the IMU is in the vehicle coordinate system.
Figure GDA0003435160020000106
Indicating the steering angle of the vehicle at time k and omega (k) indicating the heading angle rate of change omega of the vehicle at time k.
Combining the k time points based on the above equation (11)
Figure GDA0003435160020000107
Velocity calculated in the same manner as the previous time k-1
Figure GDA0003435160020000108
Dividing by the time interval Δ t and compensating for the earth gravitational acceleration g of the IMU in the Z-axis direction b Obtaining the acceleration in the corresponding pseudo IMU data at the moment
Figure GDA0003435160020000109
Can be expressed as:
Figure GDA00034351600200001010
wherein g is b Can be output from the acceleration before IMU loss
Figure GDA00034351600200001011
And acquiring in the middle z-axis direction.
Obtaining the acceleration of the pseudo IMU data according to the formula (8) and the formula (12)
Figure GDA00034351600200001012
And angular velocity
Figure GDA00034351600200001013
When the actual IMU is lost or interrupted, the four-wheel speed meter is used, the generated pseudo IMU data participates in positioning calculation, the positioning result can be output to the maximum extent on the basis of not reducing the output frequency, and the robustness of the vehicle positioning system is enhanced.
The method for generating the IMU pseudo data can finally acquire the acceleration of the IMU under the IMU coordinate system according to the installation position and the installation angle of the IMU on the vehicle and the speed of the IMU under the vehicle body coordinate system, the whole calculation process is realized according to a mathematical calculation method according to the kinematics principle of the vehicle, and the accuracy of the acceleration in the generated pseudo IMU data can be effectively ensured.
Fig. 7 is a schematic diagram according to a fifth embodiment of the present application. As shown in fig. 7, the apparatus 700 for generating IMU dummy data according to the present embodiment includes:
an acquisition module 701 for acquiring the speeds of four wheels of a vehicle;
the analysis module 702 is configured to analyze a speed and an angular speed of the IMU in a vehicle body coordinate system based on a wheel track between two wheels in the same row of four wheels of the vehicle, a wheel base between a front wheel and a rear wheel, and a speed of each wheel;
the generating module 703 is configured to generate an acceleration and an angular velocity of the IMU in the IMU coordinate system based on the mounting relationship between the IMU and the vehicle and the velocity and the angular velocity of the IMU in the body coordinate system.
The implementation principle and technical effect of the apparatus 700 for generating IMU pseudo data according to this embodiment, which uses the modules to generate IMU pseudo data, are the same as those of the related method embodiments described above, and reference may be made to the description of the related method embodiments in detail, which is not described herein again.
Fig. 8 is a schematic diagram according to a sixth embodiment of the present application. As shown in fig. 8, the apparatus 700 for generating IMU dummy data according to the present embodiment will be described in more detail based on the technical solutions of the above embodiment shown in fig. 7.
In the apparatus 700 for generating IMU pseudo data according to this embodiment, the analysis module 702 includes:
a speed obtaining unit 7021, configured to obtain a speed of the IMU in a vehicle body coordinate system based on a wheel distance between two wheels in the same row of four wheels of the vehicle, a wheel distance between a front wheel and a rear wheel, and a speed of each wheel;
an angular velocity obtaining unit 7022 is configured to obtain an angular velocity of the IMU in the vehicle body coordinate system based on a wheel tread between two rear wheels of the vehicle and a velocity of each of the two rear wheels.
Further optionally, in the apparatus 700 for generating IMU pseudo data according to this embodiment, the speed obtaining unit 7021 is configured to:
calculating the speed of a virtual steering wheel positioned at the center point of two front wheels of the vehicle according to the speeds of the two front wheels of the vehicle;
calculating the course angle change rate of the vehicle according to the speeds of two rear wheels of the vehicle and the wheel track between the two rear wheels;
calculating the turning radius of the vehicle according to the speed and the course angle change rate of the virtual steering wheel;
calculating a steering angle according to a wheel base between front and rear wheels of the vehicle and a turning radius;
and calculating the speed of the IMU in the vehicle body coordinate system according to the speed and the steering angle of the virtual steering wheel.
Further optionally, in the apparatus 700 for generating IMU pseudo data according to this embodiment, the angular velocity obtaining unit 7022 is configured to:
calculating the course angle change rate of the vehicle according to the wheel track between two rear wheels of the vehicle and the speed of each wheel of the two rear wheels;
and determining the angular speed of the IMU under the vehicle body coordinate system based on the course angle change rate of the vehicle.
