CN111780746A - Direction angle detection method and device, electronic equipment and travel tool - Google Patents

Direction angle detection method and device, electronic equipment and travel tool Download PDF

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Publication number
CN111780746A
CN111780746A CN202010233972.0A CN202010233972A CN111780746A CN 111780746 A CN111780746 A CN 111780746A CN 202010233972 A CN202010233972 A CN 202010233972A CN 111780746 A CN111780746 A CN 111780746A
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CN
China
Prior art keywords
carrier
angle
data
geomagnetic
pitch
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Application number
CN202010233972.0A
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Chinese (zh)
Inventor
朱波
顾蒙
马君亮
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Ningbo Liubike Information Technology Co ltd
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Ningbo Liubike Information Technology Co ltd
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Priority to CN202010233972.0A priority Critical patent/CN111780746A/en
Publication of CN111780746A publication Critical patent/CN111780746A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12Navigation; 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
    • G01C21/16Navigation; 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
    • G01C21/165Navigation; 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 combined with non-inertial navigation instruments
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/02Magnetic compasses
    • G01C17/28Electromagnetic compasses
    • G01C17/32Electron compasses
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/04Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G01C21/08Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/62Methods or arrangements for recognition using electronic means
    • G06K9/6288Fusion techniques, i.e. combining data from various sources, e.g. sensor fusion

Abstract

The embodiment of the application provides a method and a device for detecting a direction angle, electronic equipment and a travel tool, wherein the method is applied to the electronic equipment and comprises the following steps: acquiring acceleration data output by an acceleration sensor arranged on a carrier; acquiring geomagnetic data output by a geomagnetic sensor mounted on the carrier; calculating a roll angle of the carrier and a pitch angle of the carrier based on the acceleration data; and processing the roll angle of the carrier, the pitch angle of the carrier and the geomagnetic data by adopting a data fusion algorithm to obtain the direction angle of the carrier when the carrier does inertial motion. Therefore, the direction angle of the carrier in inertial motion can be detected.

Description

Direction angle detection method and device, electronic equipment and travel tool
Technical Field
The application relates to the technical field of direction detection, in particular to a method and a device for detecting a direction angle, electronic equipment and a travel tool.
Background
At present, most of the solutions for obtaining the direction angle of the object require the object to keep a certain speed and move a certain distance. For example, in a scheme of acquiring a movement direction angle based on a Positioning chip such as a GPS (Global Positioning System) chip or a BDS (BeiDou Navigation Satellite System) chip, the object needs to keep a certain speed and move a certain distance, so that a Satellite used for Positioning can detect a coordinate position change of the object, thereby obtaining a direction angle of the object when the object moves.
Disclosure of Invention
The application aims to provide a direction angle detection method and device, electronic equipment and a travel tool, which can be used for detecting the direction angle of a carrier during inertial motion.
In a first aspect, an embodiment of the present application provides a method for detecting a direction angle, which is applied to an electronic device, and the method includes:
acquiring acceleration data output by an acceleration sensor arranged on a carrier;
acquiring geomagnetic data output by a geomagnetic sensor mounted on the carrier;
calculating a roll angle of the carrier and a pitch angle of the carrier based on the acceleration data;
and processing the roll angle of the carrier, the pitch angle of the carrier and the geomagnetic data by adopting a data fusion algorithm to obtain the direction angle of the carrier when the carrier does inertial motion.
In the method, the direction angle of the carrier in the inertial motion can be calculated by combining the data of the acceleration sensor and the geomagnetic sensor, and even if the speed of the carrier is small and even 0, the acceleration sensor can detect the acceleration data (because the carrier can have acceleration when the carrier is still) so as to calculate the direction angle. The method can obtain the direction angle of the carrier under the condition that the moving range of the carrier is small, can judge the direction angle of the carrier without moving the carrier for a certain distance, and is not limited by indoor and outdoor environments.
In an optional embodiment, the processing, by using a data fusion algorithm, the roll angle of the carrier, the pitch angle of the carrier, and the geomagnetic data to obtain the direction angle of the carrier when performing inertial motion includes:
taking the roll angle of the carrier and the pitch angle of the carrier as compensation data, and compensating the geomagnetic data to obtain an intermediate variable;
and calculating the direction angle of the carrier when the carrier does inertial motion based on the intermediate variable.
In the implementation mode, the roll angle of the carrier and the pitch angle of the carrier are calculated based on the acceleration, so that data fusion of different sensors is realized, and under the condition that the roll angle and the pitch angle of the carrier are determined, the direction angle of the carrier in the horizontal state can be obtained, and the direction angle of the carrier in the non-horizontal state can also be obtained.
In an optional embodiment, the intermediate variable includes a first variable and a second variable, and the compensating the geomagnetic data by using the roll angle of the carrier and the pitch angle of the carrier as compensation data to obtain the intermediate variable includes:
calculating the first variable by a first expression comprising:
Xh=magx*cos(roll)+magy*sin(pitch)*sin(roll)-magz*cos(pitch)*sin(roll);
calculating the second variable by a second expression comprising:
Yh=magy*cos(pitch)+magz*sin(pitch);
the calculating the direction angle of the carrier when the carrier does inertial motion based on the intermediate variable comprises:
calculating the direction angle by a third expression comprising:
ang=atan(Yh/Xh*180/π);
wherein ang is the direction angle, Xh and Yh are respectively the first variable, the second variable, magx、magy、magzAn X-axis magnetic data component and a Y-axis magnetic data component on a body coordinate system of the carrierZ-axis magnetic data component, pitch is pitch angle, roll is roll angle.
