CN112859139A - Attitude measurement method and device and electronic equipment - Google Patents

Attitude measurement method and device and electronic equipment Download PDF

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Publication number
CN112859139A
CN112859139A CN201911190183.7A CN201911190183A CN112859139A CN 112859139 A CN112859139 A CN 112859139A CN 201911190183 A CN201911190183 A CN 201911190183A CN 112859139 A CN112859139 A CN 112859139A
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real
time
fixed solution
carrier
course angle
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CN112859139B (en
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严镭
周君
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China Mobile Communications Group Co Ltd
China Mobile IoT Co Ltd
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China Mobile Communications Group Co Ltd
China Mobile IoT Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude
    • G01S19/54—Determining attitude using carrier phase measurements; using long or short baseline interferometry
    • 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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • 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
    • G01C21/165—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 combined with non-inertial navigation instruments
    • 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
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The embodiment of the invention provides an attitude measurement method, an attitude measurement device and electronic equipment, and the method comprises the following steps: acquiring a first fixed solution of carrier phase differential technology RTK resolving, wherein the first fixed solution is a fixed solution acquired for the first time; determining an initial value of a course angle according to the first fixed solution, and recording the first fixed solution as a reference fixed solution; and recursion is carried out on the initial course angle value according to the real-time measurement value of the accelerometer of the carrier and the real-time measurement value of the gyroscope of the carrier, and the real-time course angle of the carrier is determined. The course angle initial value is determined through the fixed solution of the RTK with higher precision, and the course angle initial value is recurred according to the real-time measurement value of the accelerometer and the real-time measurement value of the gyroscope to determine the real-time course angle of the carrier, so that the problems that the RTK is long in resolving time and the success rate cannot be guaranteed are solved, and the accuracy of attitude information measurement is improved.

Description

Attitude measurement method and device and electronic equipment
Technical Field
The present invention relates to the field of communications technologies, and in particular, to an attitude measurement method and apparatus, and an electronic device.
Background
The attitude measurement schemes in the prior art are divided into two types: the three-axis gyroscope, accelerometer and magnetometer in the AHRS (Attitude and heading reference system) based on inertial navigation provide heading, roll and side-turn information for the carrier. And secondly, an attitude measurement system based on high-precision satellite navigation positioning utilizes three high-precision satellite navigation receivers to form 2 baselines so as to calculate the roll angle, the pitch angle and the course angle of the carrier and obtain the attitude information of the carrier.
However, in the first scheme, the magnetometer for determining the heading angle is easily influenced by the environment, so that the attitude measurement accuracy is low or even ineffective; in the second scheme, RTK (Real-time kinematic) is susceptible to the influence of antenna reception quality, resulting in low attitude measurement accuracy.
It can be seen that the attitude measurement of the prior art has the problem of low accuracy.
Disclosure of Invention
The embodiment of the invention provides an attitude measurement method, an attitude measurement device and electronic equipment, and aims to solve the problem of low accuracy of attitude measurement in the prior art.
In a first aspect, an embodiment of the present invention provides an attitude measurement method, where the method includes:
acquiring a first fixed solution of carrier phase differential technology RTK resolving, wherein the first fixed solution is a fixed solution acquired for the first time;
determining an initial value of a course angle according to the first fixed solution, and recording the first fixed solution as a reference fixed solution;
and recursion is carried out on the initial course angle value according to the real-time measurement value of the accelerometer of the carrier and the real-time measurement value of the gyroscope of the carrier, and the real-time course angle of the carrier is determined.
In a second aspect, an embodiment of the present invention further provides an attitude measurement apparatus, including:
the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a first fixed solution of carrier phase differential technology RTK resolving, and the first fixed solution is a fixed solution acquired for the first time;
the initial value determining module is used for determining an initial value of a course angle according to the first fixed solution and recording the first fixed solution as a reference fixed solution;
and the attitude determination module is used for recursion of the initial value of the course angle according to the real-time measurement value of the accelerometer of the carrier and the real-time measurement value of the gyroscope of the carrier, and determining the real-time course angle of the carrier.
In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a processor, a memory, and a computer program stored on the memory and executable on the processor, where the computer program, when executed by the processor, implements the steps of the attitude measurement method provided in the embodiment of the present invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the attitude measurement method provided by the embodiment of the present invention are implemented.
According to the attitude measurement method, the attitude measurement device and the electronic equipment provided by the embodiment of the invention, a first fixed solution of carrier phase differential technology RTK resolving is obtained, wherein the first fixed solution is a fixed solution obtained for the first time; determining an initial value of a course angle according to the first fixed solution, and recording the first fixed solution as a reference fixed solution; and recursion is carried out on the initial course angle value according to the real-time measurement value of the accelerometer of the carrier and the real-time measurement value of the gyroscope of the carrier, and the real-time course angle of the carrier is determined. The course angle initial value is determined through the fixed solution of the RTK with higher precision, and the course angle initial value is recurred according to the real-time measurement value of the accelerometer and the real-time measurement value of the gyroscope to determine the real-time course angle of the carrier, so that the problems that the RTK is long in resolving time and the success rate cannot be guaranteed are solved, and the accuracy of attitude information measurement is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced 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 these drawings without inventive exercise.