Further optionally, in the apparatus 700 for generating IMU pseudo data according to this embodiment, the generating module 703 includes:
an angular velocity generating unit 7031, configured to obtain an angular velocity of the IMU in the IMU coordinate system according to an installation relationship between the IMU and the vehicle and the angular velocity of the IMU in the vehicle body coordinate system;
and an acceleration generating unit 7032, configured to obtain an acceleration of the IMU in the IMU coordinate system according to the mounting relationship between the IMU and the vehicle and the speed of the IMU in the vehicle body coordinate system.
Further optionally, in the apparatus 700 for generating IMU pseudo data according to this embodiment, the angular velocity generating unit 7031 is configured to:
and calculating the angular speed of the IMU under the IMU coordinate system according to the installation angle between the IMU and the vehicle and the angular speed of the IMU under the vehicle body coordinate system.
Further optionally, in the apparatus 700 for generating IMU pseudo data of this embodiment, the acceleration generating unit 7032 is configured to:
acquiring the speed of the IMU at the position according to the installation position of the IMU on the vehicle and the speed of the IMU under the vehicle body coordinate system;
acquiring the speed of the IMU under the coordinate system of the IMU according to the installation angle between the IMU and the vehicle and the speed of the IMU at the position of the IMU;
and calculating the acceleration of the IMU under the IMU coordinate system according to the speed of two continuous IMUs of the IMU under the vehicle body coordinate system under the IMU coordinate system in a preset time interval.
The implementation principle and technical effect of the apparatus 700 for generating IMU pseudo data according to this embodiment, which uses the modules to generate IMU pseudo data, are the same as those of the related method embodiments described above, and reference may be made to the description of the related method embodiments in detail, which is not described herein again.
According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.
Fig. 9 is a block diagram of an electronic device implementing an IMU pseudo data generation method according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 9, the electronic apparatus includes: one or more processors 901, memory 902, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). Fig. 9 illustrates an example of a processor 901.
Memory 902 is a non-transitory computer readable storage medium as provided herein. The storage stores instructions executable by at least one processor to cause the at least one processor to execute the method for generating IMU pseudo data provided by the application. The non-transitory computer-readable storage medium of the present application stores computer instructions for causing a computer to execute the method for generating IMU pseudo data provided herein.
The memory 902, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules (e.g., related modules and units shown in fig. 7 and 8) corresponding to the generating method of IMU pseudo data in the embodiments of the present application. The processor 901 executes various functional applications of the server and data processing, i.e., implements the generating method of IMU pseudo data in the above-described method embodiments, by running non-transitory software programs, instructions, and modules stored in the memory 902.
The memory 902 may 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 by use of an electronic device implementing the generating method of IMU dummy data, and the like. Further, the memory 902 may include high speed random access memory and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 902 may optionally include a memory remotely located from the processor 901, and such remote memory may be connected over a network to an electronic device implementing the method for generating IMU pseudo data. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The electronic device implementing the method for generating IMU pseudo data may further include: an input device 903 and an output device 904. The processor 901, the memory 902, the input device 903 and the output device 904 may be connected by a bus or other means, and fig. 9 illustrates the connection by a bus as an example.
The input device 903 may receive input numeric or character information and generate key signal inputs related to user settings and function control of an electronic apparatus implementing the generating method of IMU pseudo data, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointing stick, one or more mouse buttons, a track ball, a joystick, or the like. The output devices 904 may include a display device, auxiliary lighting devices (e.g., LEDs), tactile feedback devices (e.g., vibrating motors), and the like. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
According to the technical scheme of the embodiment of the application, the speeds of four vehicles of the vehicle are collected; analyzing the speed and angular speed of the IMU under a vehicle body coordinate system based on the wheel track between two wheels in the same row in four wheels of the vehicle, the wheel base between the front wheel and the rear wheel and the speed of each wheel; based on the installation relation between the IMU and the vehicle and the speed and the angular speed of the IMU under the vehicle body coordinate system, the acceleration and the angular speed of the IMU under the IMU coordinate system are generated. The IMU pseudo data generated by the method can accurately and effectively compensate IMU data in IMU data loss time, and effectively guarantee stable operation of a positioning system of the unmanned vehicle, so that safe operation of the unmanned vehicle is guaranteed.
Further, according to the technical scheme of the embodiment of the application, the speed and the angular speed of the IMU under the vehicle body coordinate system can be simply, conveniently and accurately calculated, and the accuracy of the generation of the acceleration and the angular speed in the subsequent pseudo IMU data can be effectively improved.
Further, according to the technical scheme of the embodiment of the application, the acceleration of the IMU under the IMU coordinate system can be finally obtained according to the installation position and the installation angle of the IMU on the vehicle and the speed of the IMU under the vehicle body coordinate system, the whole calculation process is realized according to a mathematical calculation method and the kinematics principle of the vehicle, and the accuracy of the acceleration in the generated pseudo IMU data can be effectively ensured.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present application can be achieved, and the present invention is not limited herein.
