CN112859139B - Gesture measurement method and device and electronic equipment - Google Patents
Gesture measurement method and device and electronic equipment Download PDFInfo
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- CN112859139B CN112859139B CN201911190183.7A CN201911190183A CN112859139B CN 112859139 B CN112859139 B CN 112859139B CN 201911190183 A CN201911190183 A CN 201911190183A CN 112859139 B CN112859139 B CN 112859139B
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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
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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
- G01C21/005—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
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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
- 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
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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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- 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
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- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Gyroscopes (AREA)
Abstract
The embodiment of the invention provides a gesture measurement method, a gesture measurement device and electronic equipment, which comprise the following steps: acquiring a first fixed solution of RTK (carrier phase differential technique) calculation, 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 recursively calculating the initial heading 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 determining the real-time heading angle of the carrier. The initial value of the course angle is determined through the fixed solution of RTK (real-time kinematic) solution with higher precision, and the initial value of the course angle is recursively calculated according to the real-time measured value of the accelerometer and the real-time measured value of the gyroscope to determine the real-time course angle of the carrier, so that the problems that the RTK solution time is longer and the success rate cannot be ensured are avoided, and the accuracy of measuring the attitude information is improved.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a method and an apparatus for measuring an attitude, and an electronic device.
Background
The attitude measurement schemes in the prior art are divided into two types: one is a three-axis gyroscope, accelerometer and magnetometer in an AHRS (attitude reference system, attitude and heading reference system) based on inertial navigation, providing heading, roll and roll information for the carrier. And secondly, a gesture 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, pitch angle and course angle of the carrier, so that carrier gesture information is obtained.
However, in the first scheme, the magnetic field meter for determining the heading angle is easily affected by the environment, so that the attitude measurement accuracy is low or even ineffective; in the second scheme, RTK (Real-time antenna) is susceptible to the influence of antenna reception quality, resulting in lower attitude measurement accuracy.
It can be seen that the attitude measurement of the prior art has the problem of lower accuracy.
Disclosure of Invention
The embodiment of the invention provides a gesture measurement method and device and electronic equipment, and aims to solve the problem of low gesture measurement accuracy in the prior art.
In a first aspect, an embodiment of the present invention provides a gesture measurement method, including the steps of:
acquiring a first fixed solution of RTK (carrier phase differential technique) calculation, 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 recursively calculating the initial heading 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 determining the real-time heading angle of the carrier.
In a second aspect, an embodiment of the present invention further provides an attitude measurement apparatus, including:
The first acquisition module is used for acquiring a first fixed solution of RTK (carrier phase differential technique) calculation, wherein 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 the course angle according to the first fixed solution and recording the first fixed solution as a reference fixed solution;
and the gesture determining module is used for recursively determining the 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 to determine the real-time course angle of the carrier.
In a third aspect, an embodiment of the present invention further provides an electronic device, including 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, embodiments of the present invention further provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the steps of the attitude measurement method provided by the embodiments of the present invention.
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 RTK (real time kinematic) solution of carrier phase difference technology is obtained, wherein the first fixed solution is the 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 recursively calculating the initial heading 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 determining the real-time heading angle of the carrier. The initial value of the course angle is determined through the fixed solution of RTK (real-time kinematic) solution with higher precision, and the initial value of the course angle is recursively calculated according to the real-time measured value of the accelerometer and the real-time measured value of the gyroscope to determine the real-time course angle of the carrier, so that the problems that the RTK solution time is longer and the success rate cannot be ensured are avoided, and the accuracy of measuring the attitude information is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention 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 other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
FIG. 1 is a flow chart of a method for measuring an attitude provided by an embodiment of the present invention;
FIG. 2 is a flow chart of another method for measuring attitude provided by an embodiment of the present invention;
FIG. 3 is a flow chart of a method for determining and updating an initial value of a heading angle according to an embodiment of the invention;
FIG. 4 is a flow chart of yet another method for attitude measurement provided by an embodiment of the present 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 block diagram of an attitude measurement apparatus according to an embodiment of the present invention;
FIG. 7 is a third block diagram of an attitude measurement apparatus according to an embodiment of the present invention;
FIG. 8 is a diagram showing a structure of an attitude measurement apparatus according to an embodiment of the present invention;
FIG. 9 is a fifth block 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 application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms "comprises," "comprising," or any other variation thereof, 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 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 at least one of the connected objects, e.g., a and/or B, meaning that it includes a single a, a single B, and that there are three cases of a and B.
