CN112665583B - Inertial navigation method, terminal device and computer-readable storage medium - Google Patents
Inertial navigation method, terminal device and computer-readable storage medium Download PDFInfo
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The embodiment of the invention provides an inertial navigation method, terminal equipment and a computer readable storage medium. The method comprises the following steps: acquiring acceleration measurements, the acceleration measurements including a first component in a first direction and a second component in a second direction; calibrating the first component by the second component to generate a first component calibration value; calibrating the second component by the first component to generate a second component calibration value; generating an acceleration calibration value according to the first component calibration value and the second component calibration value; and generating navigation data according to the acceleration calibration value. The embodiment of the invention can calibrate the collected acceleration measurement value to eliminate the acceleration error in real time, thereby eliminating the integral error in real time when the navigation data is generated according to the acceleration calibration value.
Description
[ technical field ] A method for producing a semiconductor device
The present invention relates to the field of inertial navigation technologies, and in particular, to an inertial navigation method, a terminal device, and a computer-readable storage medium.
[ background ] A method for producing a semiconductor device
An Inertial Navigation System (INS) is an autonomous Navigation System that does not depend on external information and does not radiate energy to the outside. The basic method of inertial navigation is to calculate the current speed and displacement by using the acceleration measurement value collected by the acceleration sensor installed in the system, thereby realizing path tracking. The acceleration sensor is a commonly used sensor in inertial navigation, and can measure the current acceleration, and then the speed and the displacement can be obtained by utilizing Newton's law to carry out integral calculation on the acceleration.
If the initial value of the acceleration measurement value is not 0, a large integration error may be generated in the entire integration calculation process. In an actual inertial navigation system, due to the influence of factors such as noise interference, if the average value (i.e., the dc component) of the acceleration output by the acceleration sensor is not 0, a large integral error may be generated in the whole integral calculation process.
In the related art, to eliminate the integration error, the initial value of the acceleration measurement value is usually subtracted from the acceleration measurement value before the integration calculation is performed, so as to calibrate the acceleration measurement value. However, this method cannot eliminate the acceleration error in real time, and thus cannot eliminate the integral error in real time.
[ summary of the invention ]
Embodiments of the present invention provide an inertial navigation method, a terminal device, and a computer-readable storage medium, which are used to eliminate an acceleration error in real time, so as to eliminate an integral error in real time.
In one aspect, an embodiment of the present invention provides an inertial navigation method, where the method includes:
acquiring acceleration measurements, the acceleration measurements including a first component in a first direction and a second component in a second direction;
calibrating the first component by the second component to generate a first component calibration value;
calibrating the second component by the first component to generate a second component calibration value;
generating an acceleration calibration value according to the first component calibration value and the second component calibration value;
and generating navigation data according to the acceleration calibration value.
Optionally, the calibrating the first component by the second component to generate a first component calibration value includes:
subtracting the second component from the first component to yield the first component calibration value.
Optionally, the calibrating the second component by the first component to generate a second component calibration value includes:
and subtracting the first component from the second component to obtain the second component calibration value.
Optionally, the first direction is an x-axis direction in a rectangular coordinate system, and the second direction is a y-axis direction in the rectangular coordinate system.
Optionally, the navigation data comprises velocity and displacement;
generating navigation data according to the acceleration calibration value, including:
and performing integral calculation on the acceleration calibration value to generate speed and displacement.
In another aspect, an embodiment of the present invention provides an apparatus with an inertial navigation function, including: an acceleration sensor for acquiring acceleration measurements, the acceleration measurements including a first component in a first direction and a second component in a second direction;
the preprocessing module is used for calibrating the first component through the second component to generate a first component calibration value, calibrating the second component through the first component to generate a second component calibration value, and generating an acceleration calibration value according to the first component calibration value and the second component calibration value;
and the generating module is used for generating navigation data according to the acceleration calibration value.
Optionally, the navigation data comprises velocity and displacement;
the generating module is specifically configured to perform integral calculation on the acceleration calibration value to generate a speed and a displacement.
Optionally, the generating module is a 2 nd order kalman filter.
In another aspect, an embodiment of the present invention provides a terminal device, including: one or more processors; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions which, when executed by the apparatus, cause the apparatus to perform the inertial navigation method described above.
In another aspect, an embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium includes a stored program, where when the program runs, the apparatus where the computer-readable storage medium is located is controlled to execute the inertial navigation method.
In the technical scheme provided by the embodiment of the invention, the acceleration measurement value is collected, the first component and the second component of the acceleration measurement value are calibrated to generate the acceleration calibration value, and the navigation data is generated according to the acceleration calibration value.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a terminal device according to an embodiment of the present invention;
FIG. 2 is a flow chart of an inertial navigation method according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an apparatus with inertial navigation function according to an embodiment of the present invention;
FIG. 4a is a schematic of velocity without calibration of the acceleration measurements;
FIG. 4b is a schematic of displacement without calibration of the acceleration measurements;
FIG. 4c is a schematic of velocity with calibration of acceleration measurements;
fig. 4d is a schematic diagram of the displacement in the case of calibration of the acceleration measurements.
