CN113188571B - Carrier forward/reverse determination method for initial alignment of combined navigation movable base - Google Patents
Carrier forward/reverse determination method for initial alignment of combined navigation movable base Download PDFInfo
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- CN113188571B CN113188571B CN202110479962.XA CN202110479962A CN113188571B CN 113188571 B CN113188571 B CN 113188571B CN 202110479962 A CN202110479962 A CN 202110479962A CN 113188571 B CN113188571 B CN 113188571B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000001133 acceleration Effects 0.000 claims abstract description 74
- 230000004927 fusion Effects 0.000 abstract description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
- G01S19/235—Calibration of receiver components
-
- 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
- G01S19/40—Correcting position, velocity or attitude
-
- 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
- G01S19/52—Determining velocity
-
- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
Abstract
The invention discloses a carrier forward/reverse judging method for initial alignment of an integrated navigation moving base, belongs to the field of multi-information fusion, and is applied to the fields of precise agriculture, automatic driving and the like. And when the carrier forward axis acceleration is continuously greater than a certain threshold value for a plurality of epochs, namely, continuously for a period of time, performing linear fitting on the forward axis acceleration in the past period of time. If the slope of the fitted straight line is larger than the set threshold value, the carrier is in a continuous forward acceleration state or a continuous reverse deceleration state in the period of time, and the current state is defined as a carrier suspected forward state. Immediately after counting the GNSS speeds over a period of time in the future, the carrier may be determined to be in an advanced state if the GNSS speeds continue to be greater than a set threshold.
Description
Technical Field
The invention belongs to the field of multi-information fusion, is applied to the fields of precise agriculture, automatic driving and the like, and relates to a carrier advancing/backing judging method for initial alignment of a combined navigation moving base.
Background
Along with the development of agricultural automation and the popularization of national agricultural-benefit policies and the rising of the proportion of the aging of farmers, accurate agriculture gradually becomes an international research hotspot. The popularization of accurate agriculture can liberate both hands and improve work efficiency, provide land utilization, in time sow and reap, practice thrift input such as seed, reaches the target that reduces the labour, reduces the input, increase output.
An important component of accurate agricultural technology is an intelligent agricultural machine with an information acquisition and processing system. These intelligent agricultural machines generally employ Global Navigation Satellite System (GNSS), automatic monitoring and automatic control techniques, equipped with various sensors and intelligent controllers composed of microprocessors. In addition, intelligent agricultural machinery often adopts an inertial/satellite combined navigation mode to provide comprehensive position, speed and attitude information for the carrier.
The intelligent agricultural machine is generally provided with a single-antenna GNSS positioning module and an IMU at the top of a vehicle body, and provides position, speed and attitude information for a carrier by combined navigation of the GNSS and the IMU. The first step of integrated navigation is initial alignment, namely, given initial position, speed and attitude information of an IMU, wherein the position and speed information can be given by GNSS, and aiming at the course in the attitude information, the conventional practice is to estimate the initial course by using a magnetometer or obtain the initial north-pointing system of a carrier by using dual-antenna GNSS measurement or adopt optimal filtering estimation under the high dynamic maneuvering condition. For a system with a low cost single antenna and a low precision 6-axis IMU in the precise agricultural field, magnetometer information can be utilized, measurement values of double antennas are not available, and high dynamic conditions are not likely to be obtained. If it is not practical to require the user to initiate the initial alignment of the vehicle body in the north direction each time the device is activated, the initial heading can only be estimated using the GNSS speed information. The estimated heading of the GNSS speed is more precisely the estimated heading of the track rather than the heading of the vehicle head, because the estimated heading of the GNSS speed and the estimated heading of the vehicle head are exactly opposite each other in the reverse direction and are 180 degrees apart. If the forward/reverse state of the carrier cannot be correctly determined and the estimated heading of the speed is directly used for initial alignment of the integrated navigation, the integrated navigation system must be divergent.
Disclosure of Invention
[ Technical problem ]
The invention solves the technical problems that: upon initial alignment, the initial heading is estimated using the GNSS speed information, but the carrier must be in forward motion at this time, otherwise the initial heading will be 180 degrees apart.