FIG. 1 is a flow chart of a method for measuring attitude according to an embodiment of the present invention;
FIG. 2 is a flow chart of another attitude measurement method provided by an embodiment of the invention;
FIG. 3 is a flowchart of a method for determining and updating an initial value of a course angle according to an embodiment of the present invention;
FIG. 4 is a flow chart of another attitude measurement method provided by an embodiment of the invention;
FIG. 5 is a block diagram of an attitude measurement apparatus according to an embodiment of the present invention;
fig. 6 is a second structural diagram of an attitude measurement apparatus according to an embodiment of the present invention;
fig. 7 is a third structural diagram of an attitude measuring apparatus according to an embodiment of the present invention;
FIG. 8 is a fourth structural diagram of an attitude measurement apparatus according to an embodiment of the present invention;
FIG. 9 is a fifth structural diagram of an attitude measurement apparatus according to an embodiment of the present invention;
fig. 10 is a block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. 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 terms "comprises," "comprising," or any other variation thereof, in the description and claims of this application, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Furthermore, the use of "and/or" in the specification and claims means that at least one of the connected objects, such as a and/or B, means that three cases, a alone, B alone, and both a and B, exist.
In the embodiments of the present invention, words such as "exemplary" or "for example" are used to mean serving as examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "e.g.," an embodiment of the present invention is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
Referring to fig. 1, fig. 1 is a diagram illustrating an attitude measurement method according to an embodiment of the present invention, where the method is applicable to a carrier attitude measurement device, where the carrier attitude measurement device may be a device or a data platform with a data processing function, such as a cloud computer or a server.
As shown in fig. 1, the method comprises the steps of:
step 101, a first fixed solution of carrier phase differential technology RTK solution is obtained, wherein the first fixed solution is the fixed solution obtained for the first time.
The attitude information of the carrier generally includes three euler angles, namely a heading angle, a pitch angle and a roll angle, represents the relationship between a carrier coordinate system and a geodetic coordinate system, and reflects the attitude of the carrier relative to the ground. Wherein the course angle is represented by phi, the course angle can also be expressed as a yaw angle, the pitch angle is represented by theta, and the roll angle is represented by theta
Figure BDA0002293370060000041
Indicate that it is alsoMay be expressed as a roll angle, a flip angle, or a rollover angle, and is not limited thereto.
For the course angle, the fixed solution obtained by real-time calculation of the RTK can be obtained, and the RTK can carry out difference calculation based on the observed values of the carrier phases of a reference station and a mobile station in a high-precision satellite navigation system to obtain the three-dimensional positioning result of the measuring point. The RTK is solved to obtain a fixed solution: in the RTK resolving process, when the baseline ambiguity is determined to be an integer, the anti-generation equation resolves the obtained unknown parameter solution, the positioning result obtained according to the fixed solution can reach centimeter-level precision, and the precision of the course angle determined according to the fixed solution can be greatly improved. However, the time for determining the integer ambiguity in the RTK solution process is long, the success rate of 100% cannot be realized, the solution obtained by the RTK solution in a short time cannot ensure the accuracy of the course angle, and the real-time performance of obtaining the course angle can be ensured by determining the course angle of the carrier by using the measurement value of the gyroscope of the real-time measurement value carrier of the accelerometer of the carrier, and the accuracy is high.
In the embodiment of the invention, after the fixed solution of the RTK solution, namely the first fixed solution, is obtained for the first time, the initial value of the course angle can be determined according to the first fixed solution due to the high positioning precision of the fixed solution, the accuracy of the initial value is ensured, and then the course angle calculation is realized by utilizing the real-time measurement value of the accelerometer and the real-time measurement value of the gyroscope to determine the real-time course angle.
And 102, determining an initial value of a course angle according to the first fixed solution, and recording the first fixed solution as a reference fixed solution.
In the embodiment of the invention, the initial value needs to be assigned to the course angle before course angle calculation is carried out. In order to ensure the accuracy of recursion, a course angle initial value with higher precision needs to be determined, the carrier attitude measurement device can directly determine the course angle initial value through a first fixed solution solved by RTK, and meanwhile, the first fixed solution is recorded as a reference fixed solution, so that whether the course angle determined subsequently according to the fixed solution is actually changed or not can be judged according to the reference fixed solution.
It should be noted that, the method for directly obtaining the course angle value from the fixed solution may refer to the prior art, and is not described herein again.
And 103, recursion is carried out on the initial value of the course angle according to the real-time measurement value of the accelerometer of the carrier and the real-time measurement value of the gyroscope of the carrier, and the real-time course angle of the carrier is determined.
The attitude information of the carrier represents the relation between a carrier coordinate system and a geodetic coordinate system, and the angular velocity output by the real-time measurement value of the gyroscope of the carrier is the angular velocity of the carrier coordinate system relative to the geodetic coordinate system, and the angular velocity is continuously changed along with the actual motion of the carrier. And the real-time measurement value of the accelerometer of the carrier is the linear acceleration of the carrier, so that the variation of the course angle in unit time can be determined based on the real-time measurement value of the accelerometer of the carrier and the real-time measurement value of the gyroscope of the carrier, namely, the course angle variable for real-time course angle recursion is subsequently carried out, and the real-time course angle of the carrier can be obtained by continuously recursing the initial value of the course angle through the recursion variable.
It should be noted that, for the real-time pitch angle and the real-time roll angle of the carrier, the pitch angle and the roll angle with higher accuracy may be determined according to the real-time measurement value of the accelerometer of the carrier, and only the implementation manner of obtaining the heading angle with higher accuracy is specifically explained here.