The direction angle of the carrier can be quickly obtained through the implementation mode.
In an optional embodiment, the calculating the roll angle of the carrier and the pitch angle of the carrier based on the acceleration data comprises:
calculating the pitch angle of the carrier based on a pitch angle expression and the acceleration data;
the pitch angle expression includes:
calculating a roll angle of the carrier based on a roll angle expression and the acceleration data;
the roll angle expression includes:
wherein pitch is the pitch angle, roll is the roll angle, accx、accy、acczThe acceleration is respectively an X-axis component, a Y-axis component and a Z-axis component on a body coordinate system of the carrier.
The realization mode is favorable for quickly obtaining the roll angle of the carrier and the pitch angle of the carrier.
In an alternative embodiment, the method further comprises:
judging whether the direction angle is effective data or not based on the geomagnetic elements detected by the geomagnetic sensor;
and when the direction angle is invalid data, sending invalid prompt information to the server.
Through the implementation mode, the vehicle monitoring system can remind when the magnetic field interference phenomenon is serious, avoids the situation that the carrier always stays in an area with an excessively strong magnetic field, and is favorable for managing the vehicle when the carrier is a shared vehicle.
In an alternative embodiment, the method further comprises:
acquiring the current declination of the location of the carrier;
and correcting the direction angle according to the current declination.
By the implementation mode, the calculation accuracy is improved, and the corrected direction angle is higher in accuracy.
In an alternative embodiment, the method further comprises:
when the vehicle locking operation is detected, judging whether the direction angle of the carrier is correct or not based on the location of the carrier;
and when the direction angle of the carrier is wrong, warning information is sent out, wherein the warning information comprises information for indicating that the direction of the vehicle is wrong or information for indicating that the vehicle is refused to be locked.
Through the implementation mode, the user who is used as a vehicle user can be reminded to lock the vehicle correctly, and vehicle management is facilitated.
In an alternative embodiment, the vehicle is a ride-on vehicle, the method further comprising:
and for the locked transportation vehicle, when detecting that the direction angle or the roll angle of the transportation vehicle is abnormal, sending the position information of the vehicle with the abnormal direction angle or the abnormal roll angle to a terminal of an administrator.
Through the implementation mode, the system and the method are favorable for reminding an administrator of correctly placing the vehicle which is parked by mistake or the vehicle which is overturned on the ground.
In an optional embodiment, the electronic device is mounted on the carrier, the electronic device includes a processor, the acceleration sensor and the geomagnetic sensor, the acceleration sensor is connected to the processor, and the geomagnetic sensor is connected to the processor;
or, the electronic device is a mobile terminal, and the mobile terminal establishes wireless communication connection with the acceleration sensor and the geomagnetic sensor.
In an alternative embodiment, the carrier is a shared ride vehicle or an electronic compass.
In a second aspect, an embodiment of the present application provides an apparatus for detecting an orientation angle, where the apparatus includes:
the acquisition module is used for acquiring acceleration data output by an acceleration sensor arranged on the carrier;
the acquisition module is further configured to acquire geomagnetic data output by a geomagnetic sensor mounted on the carrier;
a calculation module for calculating a roll angle of the carrier and a pitch angle of the carrier based on the acceleration data;
the calculation module is further configured to process the roll angle of the carrier, the pitch angle of the carrier, and the geomagnetic data by using a data fusion algorithm, so as to obtain a direction angle of the carrier when the inertial motion is performed.
The method provided by the first aspect can be performed by the apparatus, and the direction angle of the carrier when the carrier is in inertial motion can be detected.
In a third aspect, an embodiment of the present application provides an electronic device, including: the device comprises a memory, a processor, an acceleration sensor and a geomagnetic sensor;
the memory, the acceleration sensor and the geomagnetic sensor are all connected with the processor;
the acceleration sensor is used for detecting acceleration and sending acquired acceleration data to the processor;
the geomagnetic sensor is used for detecting a geomagnetic field and sending acquired geomagnetic data to the processor;
the memory has stored thereon a computer program executable by the processor, which computer program, when executed by the processor, performs the method of the first aspect as described above.
In a fourth aspect, an embodiment of the present application provides a walk-substituting tool, on which the electronic device according to the third aspect is mounted.
In a fifth aspect, the present application provides a storage medium, on which a computer program executable by a processor is stored, and when the computer program is executed by the processor, the computer program performs the method of the first aspect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a flowchart of a method for detecting an angle of direction according to an embodiment of the present disclosure.
Fig. 2 is a schematic diagram of a body coordinate system in an example provided by an embodiment of the present application.
Fig. 3 is a flowchart of another method for detecting an angle of direction according to an embodiment of the present disclosure.
Fig. 4 is a functional block diagram of an apparatus for detecting an angle of direction according to an embodiment of the present disclosure.
Fig. 5 is a block diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for detecting an angle of direction according to an embodiment of the present disclosure, where the method is applied to an electronic device.
As shown in fig. 1, the method for detecting a direction angle provided by the embodiment of the present application includes steps S11-S14.
S11: acceleration data output by an acceleration sensor mounted on a carrier is acquired.