Technical scheme
The invention provides a method for judging a carrier forward or reverse state for initial alignment of a combined navigation moving base, wherein the combined navigation is realized by utilizing a single antenna GNSS and a 6-axis IMU, and the method comprises the following steps:
(1) The suspected motion state (forward acceleration or reverse deceleration) of the carrier is judged by using the forward (axial) acceleration of the carrier,
① Judging whether the carrier is in an unknown motion state, wherein the unknown motion state refers to when the carrier is stationary or moves at a nearly uniform speed, and the acceleration of a forward axis is smaller than a threshold value;
② If the carrier is in a motion state unknown, judging the change trend of the forward axis acceleration of the carrier in a period of time, and when the forward axis acceleration of the carrier in the period of time is continuously larger than a set threshold value, performing straight line fitting on the forward axis acceleration in the period of time by using a least square method;
③ If the slope of the straight line obtained by fitting is larger than a set threshold value, defining the state of the carrier as a suspected carrier advancing state;
(2) On the basis of judging the suspected carrier advancing state, further judging whether the carrier is in the advancing state or in other states by using the GNSS speed;
if the speed of the GNSS is greater than the set threshold value from the current k time to the future k+i time, the carrier can be judged to be in a forward state, otherwise, the carrier motion state is set to be unknown.
In one embodiment of the present invention, the threshold in step (1) ① is set to 1.8m/s 2.
In one embodiment of the present invention, the method for determining the trend of the forward axis acceleration of the carrier in the step (1) ② is:
Acck>Accth
M
Acck-n>Accth
Wherein:
acc k: forward axis acceleration at carrier k;
Acc k-n: forward axis acceleration at time k-n of the carrier; for agricultural machinery, the value of n can be 3-4;
Acc th: a carrier forward axis acceleration threshold; for example 1.8m/s 2.
In one embodiment of the present invention, the method of performing the straight line fitting on the forward axis acceleration in the period of time in step (1) ② by using the least square method is:
y＝a*x+b
Wherein:
x-axis data: time increment corresponding to the acceleration of the forward axis from the moment k to the moment k-m;
y-axis data: forward axis acceleration from time k to time k-m;
m: the number of data involved in the straight line fitting, and the value of m can comprehensively consider the error of the straight line fitting and the acceleration time of the carrier.
In one embodiment of the present invention, in step (1) ③, the threshold value of the slope of the straight line may be set to 4.0.
In one embodiment of the present invention, in step (2), the method for further determining whether the carrier is in the forward state or in another state by using the GNSS speed is:
Vk>Vth
M
Vk+i>Vth
Wherein:
V k: speed of GNSS at time k;
V k+i: speed of GNSS at time k+i;
v th: GNSS speed determination threshold.
[ Advantageous effects ]
The forward acceleration and the reverse deceleration are the same state (positive) for the forward axis acceleration, and the slope of straight line fitting is very similar.
Specifically, when the carrier forward axis acceleration is greater than a certain threshold value for a plurality of consecutive epochs, that is, for a continuous period of time, the forward axis acceleration over the past period of time is fitted in a straight line. If the slope of the fitted straight line is larger than the set threshold value, the carrier is in a continuous forward acceleration state or a continuous reverse deceleration state in the period of time, and the current state is defined as a carrier suspected forward state. Immediately after counting the GNSS speeds over a period of time in the future, the carrier may be determined to be in an advanced state if the GNSS speeds continue to be greater than a set threshold. Because if the carrier is in a reverse deceleration state, the GNSS speed will continue to decrease, and it is not possible to continue to be greater than the set threshold. After the forward state is determined, the heading of the carrier can be estimated by using the speed of the GNSS to perform integrated navigation initial alignment.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
The carrier of fig. 2 continues to accelerate forward (axis) acceleration (a), acceleration trend (b), and GNSS speed change (c).
Fig. 3 shows the forward (axle) acceleration (a), acceleration change trend (b) and GNSS speed change (c) of the vehicle when accelerating and backing and braking.