In embodiments of the invention, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g." in an embodiment should not be taken as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.
Referring to fig. 1, fig. 1 is a schematic diagram of an attitude measurement method provided by an embodiment of the present invention, where the method may be applied to a carrier attitude measurement device, where the carrier attitude measurement device may be a cloud computer, a server, or other devices or data platforms with data processing functions.
As shown in fig. 1, the method comprises the steps of:
step 101, a first fixed solution of RTK (carrier phase differential technique) calculation is obtained, wherein the first fixed solution is a fixed solution obtained for the first time.
The attitude information of the carrier generally comprises three Euler angles, namely a course angle, a pitch angle and a roll angle, which represent the relation between a carrier coordinate system and a ground coordinate system and reflect the attitude of the carrier relative to the ground. Wherein the heading angle is represented by phi, which can also be expressed as yaw angle, the pitch angle is represented by theta, and the roll angle is represented by It is also expressed as roll angle, flip angle, or rollover angle, and is not limited herein.
For course angle, the fixed solution obtained by real-time solution of RTK can be used for solving the difference based on carrier phase observed values of a reference station and a mobile station in a high-precision satellite navigation system so as to obtain the three-dimensional positioning result of a measuring point. Wherein, the fixed solution obtained by RTK solution is: in the RTK resolving process, when the baseline ambiguity is determined as an integer, the unknown parameter solution obtained by the inverse equation resolving can reach centimeter-level precision according to the positioning result obtained by the fixed solution, 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 resolving process is long, the success rate of 100% cannot be realized, the accuracy of the course angle cannot be guaranteed by the solution obtained by the RTK resolving in a short time, and the real-time performance of obtaining the course angle can be guaranteed by determining the course angle of the carrier by utilizing the measured value of the gyroscope of the carrier, which is a real-time measured value of the accelerometer of the carrier, and the accuracy is high.
In the embodiment of the invention, after the fixed solution calculated by the RTK is obtained for the first time, namely the first fixed solution, the initial value of the course angle can be determined according to the first fixed solution due to higher positioning precision of the fixed solution, the accuracy of the initial value is ensured, and the course angle is calculated by utilizing the real-time measured value of the accelerometer and the real-time measured value of the gyroscope to determine the real-time course angle.
And 102, determining an initial value of the 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, an initial value needs to be given to the course angle before the course angle is calculated. 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 calculated by RTK, and meanwhile, the first fixed solution is recorded as a reference fixed solution, so that whether the course angle determined by the fixed solution is actually changed or not can be judged.
It should be noted that, the method for directly obtaining the heading angle value by the fixed solution may refer to the prior art scheme, and will not be described herein.
Step 103, recursively estimating the 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 determining the real-time course angle of the carrier.
Wherein the attitude information of the carrier represents the relationship between the carrier coordinate system and the geodetic coordinate system, and the angular velocity output by the real-time measurement of the gyroscope of the carrier is the angular velocity of the carrier coordinate system relative to the geodetic coordinate system, which will follow the actual movement of the carrier. The real-time measured value of the accelerometer of the carrier is the linear acceleration of the carrier, so that the change amount of the course angle in unit time can be determined based on the real-time measured value of the accelerometer of the carrier and the real-time measured value of the gyroscope of the carrier, namely, the course angle variable for carrying out the subsequent real-time course angle recursion, and the continuous recursion of the initial value of the course angle can be realized by the recursion variable to obtain the real-time course angle of the carrier.
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 can 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 will be specifically explained here.
In the embodiment of the invention, a first fixed solution of RTK (real time kinematic) solution 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 recursively calculating the initial heading 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 determining the real-time heading angle of the carrier. The initial value of the course angle is determined through the fixed solution of RTK (real-time kinematic) solution with higher precision, and the initial value of the course angle is recursively calculated according to the real-time measured value of the accelerometer and the real-time measured value of the gyroscope to determine the real-time course angle of the carrier, so that the problems that the RTK solution time is longer and the success rate cannot be ensured are avoided, and the accuracy of measuring the attitude information is improved.