In the embodiment of the invention, a first fixed solution of carrier phase differential technology RTK resolving is obtained, wherein the first fixed solution is a fixed solution obtained for the first time; determining an initial value of a course angle according to the first fixed solution, and recording the first fixed solution as a reference fixed solution; and recursion is carried out on the initial course angle value according to the real-time measurement value of the accelerometer of the carrier and the real-time measurement value of the gyroscope of the carrier, and the real-time course angle of the carrier is determined. The course angle initial value is determined through the fixed solution of the RTK with higher precision, and the course angle initial value is recurred according to the real-time measurement value of the accelerometer and the real-time measurement value of the gyroscope to determine the real-time course angle of the carrier, so that the problems that the RTK is long in resolving time and the success rate cannot be guaranteed are solved, and the accuracy of attitude information measurement is improved.
Referring to fig. 2, fig. 2 is a diagram of an attitude measurement method according to an embodiment of the present invention, which can be applied to a carrier attitude measurement apparatus, where the carrier attitude measurement apparatus can be a device or a data platform with a data processing function, such as a cloud computer and a server.
As shown in fig. 2, the method comprises the steps of:
step 201, obtaining a first fixed solution of carrier phase differential technology RTK solution, wherein the first fixed solution is a fixed solution obtained for the first time.
Optionally, step 201 includes:
acquiring a continuous fixed solution of RTK resolving within a first preset time;
judging whether the continuous fixation solution meets a first preset stable condition or not;
if the continuous fixed solution meets a first preset stable condition, determining the average value of the continuous fixed solution as a first fixed solution;
the first preset time is preferably 10s, and is not limited herein. The continuous fixation solution can be understood as: in the first preset time, the continuous solutions of the RTK solution are fixed solutions, and floating solutions or other uncertain parameter solutions do not exist.
The fixed solution of the RTK solution can determine the initial value of the course angle, if the carrier is in violent movement or other unstable conditions at present, the fixed solution of the RTK solution is also unstable, if only one fixed solution is obtained, the initial value of the course angle is determined, and the accuracy of subsequent course angle calculation is influenced.
In this embodiment, as shown in fig. 3, when the fixed solution of the RTK solution is obtained for the first time, a continuous fixed solution within a first preset time may be obtained, if the continuous fixed solution satisfies a first preset stable condition, it indicates that the continuous fixed solution is relatively smooth, the carrier is in a stable state, and the average value of the continuous fixed solution is determined as the first fixed solution, and the attitude information of the carrier can be more accurately reflected according to the course angle determined by the first fixed solution.
Further, the first preset stable condition includes:
in a first preset time, the variance of the base line of the RTK solution meets a first preset condition, and the variance of the continuous course angle determined according to the continuous fixed solution meets a second preset condition.
In this embodiment, the carrier attitude measurement device may calculate a baseline variance of the RTK solution and a variance of the heading angle determined by the continuous fixed solution within a first preset time, and may determine the stability of the continuous fixed solution by the baseline variance and the heading angle variance.
Wherein the first preset condition may be that the baseline variance of the RTK solution is smaller than a first preset threshold, and the first preset threshold is preferably 0.0004m2And is not limited herein. The second preset condition may be that the variance of the course angle determined by the continuous fixed solution is smaller than a second preset threshold, and the second preset threshold is preferably 0.04 degrees2And is not limited herein.
Step 202, determining an initial value of a course angle according to the first fixed solution, and recording the first fixed solution as a reference fixed solution.
In this embodiment, before the course angle is calculated, an initial value needs to be assigned to the course angle. In order to ensure the accuracy of recursion, a course angle initial value with higher precision needs to be determined, the carrier attitude measurement device can determine the course angle initial value through a first fixed solution solved by RTK, and meanwhile, the first fixed solution is recorded as a reference fixed solution, so that whether the course angle determined subsequently according to the fixed solution is actually changed or not can be judged according to the reference fixed solution.
And 203, calculating a real-time pitch angle of the carrier and a real-time roll angle of the carrier according to the real-time measurement value of the accelerometer of the carrier.
In this step, the calculating a real-time pitch angle of the carrier and a real-time roll angle of the carrier according to the real-time measurement value of the accelerometer of the carrier may be: the gravity acceleration component currently output by the accelerometer is recorded as: [ a ] Ax(t) ay(t) az(t)]TThe real-time pitch angle theta can be directly determined(t)：
Figure BDA0002293370060000071
And, real-time roll angle initial value
Figure BDA0002293370060000072
Figure BDA0002293370060000073
Wherein t is the moment when the accelerometer acquires the current measurement value.
In the embodiment, the real-time pitch angle and the real-time roll angle determined by the real-time measurement value of the accelerometer have high accuracy, and meanwhile, because the real-time pitch angle and the real-time roll angle are the pitch angle and the roll angle of the carrier coordinate system relative to the earth coordinate system, the angular velocity of the carrier coordinate system determined by combining the real-time measurement value of the gyroscope can provide a recursion basis for the subsequent course angle recursion.
And 204, determining a real-time course angle recursion variable according to the real-time pitch angle, the real-time roll angle and a real-time measurement value of a gyroscope of the carrier.