[ detailed description ] embodiments
For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of associative relationship that describes an associated object, meaning that three types of relationships may exist, e.g., A and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The inertial navigation method provided by the embodiment of the invention can be applied to terminal equipment, wherein the terminal equipment comprises but is not limited to a mobile phone, a tablet personal computer, a wearable device, a reader device, a portable music player, an ultra-mobile personal computer (UMPC) and the like.
Fig. 1 is a schematic structural diagram of a terminal device according to an embodiment of the present invention, and as shown in fig. 1, the terminal device 10 includes: one or more processors 11, a memory 12, an acceleration sensor 13, and one or more computer programs, wherein the one or more computer programs are stored in the memory 12, the one or more computer programs comprising instructions that, when executed by the apparatus, cause the apparatus to perform the inertial navigation method provided by an embodiment of the invention.
Those skilled in the art will appreciate that fig. 1 is merely an example of a terminal device 10 and does not constitute a limitation of terminal device 10 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., a computer device may also include input output devices, network access devices, buses, etc.
The Processor 11 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 12 may be an internal storage unit of the terminal device 10, such as a hard disk or a memory of the terminal device 10. The memory 12 may also be an external storage device of the terminal device 10, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the terminal device 10. Further, the memory 12 may also include both an internal storage unit of the terminal device 10 and an external storage device. The memory 12 is used for storing computer programs and other programs and data required by the computer device. The memory 12 may also be used to temporarily store data that has been output or is to be output.
The acceleration sensor 13 may detect the magnitude of acceleration of the terminal device 10 in various directions. The magnitude and direction of gravity can be detected when the terminal device 10 is stationary. The method can also be used for recognizing the gesture of the terminal equipment 10, and is applied to horizontal and vertical screen switching, pedometers and other applications.
In an embodiment of the present invention, the acceleration sensor 13 is configured to collect acceleration measurements, and the acceleration measurements include a first component in a first direction and a second component in a second direction. The processor 11 is configured to calibrate the first component by the second component to generate a first component calibration value, calibrate the second component by the first component to generate a second component calibration value, and generate an acceleration calibration value according to the first component calibration value and the second component calibration value; and generating navigation data according to the acceleration calibration value. Wherein, the navigation data includes velocity and displacement, the processor 11 is configured to perform integral calculation on the acceleration calibration value to generate velocity and displacement.
Wherein the processor 11 is specifically configured to subtract the second component from the first component to obtain the first component calibration value. The processor 11 is specifically configured to subtract the first component from the second component to obtain the second component calibration value.
Since the satellite signal cannot penetrate through a building, it is difficult to perform positioning indoors using the satellite signal, and thus path tracking cannot be performed using the satellite signal. In the embodiment of the present invention, the path tracking can be realized by inertial navigation in the room through the terminal device 10.
The embodiment of the invention provides an inertial navigation method, which is applied to terminal equipment. Fig. 2 is a flowchart of an inertial navigation method according to an embodiment of the present invention, and as shown in fig. 2, the method includes:
In the embodiment of the invention, the acceleration sensor can acquire the acceleration measurement value according to the sampling interval, namely: the acceleration collects acceleration measurement values at different sampling times according to sampling intervals, and the acceleration measurement values correspond to the sampling times so as to realize real-time collection of the acceleration measurement values.
The acceleration measurements may include components in multiple directions, and in embodiments of the present invention, the acceleration measurements include a first component in a first direction and a second component in a second direction. Alternatively, in the rectangular coordinate system, the first direction is an x-axis direction in the rectangular coordinate system, and the second direction is a y-axis direction in the rectangular coordinate system. Therefore, the first component in the first direction is an acceleration component in the x-axis direction, and the second component in the second direction is an acceleration component in the y-axis direction.
And 104, calibrating the first component through the second component to generate a first component calibration value.
The error of the acceleration measurement mainly comes from the influence of low-frequency noise interference, and the low-frequency noise interference is independent of the acceleration measurement and the direction, so that the low-frequency noise interference can be considered as common-mode interference, and the interference effect of the low-frequency noise interference on the x-axis direction and the y-axis direction is consistent. Therefore, in the embodiment of the present invention, the acceleration component in the y-axis direction may be calibrated by the acceleration component in the x-axis direction, and the acceleration component in the x-axis direction may be calibrated by the acceleration component in the y-axis direction.