Referring to fig. 2, fig. 2 is a schematic diagram of an attitude measurement method provided by an embodiment of the present invention, where the method may be applied to a carrier attitude measurement device, where the carrier attitude measurement device may be a cloud computer, a server, or other devices or data platforms with data processing functions.
As shown in fig. 2, the method comprises the steps of:
step 201, a first fixed solution of the carrier phase difference technology RTK solution is obtained, where the first fixed solution is a fixed solution obtained for the first time.
Optionally, step 201 includes:
obtaining a continuous fixed solution of RTK (real time kinematic) calculation in a first preset time;
judging whether the continuous fixed solution meets a first preset stable condition or not;
if the continuous fixed solution meets a first preset stable condition, determining an average value of the continuous fixed solution as a first fixed solution;
the first preset time is preferably 10s, which is not limited herein. The continuous fixed solution can be understood as: and in the first preset time, the continuous solutions of the RTK solution are all 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 intense motion or other unstable conditions, 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 the course angle calculation is affected.
In this embodiment, as shown in fig. 3, when the fixed solution calculated by the RTK is obtained for the first time, a continuous fixed solution within a first preset time may be obtained, if the continuous fixed solution meets a first preset stability condition, it indicates that the continuous fixed solution is smoother, the carrier is in a stable state, and an 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 heading angle determined by the first fixed solution.
Further, the first preset stabilizing condition includes:
and in the first preset time, the calculated baseline variance of the RTK 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 posture measurement device may calculate a baseline variance of the RTK solution and a variance of the heading angle determined by the continuous fixed solution in a first preset time, and may determine stability of the continuous fixed solution by using 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 0.0004m 2 The present invention is not limited thereto. The second preset condition may be that the course angle variance determined for the continuous fixed solution is smaller than a second preset threshold, and the second preset threshold is preferably 0.04 degree 2 The present invention is not limited thereto.
And 202, determining an initial value of the course angle according to the first fixed solution, and recording the first fixed solution as a reference fixed solution.
In this embodiment, an initial value needs to be given to the heading angle before the heading angle is calculated. 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 calculated by RTK, and meanwhile, the first fixed solution is recorded as a reference fixed solution, so that whether the course angle determined by the fixed solution is actually changed or not can be judged.
And 203, calculating a real-time pitch angle of the carrier and a real-time roll angle of the carrier according to real-time measured values of the accelerometer of the carrier.
In this step, the calculating the real-time pitch angle of the carrier and the real-time roll angle of the carrier according to the real-time measured value of the accelerometer of the carrier can be understood as: the gravitational acceleration component of the current output of the accelerometer is noted as: [ a ] x(t) a y(t) a z(t) ] T Can directly determine the real-time pitch angle theta (t) ：
Real-time initial value of roll angle
Where t is the time at which the accelerometer obtains the current measurement.
In the embodiment, the accuracy of the real-time pitch angle and the real-time roll angle determined by the real-time measured value of the accelerometer is high, and meanwhile, as 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 ground coordinate system, the angular speed of the carrier coordinate system determined by combining the real-time measured value of the gyroscope can provide a recurrence basis for subsequent course angle recurrence.
And 204, determining a real-time course angle recursion variable according to the real-time pitch angle, the real-time roll angle and real-time measured values of the gyroscope of the carrier.
In this embodiment, the carrier posture 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 rotation cosine matrix around each coordinate axis of the carrier coordinate system when the carrier moves, determine a change amount of a heading angle in the geodetic coordinate system according to a change amount of the angular velocity in the carrier coordinate system, and implement recursion of an initial value of the heading angle according to the change amount of the heading angle, so as to obtain a real-time heading angle of the carrier.
Specifically, the angular velocity in the geodetic coordinate system may be set as:the angular rate of the carrier coordinate system can be expressed as: omega x ，ω y ，ω z The rotation cosine matrix around each coordinate axis of the carrier coordinate system when the carrier moves can be expressed as:
and the angular rate in the geodetic coordinate system is related to the carrier angular rate as follows:
the expression of the recursion variable for determining each attitude angle can be obtained by sorting the above expression:
step 205, recursively estimating 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.