The acceleration sensor may be a chip for measuring acceleration. The acceleration data measured by the acceleration sensor comprise a plurality of acceleration components in the carrier body coordinate system. The acceleration collected by the acceleration sensor can include gravity acceleration under the action of gravity and moving acceleration under the action of external force, wherein the external force includes traction force given by a user when the carrier is driven to move, acting force generated by collision between other objects and the carrier, and the like. The inclination angle of the equipment relative to the horizontal plane can be known by measuring the acceleration caused by gravity, and the moving mode of the equipment can be known by analyzing the motion acceleration.
The coordinate system shown in fig. 2 is a body coordinate system, three coordinate axes of the body coordinate system are respectively marked as X, Y, Z axes, O is a dot (which may be a centroid of a carrier) of the body coordinate system, the direction of the X axis is a traveling direction of the carrier body, the Y axis is directed to a side surface (left or right of the carrier) of the carrier, and the Z axis is directed to above the carrier. The body coordinate system of the carrier can be used as a local coordinate system, the ground coordinate system can be used as a world coordinate system, and the relative attitude relationship between the local coordinate system and the world coordinate system is expressed by Euler angles (including a roll angle, a pitch angle and a course angle).
S12: acquiring geomagnetic data output by a geomagnetic sensor mounted on a carrier.
The geomagnetic sensor is used for detecting a geomagnetic field, so that a plurality of geomagnetic data components under a body coordinate system of the carrier are obtained.
S13: roll angle of the carrier and pitch angle of the carrier are calculated based on the acceleration data.
As an implementation manner, an X axis of a body coordinate system of the carrier points to a traveling direction of the carrier, an included angle between the X axis of the body coordinate system of the carrier and a ground plane (horizontal plane) serves as a pitch angle of the carrier, an included angle between a projection of the X axis of the body coordinate system of the carrier on the ground plane (horizontal plane) and the ground axis serves as a heading angle of the carrier, and an angle rotated by a symmetry plane of the carrier body around the X axis of the body coordinate system serves as a rolling angle of the carrier.
The roll angle and the pitch angle calculated based on the acceleration data are the pitch angle and the roll angle of the device where the acceleration sensor is located, but after the acceleration sensor is installed on the carrier, the relative position between the acceleration sensor and the carrier is fixed and determined, so the roll angle of the carrier and the pitch angle of the carrier can be calculated through the relative position relationship between the acceleration sensor and the carrier and the acceleration data measured by the acceleration sensor.
S14: and processing the roll angle of the carrier, the pitch angle of the carrier and geomagnetic data by adopting a data fusion algorithm to obtain the direction angle of the carrier when the carrier does inertial motion.
When the inertial motion is performed, the carrier is in a static state or a uniform linear motion state, and the carrier does not work. The direction angle obtained by S14 is an angle in the world coordinate system.
When the carrier is a travel tool such as a bicycle or an electric vehicle, the direction angle of the travel tool in a static state or in uniform linear motion can be calculated through the method of S11-S14, so that the travel tool can be conveniently managed according to the calculated direction angle, for example, the vehicle is locked, moved and the like according to the calculated direction angle in the static state.
When the carrier is an electronic compass, the direction angle can be calculated according to the current state of the electronic compass (including the current position, the geomagnetic field, the attitude of the electronic compass, etc.) by the method of S11-S14, thereby providing a data reference for the conventional navigation scheme.
Compared with the method of obtaining the direction angle only through the data of the geomagnetic sensor, theoretically, if the carrier and the sensor part are always in the horizontal state, the direction angle can be obtained more accurately only through the data of the geomagnetic sensor for performing the declination compensation. However, in practice, the carrier is often not horizontal for various reasons. Taking the example that the carrier is a bicycle, the bicycle has a certain inclination angle when parking, the roll angle when parking is not zero, and the road surface which is possible to park is a surface with a certain gradient, in which case, the pitch angle of the bicycle is also not zero.
Therefore, an ideal direction angle cannot be obtained by using only the geomagnetic sensor. By the method of S11-S14, the roll angle of the carrier and the pitch angle of the carrier are calculated according to the data of the acceleration sensor, and the direction angle of the carrier is calculated based on the roll angle of the carrier, the pitch angle of the carrier and the geomagnetic data of the geomagnetic sensor, so that the effect of compensating the data of the geomagnetic sensor by the acceleration sensor is realized, and a more accurate direction angle can be obtained even if the carrier is in a non-horizontal state.
Even if the speed of the carrier is small, even if the speed is 0, the acceleration sensor can detect acceleration data (because the carrier can also have acceleration when the carrier is still), compared with a mode of calculating the direction by means of the position coordinate change obtained by a positioning chip (such as a GPS chip), the method of S11-S14 can obtain the direction angle of the carrier under the condition that the moving range of the carrier is small, the direction angle of the carrier can be judged without moving a certain distance of the carrier, and the method is not limited by indoor and outdoor environments.
In an application scenario, the electronic device executing the method can be used as a vehicle-mounted electronic device. An electronic device is mounted on the carrier to detect a direction angle of the carrier. The electronic equipment comprises a processor, an acceleration sensor and a geomagnetic sensor, wherein the acceleration sensor is connected with the processor, and the geomagnetic sensor is connected with the processor. The processor can acquire the output data of the acceleration sensor and the geomagnetic sensor and perform operation processing according to the output data of the acceleration sensor and the geomagnetic sensor, so as to calculate the direction angle of the carrier.