In this embodiment, the carrier attitude measurement device may determine a relationship between an angular velocity in the geodetic coordinate system and an angular velocity in the carrier coordinate system according to a cosine matrix of rotation around each coordinate axis of the carrier coordinate system when the carrier moves, may determine a variation of a course angle in the geodetic coordinate system according to the variation of the angular velocity in the carrier coordinate system, may implement recursion of an initial value of the course angle according to the variation of the course angle, and may obtain a real-time course angle of the carrier.
Specifically, the angular velocity in the geodetic coordinate system can be set as:
Figure BDA0002293370060000074
the angular rate of the carrier coordinate system can be expressed as: omegax，ωy，ωzThe cosine matrix of rotation around each coordinate axis of the carrier coordinate system when the carrier moves can be expressed as:
Figure BDA0002293370060000075
Figure BDA0002293370060000076
Figure BDA0002293370060000081
and the relationship between the angular velocity in the geodetic coordinate system and the angular velocity of the carrier is as follows:
Figure BDA0002293370060000082
the expressions for determining the recursion variables of the attitude angles can be obtained by sorting the above formulas:
Figure BDA0002293370060000083
Figure BDA0002293370060000084
Figure BDA0002293370060000085
and step 205, recursion is carried out on the initial value of the course angle according to the recursion variable of the real-time course angle, and the real-time course angle of the carrier is determined.
In this step, when the real-time measurement value [ a ] of the accelerometer at the time t is obtainedx(t) ay(t) az(t)]TThen, the real-time pitch angle theta of the current carrier can be calculated according to the real-time measured value(t)And real-time roll angle
Figure BDA0002293370060000086
Will pitch angle theta in real time(t)And real-time roll angle
Figure BDA0002293370060000087
Substitution into
Figure BDA0002293370060000088
In the expression of (a), a course angle recurrence variable at the time t can be obtained, and a real-time course angle at the time t + Δ t can be obtained according to the recurrence variable, specifically, the real-time course angle at the time t + Δ t can be represented as:
Figure BDA0002293370060000089
wherein the content of the first and second substances,
Figure BDA00022933700600000810
Figure BDA00022933700600000811
optionally, after step 201, the method further includes:
acquiring a second fixed solution of the RTK solution, wherein the second fixed solution is a real-time fixed solution which is continuously acquired after the first fixed solution is acquired;
updating the initial value of the course angle according to the second fixed solution, and determining the second fixed solution as a reference fixed solution;
the recursion of the initial course angle value is carried out according to the real-time measurement value of the accelerometer of the carrier and the real-time measurement value of the gyroscope of the carrier, and the real-time course angle of the carrier is determined, and the method comprises the following steps:
recursion is carried out on the updated initial course angle value according to the real-time measured value of the accelerometer of the carrier and the real-time measured value of the gyroscope of the carrier, and the real-time course angle of the carrier is determined
In this embodiment, after obtaining the first fixed solution solved by the RTK, the satellite navigation system continues to obtain the real-time measurement value, and continues to solve the fixed solution by the RTK. However, a certain time is needed for solving the fixed solution by the RTK, and in the time of waiting for solving the fixed solution by the RTK, the real-time measurement value of the accelerometer and the real-time measurement value of the gyroscope are used for recurrently calculating the course angle to determine the real-time course angle of the carrier, so that the gap of solving the fixed solution by the RTK is made up for in a short time, but the gyroscope as an inertial device has a drift characteristic, and the accuracy of the recurrently obtained course angle is reduced when the accumulated drift error reaches a certain value along with the increase of time.
Based on this, in this embodiment, the carrier attitude measurement apparatus may monitor the initial value of the course angle in real time by using the fixed solution of the RTK settlement, continue to acquire the real-time fixed solution obtained by the RTK solution after acquiring the first fixed solution for the first time, and update the initial value of the course angle with the second fixed solution when acquiring the second fixed solution again. And determining the real-time course angle of the carrier in a short time by recursion of the real-time measurement value of the accelerometer and the real-time measurement value of the gyroscope. It can be understood that when the RTK is solved again to obtain a fixed solution, the initial value of the heading angle may be updated again, and the heading angle recursion may be performed again to continuously correct the drift error accumulated due to the drift characteristic of the gyroscope, thereby further ensuring the accuracy of the real-time heading angle obtained by the recursion.
Further, the updating the initial value of the course angle according to the second fixed solution, and determining the second fixed solution as a reference fixed solution includes:
judging whether the difference value between the course angle determined according to the second fixed solution and the course angle initial value determined according to the reference fixed solution meets a third preset condition or not;
if the difference value between the course angle determined according to the second fixed solution and the course angle initial value determined according to the reference fixed solution meets a third preset condition, judging whether the real-time course angle of the carrier meets a second preset stable condition, wherein the real-time course angle is obtained according to recursion of the real-time course angle recursion variable;
and if the real-time course angle of the carrier meets a second preset stable condition, updating the initial value of the course angle according to the second fixed solution, and determining the second fixed solution as a reference fixed solution.
In this embodiment, in order to further ensure the accuracy of the updated initial value and reduce unnecessary calculation, the course angle initial value is updated according to the second fixed solution when the second fixed solution satisfies a certain condition.