In this step, when the real-time measurement value [ a ] of the accelerometer at the time t is obtained x(t) a y(t) a z(t) ] T When 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 angleWill be the real-time pitch angle theta (t) And real-time roll angle->Substituted into->In the expression of (2), a course angle recursion variable at the time t can be obtained, and according to the recursion variable, a real-time course angle at the time t+Δt can be obtained, specifically, the real-time course angle at the time t+Δt can be expressed as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
optionally, after step 201, the method further includes:
acquiring a second fixed solution of RTK calculation, 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 step of recursively determining the initial heading 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 comprises the following steps:
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, recursively estimating the updated course angle initial value, and determining the real-time course angle of the carrier
In this embodiment, after the first fixed solution calculated by the RTK is obtained, the satellite navigation system continues to obtain the real-time measurement value, and continues to calculate the fixed solution by the RTK. However, a certain time is required for the RTK to calculate the fixed solution, and in the time for waiting for the RTK to calculate the fixed solution, the real-time measurement value of the accelerometer and the real-time measurement value of the gyroscope are used for recursively determining the real-time course angle of the carrier, so that the gap of the RTK to calculate the fixed solution is filled in a short time, but the gyroscope serving as an inertial device has drift characteristics, and when the accumulated drift error reaches a certain value, the accuracy of the recursively obtained course angle is reduced.
Based on this, in this embodiment, the carrier gesture measurement device may monitor the initial value of the heading angle in real time by using the fixed solution of the RTK settlement, continuously acquire the real-time fixed solution obtained by the RTK solution after the first fixed solution is acquired for the first time, and update the initial value of the heading angle with the second fixed solution when the second fixed solution is acquired again. And recursively determining the real-time course angle of the carrier in a short time by the real-time measured value of the accelerometer and the real-time measured value of the gyroscope. It can be understood that when the RTK is calculated again to obtain a fixed solution, the initial value of the heading angle can be updated again, the heading angle recursion is performed again, the drift error accumulated due to the drift characteristic of the gyroscope is continuously corrected, and the accuracy of the real-time heading angle obtained by the recursion is further ensured.
Further, the updating the initial heading angle value 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 a real-time course angle obtained according to the real-time course angle recursion variable;
If the real-time course angle of the carrier meets a second preset stable condition, updating the course angle initial value 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 computation, the heading 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 may be understood that whether the difference between the heading angle determined according to the second fixed solution and the heading angle initial value determined according to the reference fixed solution meets a third preset condition is: and judging whether a significant difference exists between the course angle determined by the second fixed solution and the course angle initial value determined last time. Because the first fixed solution is a reference fixed solution, and the initial value of the course angle is determined according to the first fixed solution, and the second fixed solution is a real-time fixed solution obtained by continuously calculating after the RTK solution 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 meets a third preset condition, 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, the significant difference is considered to indicate that the course angle of the carrier is indeed changed, and the updated course angle initial value can be considered at the moment.
The third preset condition may be that an absolute value of a difference between the heading angle determined according to the second fixed solution and the heading angle initial value determined according to the reference fixed solution is greater than a third preset threshold, and the third preset threshold is preferably 5 degrees, which is not limited herein.
Further, the second preset stability condition includes at least one of:
in the second preset time, the real-time measured value of the gyroscope of the carrier meets a fourth preset condition;
in the second preset time, the calculated baseline variance of 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 satellites meets a seventh preset condition, and the signal strength meets an eighth preset condition.
The second preset time is preferably 100s, which 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 there is a significant difference between the course angle determined by the current fixed solution and the course angle initial value determined last time, the updated course angle initial value can be considered, but 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 subsequent gesture change is unknown, and when the real-time course angle obtained by recursion meets the second preset stable condition, the carrier can be considered to be stable in a certain gesture to keep running, the accuracy of recursion can be further ensured, and the accuracy of the determined real-time course angle can be further ensured.
In this embodiment, the real-time measured value of the gyroscope of the carrier satisfies the fourth preset condition in the second preset time, which may be understood as: since the measured value of the gyroscope of the carrier is the angular velocity when the carrier deflects or tilts, whether the carrier is currently in a stable state can be determined according to the measured value of the gyroscope, and if the carrier is stable in one posture and keeps running, the measured value of the gyroscope of the carrier will be zero or close to zero, and a fourth preset condition can be set as follows: the real-time measured values of the gyroscopes are all smaller than or equal to a fourth preset threshold value, preferably 0.2 °/second, in the second preset time, without being limited thereto.