In the application scene, as the electronic equipment integrates a plurality of sensors, the integrated electronic equipment can perform local data processing and calculation, and the number of interactions with the server side can be reduced. By mounting the integrated electronic device on the carrier, the acceleration sensor and the geomagnetic sensor can be fixed on the carrier, and the whole structure is convenient to mount and maintain.
As an embodiment, the carrier and the electronic device may be sold in combination when the electronic device is mounted on the carrier, and as another embodiment, the electronic device may be mounted (for example, the electronic device may be mounted according to a mounting position reserved on the carrier) and debugged after the electronic device leaves a factory, so that the electronic device can normally operate on the carrier.
In another application scenario, the electronic device is a mobile terminal, the electronic device is not directly installed on a carrier, a component establishing a wireless communication connection relationship with the mobile terminal is installed on the carrier, and the component installed on the carrier comprises an acceleration sensor and a geomagnetic sensor. Wireless communication connections include, but are not limited to, WiFi, bluetooth, radio frequency communications. The acceleration sensor can acquire the acceleration data of the carrier according to the motion condition of the carrier, and the geomagnetic sensor can detect a geomagnetic field according to the environment where the carrier is located so as to obtain magnetic field data. The mobile terminal acquires data of the acceleration sensor and the geomagnetic sensor in a wireless communication mode and calculates the data. The acceleration sensor and the geomagnetic sensor can be independently installed in a module form respectively, and can also be combined into a whole to be installed on the carrier.
In the application scenario, a user can carry the mobile terminal at any time, when the distance between the mobile terminal and the carrier meets the wireless communication connection condition, the mobile terminal obtains the data of the acceleration sensor and the geomagnetic sensor and calculates the data to obtain the direction angle of the carrier, the user can check the current state of the carrier at any time through a client running on the mobile terminal, and the current state of the carrier can include the geographic position, whether the carrier is locked, the current direction angle and the like.
In this embodiment, since the direction angle is calculated by combining the acceleration sensor and the geomagnetic sensor, and the true terrestrial magnetic poles are close to the south pole and the north pole of the earth but do not coincide with the south pole and the north pole of the earth (i.e., the north and south poles of the earth and the south and north poles of the earth do not completely coincide with each other), and there is a declination, the declination compensation can be performed on the direction angle obtained in S14, so as to obtain the actual direction angle. Because the earth magnetic field is constantly changing, influenced by the action of an ionosphere and the action of the sun, and the change form is complex, the magnetic declination change can be detected and issued through a special geomagnetic table and a reference geomagnetic observation station under normal conditions, and a user can look up or download corresponding magnetic declination data according to a selected area and a selected time period.
Alternatively, since the declination varies from place to place, the declination varies with time, and therefore, after S14, referring to fig. 3, the method may further include the declination compensation process of steps S15-S16.
S15: and acquiring the current declination of the location of the carrier.
As an implementation, the electronic device may query the current declination by accessing a server. For example, the electronic device may obtain a current geographic position of the carrier through a positioning chip mounted on the carrier, send the current geographic position to the server, and then receive a current declination fed back by the server according to the current geographic position and a current time.
As another implementation manner, the electronic device may query the current declination of the carrier from a pre-stored declination data table by using a local table lookup manner. In general, the declination obtained by looking up the table is applicable within a few years. Even if the declination of the current year cannot be directly acquired, the declination of a plurality of years can be calculated according to the years of the acquired declination, the year update value of the declination and the interval years.
S16: and correcting the direction angle according to the current declination.
After the current declination is obtained, the current declination and the direction angle calculated in S14 may be superimposed to implement angle correction.
In one example, the direction angle calculated by S14 is +90 °, and the current declination obtained by S15 is 5 ° off west (5 ° west position of magnetic north at true north), and the corrected direction angle is +95 °.
In another example, the direction angle calculated by S14 is +90 °, and the current declination angle is 5 ° to east, and the corrected direction angle is +85 °.
In other embodiments, the electronic device may send the direction angle of the carrier and the current position of the carrier calculated in S14 to the server for the server to perform declination compensation according to the direction angle and the current position of the carrier, and the electronic device may receive the declination compensated direction angle fed back by the server, thereby implementing the angle correction.
Alternatively, in the above S13 of the embodiment of the present application, the process of calculating the roll angle of the carrier and the pitch angle of the carrier based on the acceleration data may include: calculating a pitch angle of the carrier based on the pitch angle expression and the acceleration data, and calculating a roll angle of the carrier based on the roll angle expression and the acceleration data.
The pitch angle expression includes:
the roll angle expression includes:
wherein pitch is the pitch angle, roll is the roll angle, accx、accy、acczThe acceleration is respectively an X-axis component, a Y-axis component and a Z-axis component on a body coordinate system of the carrier. The X axis, the Y axis and the Z axis are mutually vertical in pairs, the X axis points to the advancing direction of the carrier, and the Z axis points to the upper part of the carrier.
Through the implementation mode, the posture of the carrier can be obtained quickly according to the acceleration condition of the carrier, so that whether the carrier is excessively inclined (such as a rollover phenomenon) or not and whether the parking state of the carrier is stable (such as parking on a slope surface) or not can be known.