Specifically, as shown in fig. 3, it is determined whether a difference between the course angle determined according to the second fixed solution and the initial course angle value determined according to the reference fixed solution satisfies a third preset condition, and it can be understood that: and judging whether the course angle determined by the second fixed solution is significantly different from the initial value of the course angle determined last time. The first fixed solution is a reference fixed solution, an initial value of the course angle is determined according to the first fixed solution, the second fixed solution is a real-time fixed solution obtained by continuously resolving after the RTK resolving obtains the first fixed solution, whether a significant difference exists between the course angle determined by the current fixed solution and the initial value of the course angle determined last time is judged, if the difference value meets a third preset condition, the fact that the significant difference exists between the course angle determined by the current fixed solution and the initial value of the course angle determined last time can be considered, the fact that the course angle of the carrier changes is shown, and updating of the initial value of the course angle can be considered.
The third preset condition may be that an absolute value of a difference between the course angle determined according to the second fixed solution and the initial course angle value determined according to the reference fixed solution is greater than a third preset threshold, and the third preset threshold is preferably 5 °, which is not limited herein.
Further, the second preset stable condition includes at least one of:
in a second preset time, the real-time measurement value of the gyroscope of the carrier meets a fourth preset condition;
in a second preset time, the variance of the base line resolved by the RTK meets a fifth preset condition, and the variance of the real-time course angle of the carrier meets a sixth preset condition;
and in the second preset time, the number of the satellites meets a seventh preset condition, and the signal strength meets an eighth preset condition.
The second preset time is preferably 100s, and is not limited herein.
As shown in fig. 3, in the present embodiment, the stability of the real-time heading angle of the current carrier is also considered. When a significant difference exists between the course angle determined by the current fixed solution and the course angle initial value determined last time, updating the course angle initial value can be considered, if the current carrier is in an unstable state, for example, the carrier is in the steering process or in the tilting process, the current real-time course angle is temporary, the change of the subsequent posture is unknown, and when the real-time course angle obtained by recursion meets a second preset stable condition, the carrier can be considered to be stable in a certain posture and keep running, and the accuracy of the recursion can be further ensured according to the initial value of the fixed solution updated course angle obtained at the moment, so that the accuracy of the determined real-time course angle is further ensured.
In this embodiment, in the second preset time, the real-time measurement value of the gyroscope of the carrier meets a fourth preset condition, which may be understood as: because the measurement value of the gyroscope of the carrier is the angular velocity of the carrier when the carrier deflects or inclines, whether the carrier is in a stable state at present can be judged according to the measurement value of the gyroscope, if the carrier is stable in a posture to keep running, the measurement value of the gyroscope of the carrier will be zero or close to zero, and a fourth preset condition can be set as follows: within the second preset time, the real-time measurement values of the gyroscope are all less than or equal to a fourth preset threshold, and the fourth preset threshold is preferably 0.2 degrees/second, and is not limited herein.
In the second preset time, the variance of the baseline calculated by the RTK meets a fifth preset condition, and the variance of the real-time course angle of the carrier meets a sixth preset condition, which can be understood as: and calculating the base line variance resolved by the RTK within the second preset time, if the base line variance meets a fifth preset condition, considering that the current carrier is relatively stable, meanwhile, counting the real-time course angle of the determined carrier within the second preset time, and calculating the variance of the carrier, if the variance meets a sixth preset condition, indicating that the real-time course angle of the carrier is relatively smooth within the second preset time, and considering that the carrier is currently in a stable state.
Wherein the fifth preset condition may be that the baseline variance of the RTK solution is less than or equal to a fifth preset threshold within the second preset condition, and the fifth preset threshold is preferably 0.0001m2And is not limited herein. The sixth preset condition may be that the variance of the real-time course angle of the carrier is equal to or greater than a sixth preset threshold within the second preset time, and the sixth preset threshold is preferably 0.25 degrees2And is not limited herein.
In the second preset time, the number of satellites meets the seventh preset condition, and the signal strength meets the eighth preset condition, which can be understood as: the number of satellites in the second fixed solution is greater than the number of satellites in the last course angle initial value determination or the number of satellites in the dual system RTK is greater than or equal to a seventh preset threshold, the signal strength in the second fixed solution is greater than the signal strength in the last course angle initial value determination or the average value of the signal strengths in a second preset time is greater than or equal to an eighth preset threshold, wherein the seventh preset threshold is preferably 14 satellites in the dual system RTK, and is not limited herein, and the eighth preset threshold is preferably 44dBHz, and is not limited herein.
In this embodiment, if the second fixed solution does not satisfy the update condition, the initial value of the course angle may not be updated, the course angle continues to be recurred according to the real-time measurement value of the accelerometer and the real-time measurement value of the gyroscope, and then the fixed solution of the RTK solution may continue to be obtained, and it is still determined whether to update the initial value of the course angle based on the reference fixed solution determined by the first fixed solution. If the second fixed solution meets the updating condition, after the initial value is updated, recording the second fixed solution as a reference fixed solution, and then when the fixed solution of the RTK solution is obtained again, judging whether the initial value of the course angle needs to be updated according to the reference fixed solution determined by the second fixed solution, and so on, determining the real-time course angle of the carrier by the real-time measurement value of the accelerometer and the real-time measurement value of the gyroscope in a short time, correcting the drift error accumulated due to the drift characteristic of the gyroscope by the obtained fixed solution of the RTK solution again, and further ensuring the accuracy of the real-time course angle obtained by recursion. Fig. 3 shows a specific implementation process for determining and updating the initial value of the heading angle in this embodiment.