The above-described embodiments are not intended to limit the scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (17)

1. A method for generating pseudo data of an inertial measurement unit, comprising:
collecting the speed of four wheels of a vehicle;
analyzing the speed and the angular speed of the inertia measuring instrument under a vehicle body coordinate system based on the wheel track between two wheels in the same row in the four wheels of the vehicle, the wheel base between the front wheel and the rear wheel and the speed of each wheel;
generating acceleration and angular velocity of the inertial measurement instrument in the inertial measurement instrument coordinate system as the inertial measurement instrument pseudo data based on an installation relationship between the inertial measurement instrument and the vehicle, and the velocity and the angular velocity of the inertial measurement instrument in the vehicle body coordinate system, so as to replace real data of the inertial measurement instrument when the real data of the inertial measurement instrument is lost.
2. The method of claim 1, wherein analyzing the speed and angular velocity of the inertial measurement unit in a body coordinate system based on a wheel track between two co-aligned wheels of four wheels of the vehicle, a wheel base between front and rear wheels, and a speed of each wheel comprises:
acquiring the speed of the inertia measuring instrument under the vehicle body coordinate system based on the wheel track between two wheels in the same row in the four wheels of the vehicle, the wheel base between the front wheel and the rear wheel and the speed of each wheel;
and acquiring the angular speed of the inertia measuring instrument in the vehicle body coordinate system based on the wheel track between the two rear wheels of the vehicle and the speed of each of the two rear wheels.
3. The method of claim 2, wherein obtaining the speed of the inertial measurement unit in the body coordinate system based on a wheel track between two co-aligned wheels of four wheels of the vehicle, the wheel base between front and rear wheels, and a speed of each wheel comprises:
calculating the speed of a virtual steering wheel positioned at the central point of two front wheels of the vehicle according to the speeds of the two front wheels of the vehicle;
calculating the course angle change rate of the vehicle according to the speeds of two rear wheels of the vehicle and the wheel track between the two rear wheels;
calculating the turning radius of the vehicle according to the speed of the virtual steering wheel and the change rate of the course angle;
calculating a steering angle according to the wheel base between the front wheel and the rear wheel of the vehicle and the turning radius;
and calculating the speed of the inertial measurement instrument under the vehicle body coordinate system according to the speed of the virtual steering wheel and the steering angle.
4. The method of claim 2, wherein obtaining the angular velocity of the inertial measurement unit in the body coordinate system based on the track between the two rear wheels of the vehicle and the velocity of each of the two rear wheels comprises:
calculating the course angle change rate of the vehicle according to the wheel track between two rear wheels of the vehicle and the speed of each wheel of the two rear wheels;
and determining the angular speed of the inertial measuring instrument in the vehicle body coordinate system based on the course angle change rate of the vehicle.
5. The method according to any one of claims 1 to 4, wherein generating the acceleration and the angular velocity in the inertial-measurement-machine coordinate system based on the installation relationship between the inertial measurement machine and the vehicle, and the velocity and the angular velocity of the inertial measurement machine in the body coordinate system comprises:
acquiring the angular velocity of the inertial measurement instrument in the inertial measurement instrument coordinate system according to the installation relation between the inertial measurement instrument and the vehicle and the angular velocity of the inertial measurement instrument in the vehicle body coordinate system;
and acquiring the acceleration of the inertial measuring instrument in the inertial measuring instrument coordinate system according to the installation relation between the inertial measuring instrument and the vehicle and the speed of the inertial measuring instrument in the vehicle body coordinate system.
6. The method according to claim 5, wherein obtaining the angular velocity of the inertial measurement unit in the inertial measurement unit coordinate system based on the installation relationship between the inertial measurement unit and the vehicle and the angular velocity of the inertial measurement unit in the vehicle body coordinate system comprises:
and calculating the angular velocity of the inertial measurement instrument in the inertial measurement instrument coordinate system according to the installation angle between the inertial measurement instrument and the vehicle and the angular velocity of the inertial measurement instrument in the vehicle body coordinate system.