Optionally, in the above S14, the process of processing the roll angle of the carrier, the pitch angle of the carrier, and the geomagnetic data by using a data fusion algorithm to obtain the direction angle of the carrier when performing inertial motion may include sub-steps S141 to S142.
S141: and taking the roll angle of the carrier and the pitch angle of the carrier as compensation data, and compensating the geomagnetic data to obtain an intermediate variable.
Wherein, the intermediate variable includes a first variable and a second variable, and in this S141, the process of compensating the geomagnetic data with the roll angle of the carrier and the pitch angle of the carrier as compensation data to obtain the intermediate variable includes: the first variable is calculated by a first expression and the second variable is calculated by a second expression.
The first expression includes:
Xh=magx*cos(roll)+magy*sin(pitch)*sin(roll)-magz*cos(pitch)*sin(roll)。
the second expression includes:
Yh=magy*cos(pitch)+magz*sin(pitch)。
s142: and calculating the direction angle of the carrier when the inertial motion is performed based on the intermediate variable.
Wherein, based on the first variable and the second variable, the step of calculating the direction angle of the carrier when making the inertial motion based on the intermediate variable in S142 may include: the direction angle is calculated by the third expression.
The third expression includes:
ang=atan(Yh/Xh*180/π)。
wherein ang is the direction angle, Xh and Yh are respectively the first variable, the second variable, magx、magy、magzRespectively, an X-axis magnetic data component, a Y-axis magnetic data component and a Z-axis magnetic data component on the body coordinate system of the carrier, pitch is a pitch angle, and roll is a roll angle.
When the pitch angle of the carrier and the roll angle of the carrier are determined, data fusion of the multiple sensors is realized through a combination of the first expression, the second expression and the third expression (which can be collectively referred to as a data fusion algorithm), acceleration data and geomagnetic data are subjected to fusion processing, and a Z-axis component of the geomagnetic sensor can compensate an X-axis component and a Y-axis component in the horizontal direction, so that the direction angle of the carrier in the horizontal state can be obtained, and the direction angle of the carrier in the non-horizontal state can also be obtained.
Optionally, the method provided by the embodiment of the present application may further include steps S17-S18.
S17: and judging whether the direction angle is effective data or not based on the geomagnetic elements detected by the geomagnetic sensor.
S18: and when the direction angle is invalid data, sending invalid prompt information to the server.
The geomagnetic element is a physical quantity indicating the direction and magnitude of the earth's magnetic field, and the geomagnetic field intensity at a point on the earth's surface is a vector. Whether the strong magnetic field interference phenomenon exists in the environment where the carrier is located can be known through monitoring the geomagnetic elements (for example, monitoring the change of the magnetic field intensity). The geomagnetic elements can be selected and monitored by those skilled in the art according to actual needs, so as to obtain the magnetic field interference condition.
When the carrier is a shared travel tool such as a shared bicycle or a shared electric vehicle, if the carrier approaches to a region where cables hidden underground or entering a magnetic field seriously interferes, even if the direction angle of the carrier is obtained through S14 or S16, the direction angle can be regarded as invalid data, invalid prompt information can be sent to a server, and a vehicle moving instruction can be sent to a terminal of an administrator so that the administrator can move the vehicle conveniently.
When the carrier is the electronic compass, if the interference phenomenon of the environmental magnetic field where the electronic compass is located is serious, the obtained direction angle is regarded as invalid data, and invalid prompt information can be displayed so as to remind a user that the currently obtained direction angle does not have reference significance.
Optionally, if the carrier is a transportation vehicle, after obtaining the direction angle of the carrier, the method provided by the embodiment of the application may further include steps S21-S22.
S21: and when the vehicle locking operation is detected, judging whether the direction angle of the carrier is correct or not based on the location of the carrier.
S22: and when the direction angle of the carrier is wrong, warning information is sent out, wherein the warning information comprises information for indicating that the direction of the vehicle is wrong or information for indicating that the vehicle is refused to be locked.
After the vehicle locking operation of the user is detected, an angle range suitable for the area can be obtained according to the location of the carrier. If the direction angle of the carrier is within the angle range, the direction angle of the carrier is considered to be correct, and the vehicle locking is allowed. If the direction angle of the carrier is not in the angle range, the current direction angle is not considered to meet the vehicle locking requirement (namely, the direction angle is wrong), the vehicle is not allowed to be locked, and warning information is sent out, so that a user is reminded to park the vehicle in the correct direction angle for the vehicle instead of walking again.
The manner of sending the warning information includes, but is not limited to, sending the warning information through a speaker on the transportation vehicle, displaying the warning information through a display screen on the electronic device, sending the warning information to a pre-configured communication account, and the like.
Through the implementation mode of S21-S22, the vehicle locking method is beneficial to reminding a user as a vehicle user to lock the vehicle correctly according to the direction angle of the carrier, and facilitates vehicle management.
Optionally, if the carrier is a transportation vehicle, after obtaining the direction angle of the carrier, the method provided in the embodiment of the present application may further include step S23.
S23: when the directional angle abnormality or the roll angle abnormality of the transportation vehicle is detected, the position information of the vehicle with the directional angle abnormality or the roll angle abnormality is transmitted to the terminal of the administrator.
For the vehicles in the same area, the parking request may be that the vehicles are parked in the direction angle range set in the area.