In summary, the complete implementation steps of the present embodiment can be further understood with reference to fig. 4. Before the course angle is recurred, the accuracy of the recursion initial value needs to be ensured to be higher, so that the subsequent recursion step can be carried out only after the fixed solution of RTK calculation is acquired, and the course angle initial value is determined according to the currently acquired fixed solution.
And in the course angle recursion process, the carrier attitude measurement device continuously obtains the fixed solution and judges whether the initial value of the course angle needs to be updated or not. If the initial value of the course angle needs to be updated, after the initial value of the course angle is updated, carrying out course angle recursion by using the updated initial value of the course angle according to the real-time measurement value of the accelerometer and the real-time measurement value of the gyroscope, and determining the real-time course angle; and if the initial value of the course angle does not need to be updated, continuously performing course angle recursion by using the initial value of the current course angle according to the real-time measured value of the accelerometer and the real-time measured value of the gyroscope, and determining the real-time course angle.
In the embodiment, various optional implementation modes are added on the basis of the embodiment 1, and the accuracy of the real-time heading angle obtained by recursion can be further ensured.
Referring to fig. 5, fig. 5 is a structural diagram of an attitude measurement apparatus according to an embodiment of the present invention.
As shown in fig. 5, the attitude measurement device 500 includes:
a first obtaining module 501, configured to obtain a first fixed solution of a carrier phase differential technology RTK solution, where the first fixed solution is a fixed solution obtained for the first time;
an initial value determining module 502, configured to determine an initial value of a heading angle according to the first fixed solution, and record the first fixed solution as a reference fixed solution;
and the attitude determination module 503 is configured to recur the initial value of the heading angle according to a real-time measurement value of an accelerometer of the carrier and a real-time measurement value of a gyroscope of the carrier, and determine a real-time heading angle of the carrier.
Optionally, as shown in fig. 6, the gesture determining module 503 includes:
a calculating unit 5031, configured to calculate a real-time pitch angle of the carrier and a real-time roll angle of the carrier according to a real-time measurement value of an accelerometer of the carrier;
a determining unit 5032, configured to determine a real-time heading angle recursion variable according to the real-time pitch angle, the real-time roll angle, and a real-time measurement value of the gyroscope of the carrier;
a recursion unit 5033, configured to recur the initial value of the heading angle according to the real-time heading angle recursion variable, and determine the real-time heading angle of the carrier.
Optionally, as shown in fig. 7, the first obtaining module 501 includes:
the acquiring unit 5011 is configured to acquire a continuous fixed solution of the RTK solution within a first preset time;
a first judging unit 5012, configured to judge whether the continuous fixation solution meets a first preset stable condition;
the second determining unit 5013 is configured to determine an average value of the consecutive fixed solutions as a first fixed solution if the consecutive fixed solutions satisfy a first preset stable condition.
Optionally, the first preset stable condition includes:
in a first preset time, the variance of the base line of the RTK solution meets a first preset condition, and the variance of the continuous course angle determined according to the continuous fixed solution meets a second preset condition.
Optionally, as shown in fig. 8, the apparatus 500 further includes:
a second obtaining module 504, configured to obtain a second fixed solution of the RTK solution, where the second fixed solution is a real-time fixed solution that is continuously obtained after the first fixed solution is obtained;
an updating module 505, configured to update the initial value of the heading angle according to the second fixed solution, and determine the second fixed solution as a reference fixed solution;
and the attitude determination module is also used for recursion of the updated initial value of the course angle according to the real-time measurement value of the accelerometer of the carrier and the real-time measurement value of the gyroscope of the carrier, and determining the real-time course angle of the carrier.
Optionally, as shown in fig. 9, the update module 505 includes:
a second judging unit 5051, configured to judge whether a difference between the course angle determined according to the second fixed solution and the initial value of the course angle determined according to the reference fixed solution meets a third preset condition;
a third determining unit 5052, configured to determine whether the real-time heading angle of the carrier meets a second preset stable condition if a difference between the heading angle determined according to the second fixed solution and the initial value of the heading angle determined according to the reference fixed solution meets a third preset condition, where the real-time heading angle is obtained by recursion of the recursion variable of the real-time heading angle;
an updating unit 5053, configured to update the initial value of the heading angle according to the second fixed solution if the real-time heading angle of the carrier meets a second preset stability condition, and determine the second fixed solution as a reference fixed solution.
Optionally, the second preset stable condition includes at least one of:
in a second preset time, the real-time measurement value of the gyroscope of the carrier meets a fourth preset condition;
in a second preset time, the variance of the base line resolved by the RTK meets a fifth preset condition, and the variance of the real-time course angle of the carrier meets a sixth preset condition;
and in the second preset time, the number of the satellites meets a seventh preset condition, and the signal strength meets an eighth preset condition.
The device provided by the embodiment of the invention can realize each process realized by the carrier attitude measurement device in the method embodiments of fig. 1 and fig. 2, and can achieve the same beneficial effects, and the device is not repeated herein for avoiding repetition.
Referring to fig. 10, fig. 10 is a block diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 10, the electronic device 1000 includes a processor 1001, a memory 1002, and a computer program stored in the memory 1002 and capable of running on the processor.
Wherein the computer program when executed by the processor 1001 implements the steps of:
acquiring a first fixed solution of carrier phase differential technology RTK resolving, wherein the first fixed solution is a fixed solution acquired for the first time;
determining an initial value of a course angle according to the first fixed solution, and recording the first fixed solution as a reference fixed solution;
and recursion is carried out on the initial course angle value according to the real-time measurement value of the accelerometer of the carrier and the real-time measurement value of the gyroscope of the carrier, and the real-time course angle of the carrier is determined.