Specifically, the second component is subtracted from the first component by the second component to obtain the first component calibration value, so that the calibration of the first component by the second component is realized. For example: the first component calibration value can be obtained by subtracting the second component in the y-axis direction from the first component in the x-axis direction, so that the calibration of the acceleration component in the x-axis direction through the acceleration component in the y-axis direction is realized.
And 106, calibrating the second component through the first component to generate a second component calibration value.
Specifically, the second component is subtracted from the first component to obtain a second component calibration value, so that the second component is calibrated through the first component. For example: the second component calibration value can be obtained by subtracting the first component in the x-axis direction from the second component in the y-axis direction, so that the acceleration component in the y-axis direction is calibrated through the acceleration component in the x-axis direction.
And step 108, generating an acceleration calibration value according to the first component calibration value and the second component calibration value.
For example, by formula
Calculating an acceleration calibration value, wherein a is the acceleration calibration value and a x For the first component calibration value, a y A second component calibration value.
And step 110, generating navigation data according to the acceleration calibration value.
In an embodiment of the present invention, the navigation data includes velocity and displacement. Step 110 may include: and (4) performing integral calculation on the acceleration calibration value to generate speed and displacement.
Specifically, the velocity and the displacement can be obtained by performing an integral calculation through newton's law. The formula of velocity and displacement can be as follows:
v＝v 0 +at
wherein v is velocity, v 0 Is the initial velocity, t is the sampling time, P is the displacement, P 0 Is the initial displacement. In the above equations for velocity and displacement, v 0 And p 0 And calculating the speed v and the displacement P according to the acceleration calibration value a and the sampling time t corresponding to the acceleration calibration value a.
According to the technical scheme of the inertial navigation method, the acceleration measured value is collected, the first component and the second component of the acceleration measured value are calibrated to generate the acceleration calibration value, and the navigation data is generated according to the acceleration calibration value.
Fig. 3 is a schematic structural diagram of an apparatus with an inertial navigation function according to an embodiment of the present invention, as shown in fig. 3, the apparatus includes: an acceleration sensor 13, a preprocessing module 14 and a generation module 15. Wherein the pre-processing module 14 and the generating module 15 are located in the processor 11.
The acceleration sensor 13 is used to collect acceleration measurements comprising a first component in a first direction and a second component in a second direction. The preprocessing module 14 is configured to calibrate the first component by the second component to generate a first component calibration value, calibrate the second component by the first component to generate a second component calibration value, and generate an acceleration calibration value according to the first component calibration value and the second component calibration value. The generating module 15 is configured to generate navigation data according to the acceleration calibration value.
In this embodiment, the preprocessing module 14 is specifically configured to subtract the second component from the first component to obtain the first component calibration value, and subtract the first component from the second component to obtain the second component calibration value. Therefore, the acceleration error is eliminated in real time.
In an embodiment of the present invention, the navigation data includes a velocity and a displacement. The generating module is specifically configured to perform integral calculation on the acceleration calibration value to generate a speed and a displacement.
Wherein, the generating module may be a kalman filter, for example: a 2 nd order kalman filter. In the embodiment of the invention, the preprocessing module 14 is additionally arranged in the equipment with the inertial navigation function, the acceleration calibration value is output to the 2-order Kalman filter after the acceleration calibration value is generated by the preprocessing module 14, and the 2-order Kalman filter carries out integral calculation on the calibrated acceleration calibration value instead of carrying out integral calculation on the acceleration measurement value which is not calibrated, so that the integral error is eliminated in real time.
The device with the inertial navigation function provided by this embodiment may be used to implement the inertial navigation method in fig. 2, and for specific description, reference may be made to the above embodiment of the inertial navigation method, and a description thereof is not repeated here.
In the technical scheme of the equipment with the inertial navigation function, provided by the embodiment of the invention, the acceleration measurement value is collected, the first component and the second component of the acceleration measurement value are calibrated to generate the acceleration calibration value, and the navigation data is generated according to the acceleration calibration value.
The following describes the inertial navigation method and the device with the inertial navigation function according to the embodiment of the present invention in detail by using a specific example with reference to fig. 4a to 4 d. Fig. 4a is a schematic diagram of velocity in the case where the acceleration measurement value is not calibrated, fig. 4b is a schematic diagram of displacement in the case where the acceleration measurement value is not calibrated, fig. 4c is a schematic diagram of velocity in the case where the acceleration measurement value is calibrated, and fig. 4d is a schematic diagram of displacement in the case where the acceleration measurement value is calibrated. It should be noted that: as shown in fig. 4a to 4d, the numbers on the horizontal axis are used to indicate the sampling intervals; as shown in fig. 4a and 4c, the numbers on the vertical axis are used to indicate speed; as in fig. 4b and 4d, the numbers on the vertical axis are used to indicate displacement.