For example, in a parking area, 20 shared vehicles are allowed to be parked, 19 locked vehicles are placed in the right east as specified, 1 locked vehicle is not placed in the right north as specified, the direction angle of the vehicle is regarded as abnormal, and the position information of the vehicle not placed in the specification is sent to the terminal of the manager so as to remind the manager to perform processing.
In one application scenario, for a sharing bicycle which is originally parked and locked correctly, the sharing bicycle is inclined and overturned to the ground due to accidental external impact, so that the roll angle is abnormal (larger than the set roll angle range). When the abnormal time of the roll angle reaches a certain time (for example, 10 minutes, 30 minutes, 1 hour and the like), it can be known that no person lifts up the vehicle in the time, and therefore, the position information of the shared bicycle can be sent to a terminal of an administrator so as to remind the administrator of processing.
It should be noted that, in the above method, if the accelerations measured by the acceleration sensor (for example, ADXL345 accelerometer) on three axes are actually the sum of the motion acceleration and the gravity acceleration, when the carrier is in a static state, only the gravity acceleration is obtained, and the tilt angles (roll angle and pitch angle) of the carrier can be calculated by using the components of the gravity acceleration on three axes in the body coordinate system, while when the carrier does non-inertial motion, the attitude of the carrier is affected by the motion acceleration, and the attitude of the carrier when the carrier moves can be obtained by combining the gyroscope and the acceleration. When the carrier does not move, the motion acceleration of the carrier tends to zero (slow movement) or the carrier does uniform linear motion, the direction angle of the carrier can be accurately obtained by the method provided by the embodiment of the application.
In summary, in the process of calculating the direction angle of the carrier, the data of the acceleration sensor and the data of the geomagnetic sensor are combined for processing, and the data of the acceleration sensor is used for compensating the data of the geomagnetic sensor to obtain the direction angle of the carrier when the carrier is in inertial motion (including a static state). The method has high reliability, can calculate the carrier in a horizontal state or a non-horizontal state, is not influenced by indoor and outdoor environments, does not need the carrier to reach the necessary movement distance or the necessary movement speed when calculating the direction angle, has simple flow of the whole scheme, is easy to realize, and can obtain the accurate direction angle only by carrying out magnetic declination compensation locally or at a service end after initially obtaining the direction angle so as to correct the direction angle.
Based on the same inventive concept, please refer to fig. 4, the embodiment of the present application further provides a device 200 for detecting a direction angle. The device can be used for executing the direction angle detection method, and can detect the direction angle of the carrier when the carrier does inertial motion. The various functional modules of the apparatus may be stored in the electronic device.
As shown in fig. 4, the apparatus includes: the device comprises an acquisition module 201 and a calculation module 202.
An obtaining module 201, configured to obtain acceleration data output by an acceleration sensor mounted on a carrier.
The obtaining module 201 is further configured to obtain geomagnetic data output by a geomagnetic sensor mounted on the carrier.
A calculation module 202 for calculating a roll angle of the carrier and a pitch angle of the carrier based on the acceleration data.
The calculating module 202 is further configured to process the roll angle of the carrier, the pitch angle of the carrier, and the geomagnetic data by using a data fusion algorithm, so as to obtain a direction angle of the carrier when the inertial motion is performed.
Optionally, the calculation module 202 may further be configured to: taking the roll angle of the carrier and the pitch angle of the carrier as compensation data, and compensating the geomagnetic data to obtain an intermediate variable; and calculating the direction angle of the carrier when the carrier does inertial motion based on the intermediate variable.
Optionally, the calculation module 202 may further be configured to:
calculating the first variable by a first expression comprising:
Xh=magx*cos(roll)+magy*sin(pitch)*sin(roll)-magz*cos(pitch)*sin(roll);
calculating the second variable by a second expression comprising:
Yh=magy*cos(pitch)+magz*sin(pitch);
calculating the direction angle by a third expression comprising:
ang=atan(Yh/Xh*180/π);
wherein ang is the direction angle, Xh and Yh are respectively the first variable, the second variable, magx、magy、magzRespectively, an X-axis magnetic data component, a Y-axis magnetic data component and a Z-axis magnetic data component on the body coordinate system of the carrier, pitch is a pitch angle, and roll is a roll angle.
Optionally, the calculation module 202 may further be configured to:
calculating the pitch angle of the carrier based on a pitch angle expression and the acceleration data;
the pitch angle expression includes:
calculating a roll angle of the carrier based on a roll angle expression and the acceleration data;
the roll angle expression includes:
wherein pitch is the pitch angle, roll is the roll angle, accx、accy、acczThe acceleration is respectively an X-axis component, a Y-axis component and a Z-axis component on a body coordinate system of the carrier.
Optionally, the apparatus may further include an application module, the application module being operable to: judging whether the direction angle is effective data or not based on the geomagnetic elements detected by the geomagnetic sensor; and when the direction angle is invalid data, sending invalid prompt information to the server.
Optionally, the obtaining module 201 may further be configured to obtain a current declination angle of a location of the carrier, and the calculating module 202 may further be configured to correct the direction angle according to the current declination angle.
Optionally, the application module may be further configured to: when the vehicle locking operation is detected, judging whether the direction angle of the carrier is correct or not based on the location of the carrier; and when the direction angle of the carrier is wrong, warning information is sent out, wherein the warning information comprises information for indicating that the direction of the vehicle is wrong or information for indicating that the vehicle is refused to be locked.