The baseline variance calculated by the RTK in the second preset time meets a fifth preset condition, and the variance of the real-time heading angle of the carrier meets a sixth preset condition, which can be understood as follows: calculating a baseline variance calculated by the RTK in the second preset time, if the baseline variance meets a fifth preset condition, considering that the current carrier is relatively stable, simultaneously counting a determined real-time course angle of the carrier in the second preset time, and calculating the variance of the real-time course angle, and if the variance meets a sixth preset condition, indicating that the real-time course angle of the carrier is relatively smooth in the second preset time, and considering that the carrier is in a stable state currently.
Wherein the fifth preset condition may be that within the second preset condition, the baseline variance of the RTK solution is less than or equal to a fifth preset threshold, and the fifth preset threshold is preferably 0.0001m 2 Is not limited herein. The sixth preset condition may be that the variance of the real-time heading angle of the carrier is equal to or greater than a sixth preset threshold value, preferably 0.25 degrees, within the second preset time 2 The present invention is not limited thereto.
The satellite number satisfying the seventh preset condition and the signal strength satisfying the eighth preset condition in the second preset time may be understood as: the number of satellites when the second fixed solution is acquired is greater than the number of satellites when the initial value of the heading angle is determined last time or the number of satellites under the dual-system RTK is greater than or equal to a seventh preset threshold, the signal strength when the second fixed solution is acquired is greater than the signal strength when the initial value of the heading angle is determined last time or the mean value of the signal strengths is greater than or equal to an eighth preset threshold in the second preset time, wherein the seventh preset threshold is preferably 14 satellites under the dual-system RTK, is not limited herein, and the eighth preset threshold is preferably 44dBHz, is not limited herein.
In this embodiment, if the second fixed solution does not satisfy the update condition, the initial value of the heading angle may not be updated, and then the heading angle is continuously recursively calculated according to the real-time measurement value of the accelerometer and the real-time measurement value of the gyroscope, and then the fixed solution calculated by the RTK may be continuously obtained, and still whether to update the initial value of the heading angle is determined based on the reference fixed solution determined by the first fixed solution. If the second fixed solution meets the updating condition, after updating the initial value, recording the second fixed solution as a reference fixed solution, and then, when the fixed solution of RTK (real time kinematic) calculation is acquired 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 measured value of the accelerometer and the real-time measured value of the gyroscope in a short time, so that the drift error accumulated by the drift characteristic of the gyroscope is corrected by the acquired fixed solution of RTK calculation again, and further ensuring the accuracy of the real-time course angle obtained by recursion. Fig. 3 shows a process of specifically determining and updating the initial value of the heading angle in the present embodiment.
In summary, the complete implementation steps of this embodiment can be further understood with reference to fig. 4. Before the course angle is recursively calculated, the accuracy of the recursion initial value needs to be ensured to be higher, so that after the fixed solution of RTK calculation is acquired, the subsequent recursion step can be performed, and the course angle initial value is determined according to the currently acquired fixed solution.
In the course angle recursion process, the carrier attitude measurement device continues to acquire a fixed solution and judges whether the course angle initial value needs to be updated. 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 according to the real-time measured value of the accelerometer and the real-time measured value of the gyroscope and the updated initial value of the course angle, and determining the real-time course angle; if the initial value of the course angle does not need to be updated, continuing to recursively process the course angle according to 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.
The embodiment adds various optional implementations on the basis of the embodiment 1, and can further ensure the accuracy of the real-time course angle obtained by recursion.
Referring to fig. 5, fig. 5 is a block diagram of an attitude measurement apparatus according to an embodiment of the present invention.
As shown in fig. 5, the attitude measurement apparatus 500 includes:
a first obtaining module 501, configured to obtain a first fixed solution of a carrier phase differential technique RTK solution, where the first fixed solution is a first obtained fixed solution;
the initial value determining module 502 is configured to determine an initial value of the heading angle according to the first fixed solution, and record the first fixed solution as a reference fixed solution;
the gesture determining module 503 is configured to recursively determine the initial heading 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, so as to determine the real-time heading angle of the carrier.