Optionally, the determining the real-time course angle of the carrier by recursion of the initial course angle value according to the real-time measurement value of the accelerometer of the carrier and the real-time measurement value of the gyroscope of the carrier includes:
calculating a real-time pitch angle of the carrier and a real-time roll angle of the carrier according to a real-time measurement value of an accelerometer of the carrier;
determining a real-time course angle recursion variable according to the real-time pitch angle, the real-time roll angle and a real-time measurement value of a gyroscope of the carrier;
and recursion is carried out on the initial value of the course angle according to the recursion variable of the real-time course angle, and the real-time course angle of the carrier is determined.
Optionally, the obtaining a first fixed solution of a carrier phase difference technique RTK solution includes:
acquiring a continuous fixed solution of RTK resolving within a first preset time;
judging whether the continuous fixation solution meets a first preset stable condition or not;
and if the continuous fixed solution meets a first preset stable condition, determining the average value of the continuous fixed solution as a first fixed solution.
Optionally, the first preset stable condition includes:
in a first preset time, the variance of the base line of the RTK solution meets a first preset condition, and the variance of the continuous course angle determined according to the continuous fixed solution meets a second preset condition.
Optionally, after the acquiring the first fixed solution of the carrier phase differential technology RTK solution, the method further includes:
acquiring a second fixed solution of the RTK solution, wherein the second fixed solution is a real-time fixed solution which is continuously acquired after the first fixed solution is acquired;
updating the initial value of the course angle according to the second fixed solution, and determining the second fixed solution as a reference fixed solution;
the recursion of the initial course angle value is carried out according to the real-time measurement value of the accelerometer of the carrier and the real-time measurement value of the gyroscope of the carrier, and the real-time course angle of the carrier is determined, and the method comprises the following steps:
recursion is carried out on the updated initial course angle value according to the real-time measured value of the accelerometer of the carrier and the real-time measured value of the gyroscope of the carrier, and the real-time course angle of the carrier is determined
Optionally, the updating the initial value of the heading angle according to the second fixed solution, and determining the second fixed solution as a reference fixed solution includes:
judging whether the difference value between the course angle determined according to the second fixed solution and the course angle initial value determined according to the reference fixed solution meets a third preset condition or not;
if the difference value between the course angle determined according to the second fixed solution and the course angle initial value determined according to the reference fixed solution meets a third preset condition, judging whether the real-time course angle of the carrier meets a second preset stable condition, wherein the real-time course angle is obtained by recursion according to the real-time course angle recursion variable;
and if the real-time course angle of the carrier meets a second preset stable condition, updating the initial value of the course angle according to the second fixed solution, and determining the second fixed solution as a reference fixed solution.
Optionally, the second preset stable condition includes at least one of:
in a second preset time, the real-time measurement value of the gyroscope of the carrier meets a fourth preset condition;
in a second preset time, the variance of the base line resolved by the RTK meets a fifth preset condition, and the variance of the real-time course angle of the carrier meets a sixth preset condition;
and in the second preset time, the number of the satellites meets a seventh preset condition, and the signal strength meets an eighth preset condition.
The electronic device provided by the embodiment of the invention can realize each process realized by the carrier attitude measurement device in the method embodiments of fig. 1 and fig. 2, and can achieve the same beneficial effects, and the details are not repeated here in order to avoid repetition.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the attitude measurement method provided by the embodiment of the present invention are implemented.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (16)

1. An attitude measurement method, characterized in that the method comprises:
acquiring a first fixed solution of carrier phase differential technology RTK resolving, wherein the first fixed solution is a fixed solution acquired for the first time;
determining an initial value of a course angle according to the first fixed solution, and recording the first fixed solution as a reference fixed solution;
and recursion is carried out on the initial course angle value according to the real-time measurement value of the accelerometer of the carrier and the real-time measurement value of the gyroscope of the carrier, and the real-time course angle of the carrier is determined.
2. The method of claim 1, wherein determining the real-time heading angle of the carrier by recursion of the initial heading angle value based on real-time measurements of an accelerometer of the carrier and real-time measurements of a gyroscope of the carrier comprises:
calculating a real-time pitch angle of the carrier and a real-time roll angle of the carrier according to a real-time measurement value of an accelerometer of the carrier;
determining a real-time course angle recursion variable according to the real-time pitch angle, the real-time roll angle and a real-time measurement value of a gyroscope of the carrier;
and recursion is carried out on the initial value of the course angle according to the recursion variable of the real-time course angle, and the real-time course angle of the carrier is determined.
3. The method of claim 1, wherein the acquiring a first fixed solution of a carrier phase differential technique (RTK) solution comprises:
acquiring a continuous fixed solution of RTK resolving within a first preset time;
judging whether the continuous fixation solution meets a first preset stable condition or not;
and if the continuous fixed solution meets a first preset stable condition, determining the average value of the continuous fixed solution as a first fixed solution.
4. The method according to claim 3, wherein the first preset stable condition comprises:
in a first preset time, the variance of the base line of the RTK solution meets a first preset condition, and the variance of the continuous course angle determined according to the continuous fixed solution meets a second preset condition.