Optionally, the application module may be further configured to: and for the locked transportation vehicle, when detecting that the direction angle or the roll angle of the transportation vehicle is abnormal, sending the position information of the vehicle with the abnormal direction angle or the abnormal roll angle to a terminal of an administrator.
For other details of the detecting device 200 for detecting a direction angle provided in the embodiment of the present application, please further refer to the related description in the foregoing method, which is not repeated herein.
Based on the same inventive concept, please refer to fig. 5, an embodiment of the present application further provides an electronic device, which may be a vehicle-mounted electronic device and may be mounted on a travel tool such as a bicycle or an electric vehicle.
As shown in fig. 5, the electronic apparatus includes: memory 301, processor 302, acceleration sensor 303, geomagnetic sensor 304, communication component 305. The memory 301, the processor 302, the acceleration sensor 303, the geomagnetic sensor 304 and the communication component 305 are electrically connected directly or indirectly to realize data interaction.
The acceleration sensor 303 is configured to detect acceleration and send acquired acceleration data to the processor 302. The acceleration sensor 303 may be an independent accelerometer, or may be an acceleration detection module carried in a six-axis inertial measurement unit, and the acceleration sensor 303 may detect each acceleration component on the carrier body coordinate system.
The geomagnetic sensor 304 is configured to detect a geomagnetic field and send collected geomagnetic data to the processor 302.
The communication component 305 may include a communication bus, a wireless communication module, and the like, and the communication component 305 may provide wired or wireless communication capability for the electronic device, for example, the acceleration sensor 303 and the geomagnetic sensor 304 may transmit data to the processor 302 through the communication bus, and the electronic device may implement a wireless communication connection with a server through the wireless communication module, or an external terminal (e.g., a terminal of an administrator, and the like).
The memory 301 is a storage medium. The Memory 301 may be a medium capable of storing a computer program, such as a Random Access Memory (RAM), a Read Only Memory (ROM), a programmable Read-Only Memory (PROM), and an electrically Erasable Read-Only Memory (EEPROM). The memory 301 has stored thereon a computer program executable by the processor 302, which computer program, when executed by the processor 302, performs the method as described above.
The processor 302 has arithmetic processing capability and may be an integrated circuit chip. The Processor 302 may be a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other Programmable logic device (plc) or discrete component-based Processor. The processor 302 may execute the computer program stored in the memory 301, thereby implementing the methods provided by the embodiments of the present application.
It is to be understood that the structure shown in fig. 5 is for illustration only, and is not intended to limit the structure of the electronic device. In a specific application, the electronic device may have more components than the structure shown in fig. 5, or have a different configuration from the structure shown in fig. 5, for example, the electronic device may further include a display screen, a speaker, a power supply, and the like, the display may be used to display data collected by the sensor, and may also be used to display a direction angle of the carrier, warning information, and the like, the speaker may be used to play information on whether the vehicle is successfully locked/paid for, and the power supply may be a rechargeable power supply, or a replaceable battery, and is used to supply power to the whole electronic device.
Based on the same invention concept, the embodiment of the application also provides a walking tool, wherein the walking tool is provided with vehicle-mounted electronic equipment, and the vehicle-mounted electronic equipment comprises an acceleration sensor, a geomagnetic sensor, a processor, a memory, a power supply and a communication module. For further details of the in-vehicle electronic device, reference may be made to the related description of the electronic device shown in fig. 5.
The tool can be a tool with a lock for riding instead of walk, such as a shared bicycle, a shared electric vehicle and the like, and the electronic equipment on the tool for riding instead of walk can have network communication capability and can perform data transmission with a server or a terminal of an administrator.
In addition to the foregoing embodiments, the present application further provides a storage medium, where a computer program executable by a processor is stored, and the computer program is executed by the processor to perform the foregoing direction angle detection method. The storage medium may be, but is not limited to: various media that can store program codes, such as a U disk, a removable hard disk, a memory, a magnetic disk, or an optical disk.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a module may be divided into only one logical function, and may be implemented in other ways, and for example, a plurality of units or components may be combined or integrated into another system. In addition, the connections discussed above may be indirect couplings or communication connections between devices or units through some communication interfaces, and may be electrical, mechanical or other forms.
In addition, 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.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
It should be noted that the functions, if implemented in the form of software functional modules and sold or used as independent products, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, or portions thereof, which substantially or substantially contribute to the prior art, may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device to perform all or part of the steps of the methods of the embodiments of the present application.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above embodiments are merely examples of the present application and are not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (14)

1. A method for detecting a direction angle is applied to an electronic device, and the method comprises the following steps:
acquiring acceleration data output by an acceleration sensor arranged on a carrier;
acquiring geomagnetic data output by a geomagnetic sensor mounted on the carrier;
calculating a roll angle of the carrier and a pitch angle of the carrier based on the acceleration data;
and processing the roll angle of the carrier, the pitch angle of the carrier and the geomagnetic data by adopting a data fusion algorithm to obtain the direction angle of the carrier when the carrier does inertial motion.