Optionally, as shown in fig. 6, the gesture determining module 503 includes:
a calculation unit 5031 for calculating a real-time pitch angle of the carrier and a real-time roll angle of the carrier from real-time measurements 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 real-time measurement values of the gyroscope of the carrier;
and the recursion unit 5033 is configured to recursively determine the real-time course angle of the carrier according to the real-time course angle recursion variable.
Optionally, as shown in fig. 7, the first obtaining module 501 includes:
an obtaining unit 5011, configured to obtain a continuous fixed solution of the RTK solution in a first preset time;
a first determining unit 5012 configured to determine whether the continuous fixed solution meets a first preset stability condition;
the second determining unit 5013 is configured to determine an average value of the continuous fixed solutions as a first fixed solution if the continuous fixed solution meets a first preset stable condition.
Optionally, the first preset stabilizing condition includes:
and in the first preset time, the calculated baseline variance of the RTK 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 heading angle initial value according to the second fixed solution, and determine the second fixed solution as a reference fixed solution;
the attitude determination module is further used for recursively determining 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 determining the real-time course angle of the carrier.
Optionally, as shown in fig. 9, the updating module 505 includes:
a second determining unit 5051, configured to determine whether a difference between the heading angle determined according to the second fixed solution and the heading angle initial value determined according to the reference fixed solution meets a third preset condition;
a third judging unit 5052, configured to judge whether a real-time course angle of the carrier meets a second preset stability condition if a difference between the course angle determined according to the second fixed solution and a course angle initial value determined according to the reference fixed solution meets a third preset condition, where the real-time course angle is a real-time course angle obtained by recursion according to the real-time course angle recursion variable;
and 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 stability condition includes at least one of:
in the second preset time, the real-time measured value of the gyroscope of the carrier meets a fourth preset condition;
in the second preset time, the calculated baseline variance of 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 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 posture measuring device in the method embodiment of fig. 1 and 2, and can achieve the same beneficial effects, and in order to avoid repetition, the description is omitted.
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, an electronic device 1000 includes a processor 1001, a memory 1002, and a computer program stored in the memory 1002 and executable on the processor.
Wherein the computer program when executed by the processor 1001 performs the steps of:
acquiring a first fixed solution of RTK (carrier phase differential technique) calculation, 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 recursively calculating the initial heading 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 determining the real-time heading angle of the carrier.
Optionally, the step of recursively determining the initial heading 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, includes:
according to the real-time measured value of the accelerometer of the carrier, calculating the real-time pitch angle of the carrier and the real-time roll angle of the carrier;
determining a real-time course angle recursion variable according to the real-time pitch angle, the real-time roll angle and real-time measured values of a gyroscope of the carrier;
and recursively estimating the initial value of the course angle according to the real-time course angle recursion variable, and determining the real-time course angle of the carrier.
Optionally, the obtaining a first fixed solution of the carrier phase difference technology RTK solution includes:
obtaining a continuous fixed solution of RTK (real time kinematic) calculation in a first preset time;
judging whether the continuous fixed 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 stabilizing condition includes:
and in the first preset time, the calculated baseline variance of the RTK 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 obtaining the first fixed solution of the carrier phase differential technique RTK solution, the method further includes:
acquiring a second fixed solution of RTK calculation, 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 step of recursively determining the initial heading 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 comprises the following steps:
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, recursively estimating the updated course angle initial value, and determining the real-time course angle of the carrier
Optionally, the updating the initial heading angle value 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 a real-time course angle obtained by recursion according to the real-time course angle recursion variable;
If the real-time course angle of the carrier meets a second preset stable condition, updating the course angle initial value according to the second fixed solution, and determining the second fixed solution as a reference fixed solution.
Optionally, the second preset stability condition includes at least one of:
in the second preset time, the real-time measured value of the gyroscope of the carrier meets a fourth preset condition;
in the second preset time, the calculated baseline variance of 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 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 gesture measuring device in the method embodiment of fig. 1 and 2, and can achieve the same beneficial effects, and in order to avoid repetition, the description is omitted here.
The embodiment of the invention also provides a computer readable storage medium, and 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 invention are realized.
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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.