7. The method according to claim 5, wherein obtaining the acceleration of the inertial measurement unit in the inertial measurement unit coordinate system based on the installation relationship between the inertial measurement unit and the vehicle and the speed of the inertial measurement unit in the vehicle body coordinate system comprises:
acquiring the speed of the inertial measurement instrument at the position of the inertial measurement instrument according to the installation position of the inertial measurement instrument on the vehicle and the speed of the inertial measurement instrument in the vehicle body coordinate system;
acquiring the speed of the inertial measurement instrument in a coordinate system of the inertial measurement instrument according to the installation angle between the inertial measurement instrument and the vehicle and the speed of the inertial measurement instrument at the position of the inertial measurement instrument;
and calculating the acceleration of the inertial measurement instrument in the inertial measurement instrument coordinate system according to the speed of two continuous IMUs of the inertial measurement instrument in the vehicle body coordinate system in the inertial measurement instrument coordinate system within a preset time interval.
8. An inertial measurement unit pseudo data generation device, comprising:
the acquisition module is used for acquiring the speeds of four wheels of the vehicle;
the analysis module is used for analyzing the speed and the angular speed of the inertial measurement instrument under a vehicle body coordinate system based on the wheel track between two wheels in the same row in four wheels of the vehicle, the wheel base between the front wheel and the rear wheel and the speed of each wheel;
a generating module, configured to generate, as the inertia measurement instrument pseudo data, the acceleration and the angular velocity of the inertia measurement instrument in the inertia measurement instrument coordinate system based on an installation relationship between the inertia measurement instrument and the vehicle, and the velocity and the angular velocity of the inertia measurement instrument in the vehicle body coordinate system, so as to replace the real data of the inertia measurement instrument when the real data of the inertia measurement instrument is lost.
9. The apparatus of claim 8, wherein the analysis module comprises:
a speed obtaining unit, configured to obtain a speed of the inertial measurement unit in the vehicle body coordinate system based on a wheel distance between two wheels in the same row of four wheels of the vehicle, the wheel distance between front and rear wheels, and a speed of each wheel;
an angular velocity obtaining unit, configured to obtain an angular velocity of the inertial measurement unit in the vehicle body coordinate system based on the wheel track between two rear wheels of the vehicle and a velocity of each of the two rear wheels.
10. The apparatus of claim 9, wherein the speed acquisition unit is configured to:
calculating the speed of a virtual steering wheel positioned at the central point of the two front wheels of the vehicle according to the speeds of the two front wheels of the vehicle;
calculating the course angle change rate of the vehicle according to the speeds of two rear wheels of the vehicle and the wheel track between the two rear wheels;
calculating the turning radius of the vehicle according to the speed of the virtual steering wheel and the change rate of the course angle;
calculating a steering angle according to the wheel base between the front wheel and the rear wheel of the vehicle and the turning radius;
and calculating the speed of the inertial measurement instrument under the vehicle body coordinate system according to the speed of the virtual steering wheel and the steering angle.
11. The apparatus according to claim 10, wherein the angular velocity obtaining unit is configured to:
calculating the course angle change rate of the vehicle according to the wheel track between two rear wheels of the vehicle and the speed of each wheel of the two rear wheels;
and determining the angular speed of the inertial measurement instrument under the vehicle body coordinate system based on the course angle change rate of the vehicle.
12. The apparatus according to any one of claims 8-11, wherein the generating module comprises:
an angular velocity generating unit, configured to obtain an angular velocity of the inertial measurement unit in the inertial measurement unit coordinate system according to an installation relationship between the inertial measurement unit and the vehicle and an angular velocity of the inertial measurement unit in the vehicle body coordinate system;
and the acceleration generating unit is used for acquiring the acceleration of the inertial measuring instrument in the inertial measuring instrument coordinate system according to the installation relation between the inertial measuring instrument and the vehicle and the speed of the inertial measuring instrument in the vehicle body coordinate system.
13. The apparatus of claim 12, wherein the angular velocity generation unit is configured to:
and calculating the angular velocity of the inertial measurement instrument in the inertial measurement instrument coordinate system according to the installation angle between the inertial measurement instrument and the vehicle and the angular velocity of the inertial measurement instrument in the vehicle body coordinate system.
14. The apparatus of claim 12, wherein the acceleration generation unit is configured to:
acquiring the speed of the inertial measurement instrument on the position of the inertial measurement instrument according to the installation position of the inertial measurement instrument on the vehicle and the speed of the inertial measurement instrument in the vehicle body coordinate system;
acquiring the speed of the inertial measurement instrument in a coordinate system of the inertial measurement instrument according to the installation angle between the inertial measurement instrument and the vehicle and the speed of the inertial measurement instrument at the position of the inertial measurement instrument;
and calculating the acceleration of the inertial measurement instrument in the inertial measurement instrument coordinate system according to the speed of two continuous IMUs of the inertial measurement instrument in the vehicle body coordinate system in the inertial measurement instrument coordinate system within a preset time interval.
15. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
16. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-7.
17. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-7.
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