5. The method according to claim 1, wherein after said acquiring a first fixed solution of a carrier phase differential technique, RTK, solution, the method further comprises:
acquiring a second fixed solution of the RTK solution, wherein the second fixed solution is a real-time fixed solution which is continuously acquired after the first fixed solution is acquired;
updating the initial value of the course angle according to the second fixed solution, and determining the second fixed solution as a reference fixed solution;
the recursion of the initial course angle value is carried out according to the real-time measurement value of the accelerometer of the carrier and the real-time measurement value of the gyroscope of the carrier, and the real-time course angle of the carrier is determined, and the method comprises the following steps:
and recursion is carried out on the updated initial value of the course angle according to the real-time measured value of the accelerometer of the carrier and the real-time measured value of the gyroscope of the carrier, and the real-time course angle of the carrier is determined.
6. The method of claim 5, wherein updating the initial heading angle value according to the second fixed solution and determining the second fixed solution as a baseline fixed solution comprises:
judging whether the difference value between the course angle determined according to the second fixed solution and the course angle initial value determined according to the reference fixed solution meets a third preset condition or not;
if the difference value between the course angle determined according to the second fixed solution and the course angle initial value determined according to the reference fixed solution meets a third preset condition, judging whether the real-time course angle of the carrier meets a second preset stable condition, wherein the real-time course angle is obtained by recursion according to the real-time course angle recursion variable;
and if the real-time course angle of the carrier meets a second preset stable condition, updating the initial value of the course angle according to the second fixed solution, and determining the second fixed solution as a reference fixed solution.
7. The method according to claim 6, characterized in that said second preset stabilization condition comprises at least one of:
in a second preset time, the real-time measurement value of the gyroscope of the carrier meets a fourth preset condition;
in a second preset time, the variance of the base line resolved by the RTK meets a fifth preset condition, and the variance of the real-time course angle of the carrier meets a sixth preset condition;
and in the second preset time, the number of the satellites meets a seventh preset condition, and the signal strength meets an eighth preset condition.
8. An attitude measurement apparatus, characterized in that the apparatus comprises:
the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a first fixed solution of carrier phase differential technology RTK resolving, and the first fixed solution is a fixed solution acquired for the first time;
the initial value determining module is used for determining an initial value of a course angle according to the first fixed solution and recording the first fixed solution as a reference fixed solution;
and the attitude determination module is used for recursion of the initial value of the course angle according to the real-time measurement value of the accelerometer of the carrier and the real-time measurement value of the gyroscope of the carrier, and determining the real-time course angle of the carrier.
9. The apparatus of claim 8, wherein the pose determination module comprises:
the calculation unit is used for calculating a real-time pitch angle of the carrier and a real-time roll angle of the carrier according to the real-time measurement value of the accelerometer of the carrier;
the determining unit is used for determining a real-time course angle recursion variable according to the real-time pitch angle, the real-time roll angle and a real-time measurement value of a gyroscope of the carrier;
and the recursion unit is used for recursion of the initial value of the course angle according to the recursion variable of the real-time course angle and determining the real-time course angle of the carrier.
10. The apparatus of claim 8, wherein the first obtaining module comprises:
the acquisition unit is used for acquiring a continuous fixed solution of RTK resolving in first preset time;
the first judgment unit is used for judging whether the continuous fixation solution meets a first preset stable condition or not;
and the second determining unit is used for determining the average value of the continuous fixed solutions as a first fixed solution if the continuous fixed solutions meet a first preset stable condition.
11. The apparatus of claim 10, wherein the first preset stable condition comprises:
in a first preset time, the variance of the base line of the RTK solution meets a first preset condition, and the variance of the continuous course angle determined according to the continuous fixed solution meets a second preset condition.
12. The apparatus of claim 8, further comprising:
the second acquisition module is used for acquiring a second fixed solution of the RTK solution, wherein the second fixed solution is a real-time fixed solution which is continuously acquired after the first fixed solution is acquired;
the updating module is used for updating the initial value of the course angle according to the second fixed solution and determining the second fixed solution as a reference fixed solution;
and the attitude determination module is also used for recursion of the updated initial value of the course angle according to the real-time measurement value of the accelerometer of the carrier and the real-time measurement value of the gyroscope of the carrier, and determining the real-time course angle of the carrier.
13. The apparatus of claim 12, wherein the update module comprises:
the second judgment unit is used for judging whether the difference value between the course angle determined according to the second fixed solution and the course angle initial value determined according to the reference fixed solution meets a third preset condition or not;
a third judging unit, configured to judge whether the real-time course angle of the carrier meets a second preset stable condition if a difference between the course angle determined according to the second fixed solution and the initial value of the course angle determined according to the reference fixed solution meets a third preset condition, where the real-time course angle is obtained by recursion according to the recursion variable of the real-time course angle;
and the updating unit is used for updating the initial value of the course angle according to the second fixed solution and determining the second fixed solution as a reference fixed solution if the real-time course angle of the carrier meets a second preset stable condition.
14. The apparatus of claim 13, wherein the second preset stable condition comprises at least one of:
in a second preset time, the real-time measurement value of the gyroscope of the carrier meets a fourth preset condition;
in a second preset time, the variance of the base line resolved by the RTK meets a fifth preset condition, and the variance of the real-time course angle of the carrier meets a sixth preset condition;
and in the second preset time, the number of the satellites meets a seventh preset condition, and the signal strength meets an eighth preset condition.
15. An electronic device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method according to any one of claims 1 to 7.
16. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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