Specifically, a motion scene that is moved horizontally along the x-axis for a distance of 20cm and then stopped will be described as an example. As shown in fig. 4a and 4b, the acceleration sensor directly outputs the acceleration measurement value to the 2 nd order kalman filter, the acceleration measurement value is not calibrated by the preprocessing module, and the 2 nd order kalman filter performs integral calculation on the uncalibrated acceleration measurement value to generate the velocity (shown in fig. 4 a) and the displacement (shown in fig. 4 b). Because the acceleration measurement value is not calibrated, the acceleration error cannot be eliminated in real time, and the integral error exists. As can be seen from fig. 4a, the speed finally cannot return to 0 due to the existence of the integral error, so that the speed deviation calculated by the integral is large. It can be seen from fig. 4b that the displacement calculated by integration is more biased due to the integration error.
As shown in fig. 4c and 4d, the acceleration sensor outputs the acceleration measurement value to the preprocessing module, the preprocessing module calibrates the acceleration measurement value and outputs the calibrated acceleration calibration value to the 2 nd-order kalman filter, and the 2 nd-order kalman filter performs integral calculation on the calibrated acceleration calibration value to generate a speed (as shown in fig. 4 c) and a displacement (as shown in fig. 4 d). Because the acceleration measurement value is calibrated in advance, the acceleration error is eliminated in real time, and therefore the integral error is eliminated in real time. It can be seen from fig. 4c that the velocity eventually returns to substantially 0 due to the elimination of the integration error, and the velocity deviation is reduced compared to fig. 4a, so that the velocity calculated by integration is closer to the actual situation. As can be seen from fig. 4d, the displacement deviation is reduced due to the elimination of the integration error, so that the displacement calculated by integration is closer to the actual situation, compared to fig. 4 b.
An embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium includes a stored program, where when the program runs, a device where the computer-readable storage medium is located is controlled to execute each step of the embodiment of the inertial navigation method, and for specific description, reference may be made to the embodiment of the inertial navigation method.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions in actual implementation, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a computer readable storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a Processor (Processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned computer-readable storage media comprise: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An inertial navigation method, characterized in that it comprises:
acquiring acceleration measurements, the acceleration measurements including a first component in a first direction and a second component in a second direction;
calibrating the first component by the second component to generate a first component calibration value;
calibrating the second component by the first component to generate a second component calibration value;
generating an acceleration calibration value according to the first component calibration value and the second component calibration value;
and generating navigation data according to the acceleration calibration value.
2. The method of claim 1, wherein said calibrating the first component with the second component to generate a first component calibration value comprises:
subtracting the second component from the first component to obtain the first component calibration value.
3. The method of claim 1, wherein said calibrating the second component with the first component, generating a second component calibration value, comprises:
and subtracting the first component from the second component to obtain the second component calibration value.
4. The method of any one of claims 1 to 3, wherein the first direction is an x-axis direction in a rectangular coordinate system, and the second direction is a y-axis direction in the rectangular coordinate system.
5. The method of any of claims 1 to 3, wherein the navigation data comprises velocity and displacement;
generating navigation data according to the acceleration calibration value, including:
and performing integral calculation on the acceleration calibration value to generate speed and displacement.
6. An apparatus having inertial navigation functionality, comprising:
an acceleration sensor for acquiring acceleration measurements, the acceleration measurements including a first component in a first direction and a second component in a second direction;
the preprocessing module is used for calibrating the first component through the second component to generate a first component calibration value, calibrating the second component through the first component to generate a second component calibration value, and generating an acceleration calibration value according to the first component calibration value and the second component calibration value;
and the generating module is used for generating navigation data according to the acceleration calibration value.
7. The apparatus of claim 6, wherein the navigation data comprises velocity and displacement;
the generating module is specifically configured to perform integral calculation on the acceleration calibration value to generate a speed and a displacement.
8. The apparatus of claim 6 or 7, wherein the generating module is an order 2 kalman filter.
9. A terminal device, comprising:
one or more processors; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions which, when executed by the apparatus, cause the apparatus to perform the inertial navigation method of any of claims 1 to 5.
10. A computer-readable storage medium, comprising a stored program, wherein the program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the inertial navigation method of any one of claims 1 to 5.
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| CN202011515811.7A CN112665583B (en) | 2020-12-21 | 2020-12-21 | Inertial navigation method, terminal device and computer-readable storage medium |
| PCT/CN2021/133857 WO2022135062A2 (en) | 2020-12-21 | 2021-11-29 | Inertial navigation method, terminal device, and computer readable storage medium |
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| US9891245B2 (en) * | 2015-06-29 | 2018-02-13 | CloudNav Inc. | Real-time accelerometer calibration |
| CN105606846B (en) * | 2015-09-18 | 2018-06-19 | 北京理工大学 | A kind of accelerometer calibration method based on attitude information |
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