2. The method according to claim 1, wherein the processing the roll angle of the carrier, the pitch angle of the carrier, and the geomagnetic data by using a data fusion algorithm to obtain the azimuth angle of the carrier when performing inertial motion comprises:
taking the roll angle of the carrier and the pitch angle of the carrier as compensation data, and compensating the geomagnetic data to obtain an intermediate variable;
and calculating the direction angle of the carrier when the carrier does inertial motion based on the intermediate variable.
3. The method of claim 2, wherein the intermediate variable comprises a first variable and a second variable, and the compensating the geomagnetic data by using the roll angle of the carrier and the pitch angle of the carrier as compensation data to obtain the intermediate variable comprises:
calculating the first variable by a first expression comprising:
Xh=magx*cos(roll)+magy*sin(pitch)*sin(roll)-magz*cos(pitch)*sin(roll);
calculating the second variable by a second expression comprising:
Yh=magy*cos(pitch)+magz*sin(pitch);
the calculating the direction angle of the carrier when the carrier does inertial motion based on the intermediate variable comprises:
calculating the direction angle by a third expression comprising:
ang=atan(Yh/Xh*180/π);
wherein ang is the direction angle, Xh and Yh are respectively the first variable, the second variable, magx、magy、magzRespectively, an X-axis magnetic data component, a Y-axis magnetic data component and a Z-axis magnetic data component on the body coordinate system of the carrier, pitch is a pitch angle, and roll is a roll angle.
4. The method of claim 1, wherein said calculating a roll angle of the carrier and a pitch angle of the carrier based on the acceleration data comprises:
calculating the pitch angle of the carrier based on a pitch angle expression and the acceleration data;
the pitch angle expression includes:
calculating a roll angle of the carrier based on a roll angle expression and the acceleration data;
the roll angle expression includes:
wherein pitch is the pitch angle, roll is the roll angle, accx、accy、acczThe acceleration is respectively an X-axis component, a Y-axis component and a Z-axis component on a body coordinate system of the carrier.
5. The method of claim 1, further comprising:
judging whether the direction angle is effective data or not based on the geomagnetic elements detected by the geomagnetic sensor;
and when the direction angle is invalid data, sending invalid prompt information to the server.
6. The method of claim 1, further comprising:
acquiring the current declination of the location of the carrier;
and correcting the direction angle according to the current declination.
7. The method of claim 1, further comprising:
when the vehicle locking operation is detected, judging whether the direction angle of the carrier is correct or not based on the location of the carrier;
and when the direction angle of the carrier is wrong, warning information is sent out, wherein the warning information comprises information for indicating that the direction of the vehicle is wrong or information for indicating that the vehicle is refused to be locked.
8. The method of claim 1, wherein the vehicle is a ride-on vehicle, the method further comprising:
and for the locked transportation vehicle, when detecting that the direction angle or the roll angle of the transportation vehicle is abnormal, sending the position information of the vehicle with the abnormal direction angle or the abnormal roll angle to a terminal of an administrator.
9. The method of claim 1, wherein the electronic device is mounted on the carrier, wherein the electronic device comprises a processor, the acceleration sensor and the geomagnetic sensor, wherein the acceleration sensor is connected to the processor, and wherein the geomagnetic sensor is connected to the processor;
or, the electronic device is a mobile terminal, and the mobile terminal establishes wireless communication connection with the acceleration sensor and the geomagnetic sensor.
10. The method of claim 1, wherein the carrier is a shared ride vehicle or an electronic compass.
11. An apparatus for detecting a direction angle, the apparatus comprising:
the acquisition module is used for acquiring acceleration data output by an acceleration sensor arranged on the carrier;
the acquisition module is further configured to acquire geomagnetic data output by a geomagnetic sensor mounted on the carrier;
a calculation module for calculating a roll angle of the carrier and a pitch angle of the carrier based on the acceleration data;
the calculation module is further configured to process the roll angle of the carrier, the pitch angle of the carrier, and the geomagnetic data by using a data fusion algorithm, so as to obtain a direction angle of the carrier when the inertial motion is performed.
12. An electronic device, comprising: the device comprises a memory, a processor, an acceleration sensor and a geomagnetic sensor;
the memory, the acceleration sensor and the geomagnetic sensor are all connected with the processor;
the acceleration sensor is used for detecting acceleration and sending acquired acceleration data to the processor;
the geomagnetic sensor is used for detecting a geomagnetic field and sending acquired geomagnetic data to the processor;
the memory has stored thereon a computer program executable by the processor, the computer program, when executed by the processor, performing the method of any of claims 1-10.
13. A travel tool having the electronic device of claim 12 mounted thereon.
14. A storage medium, characterized in that the storage medium has stored thereon a computer program executable by a processor, the computer program, when executed by the processor, performing the method of any one of claims 1-10.
CN202010233972.0A 2020-03-27 2020-03-27 Direction angle detection method and device, electronic equipment and travel tool Pending CN111780746A (en)

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CN110221302A (en) * 2019-05-24 2019-09-10 上海高智科技发展有限公司 Environmental detection device and its modification method, system, portable equipment and storage medium
CN110345940A (en) * 2019-05-17 2019-10-18 深圳市中智车联科技有限责任公司 The method and its lock in posture and direction are parked for the shared bicycle of specification

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003042766A (en) * 2001-07-30 2003-02-13 Japan Aviation Electronics Industry Ltd Azimuth measuring instrument
CN104121905A (en) * 2014-07-28 2014-10-29 东南大学 Course angle obtaining method based on inertial sensor
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