Claims (12)
1. A method of attitude measurement, the method comprising:
acquiring a first fixed solution of RTK (carrier phase differential technique) calculation, 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;
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, recursing the initial value of the course angle to determine the real-time course angle of the carrier;
the obtaining a first fixed solution of the carrier phase differential technique RTK solution includes:
obtaining a continuous fixed solution of RTK (real time kinematic) calculation in a first preset time;
judging whether the continuous fixed solution meets a first preset stable condition or not;
If the continuous fixed solution meets a first preset stable condition, determining an average value of the continuous fixed solution as a first fixed solution;
the first preset stabilizing condition includes:
and in the first preset time, the calculated baseline variance of the RTK 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.
2. The method of claim 1, wherein said recursively determining said initial heading angle value based on real-time measurements of an accelerometer of a carrier and real-time measurements of a gyroscope of a carrier comprises:
according to the real-time measured value of the accelerometer of the carrier, calculating the real-time pitch angle of the carrier and the real-time roll angle of the carrier;
determining a real-time course angle recursion variable according to the real-time pitch angle, the real-time roll angle and real-time measured values of a gyroscope of the carrier;
and recursively estimating the initial value of the course angle according to the real-time course angle recursion variable, and determining the real-time course angle of the carrier.
3. The method of claim 1, wherein after the obtaining a first fixed solution to a carrier phase differential technique, RTK, solution, the method further comprises:
Acquiring a second fixed solution of RTK calculation, 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 step of recursively determining the initial heading 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 comprises the following steps:
and recursively estimating the updated course angle initial 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 determining the real-time course angle of the carrier.
4. The method of claim 3, wherein updating the heading angle initial value based on the second fixed solution and determining the second fixed solution as a reference 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 a real-time course angle obtained by recursion according to the real-time course angle recursion variable;
If the real-time course angle of the carrier meets a second preset stable condition, updating the course angle initial value according to the second fixed solution, and determining the second fixed solution as a reference fixed solution.
5. The method of claim 4, wherein the second preset stability condition comprises at least one of:
in the second preset time, the real-time measured value of the gyroscope of the carrier meets a fourth preset condition;
in the second preset time, the calculated baseline variance of 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 satellites meets a seventh preset condition, and the signal strength meets an eighth preset condition.
6. An attitude measurement apparatus, characterized in that the apparatus comprises:
the first acquisition module is used for acquiring a first fixed solution of RTK (carrier phase differential technique) calculation, wherein 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 the course angle according to the first fixed solution and recording the first fixed solution as a reference fixed solution;
the attitude determination module is used for recursively determining the 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 to determine the real-time course angle of the carrier;
The first acquisition module includes:
the acquisition unit is used for acquiring a continuous fixed solution of RTK (real time kinematic) calculation in a first preset time;
the first judging unit is used for judging whether the continuous fixed solution meets a first preset stable condition or not;
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;
the first preset stabilizing condition includes:
and in the first preset time, the calculated baseline variance of the RTK 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.
7. The apparatus of claim 6, wherein the gesture determination module comprises:
the calculation unit is used for calculating the real-time pitch angle of the carrier and the real-time roll angle of the carrier according to the real-time measured 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 real-time measured values of the gyroscope of the carrier;
and the recursion unit is used for recursing the initial value of the course angle according to the real-time course angle recursion variable to determine the real-time course angle of the carrier.
8. The apparatus of claim 6, wherein the apparatus further comprises:
the second acquisition module is used for acquiring a second fixed solution of RTK (real-time kinematic) calculation, 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;
the attitude determination module is further used for recursively determining 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 determining the real-time course angle of the carrier.
9. The apparatus of claim 8, wherein the update module comprises:
the second judging 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;
the third judging unit is used for judging whether the real-time course angle of the carrier meets a second preset stable 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, wherein the real-time course angle is a real-time course angle obtained by recursion according to the real-time course angle recursion variable;
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.
10. The apparatus of claim 9, wherein the second preset stability condition comprises at least one of:
in the second preset time, the real-time measured value of the gyroscope of the carrier meets a fourth preset condition;
in the second preset time, the calculated baseline variance of 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 satellites meets a seventh preset condition, and the signal strength meets an eighth preset condition.
11. An electronic device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, which when executed by the processor performs the steps of the method according to any one of claims 1 to 5.
12. A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 5.
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