Detailed Description
Example 1
The "forward" state to be determined in this embodiment refers to a state in which the carrier, that is, the headstock of the agricultural machine, moves forward, which is different from the reverse state; the "suspected forward" state includes: the carrier, i.e. the agricultural machinery, is in a state of accelerating forward or decelerating reverse.
The "front" in the "forward axis acceleration" of the present embodiment means the "front right lower or front left upper" coordinates commonly used in the art in the cartesian coordinate system where the vehicle body is located, regardless of whether the vehicle is actually accelerating or decelerating. The "acceleration" of the "forward axis acceleration" of the present embodiment represents the trend of the change in the speed. In both the acceleration forward direction and the deceleration backward direction, the "forward axis acceleration" is positive.
And (one) judging the suspected advancing state of the carrier:
(1) Judging whether the carrier is in a motion state unknown:
When the carrier is stationary or moves close to uniform speed, the acceleration of the forward axis is very small and is necessarily smaller than a set threshold value, and at the moment, the carrier can be directly judged to be in an unknown motion state. The other states are determined to be "not" motion states unknown.
(2) Judging whether the acceleration of the forward axis of the carrier is continuously larger than a set threshold value
The carrier coordinate system adopts a front-right-lower Cartesian coordinate, and when the acceleration of the forward axis of the carrier is continuously larger than a set threshold value, the carrier is possibly in a continuous forward acceleration state or a continuous backward deceleration state, and straight line fitting can be started. The method for judging the change trend of the forward axis acceleration is as follows:
Acck>Accth
M
Acck-n>Accth
Wherein:
acc k: forward axis acceleration at carrier k;
acc k-n: forward axis acceleration at time k-n of the carrier;
acc th: the carrier forward axis acceleration threshold, here taken to be 1.8m/s/s, is due to the very low farm machine dynamics.
Because of the low dynamic state of the agricultural vehicle, the acceleration and deceleration duration is short, where n=3, i.e. the forward axis acceleration of 4 consecutive epochs, is taken to satisfy the above condition. The IMU update frequency in the present invention is 50Hz, i.e. the update period is 20ms, where the duration of 4 consecutive epochs is 80ms.
(3) Forward axis acceleration straight line fitting
When the forward axis acceleration of the carrier meets the above condition (namely, the forward axis acceleration of 4 continuous epochs is larger than the forward axis acceleration threshold value of the carrier), the forward axis acceleration from the k moment to the k-m moment is subjected to straight line fitting by adopting a least square method, and m is the number of data participating in the straight line fitting. The form of the fitted straight line equation is:
y＝a*x+b
Wherein:
x-axis data: the x-axis data is the time increment corresponding to the forward axis acceleration from k to k-m, namely 0 x dt, 1 x dt … … (m-1) x dt. Where dt is the IMU update period, i.e., 0.02s.
Y-axis data: forward axis acceleration from time k to time k-m;
And m is the number of data involved in the straight line fitting, the error of the straight line fitting and the acceleration time of the carrier are comprehensively considered, and 15 is taken as m, namely the straight line fitting is carried out on the data of the past 300 ms.
(4) Judging whether the carrier is in a suspected carrier advancing state
If the slope a of the straight line is larger than the set threshold value, the carrier is in a forward continuous acceleration state or a backward continuous deceleration state, the carrier is defined as a suspected carrier forward state at the moment, and otherwise, the carrier returns to an unknown motion state.
a>Kth
Wherein:
K th: the slope threshold of the line, taking into account the lower dynamics of the carrier, here takes 4.0.
And (II) judging the real motion state of the carrier:
when the carrier motion state meets the requirement of 'suspected carrier advance', the real motion state of the carrier is judged by using the speed of the GNSS.
If the speed of the GNSS satisfies the condition that the speed of the GNSS is greater than the set threshold value from the current time k to the future time k+i, the carrier can be judged to be in the forward state. Otherwise, the IMU data is updated, and the step (1) is returned, and the carrier motion state is set as "carrier motion state unknown".
Vk>Vth
M
Vk+i>Vth
Wherein:
V k: speed of GNSS at time k;
V k+i: speed of GNSS at time k+i;
v th: the GNSS speed determination threshold, taking into account the dynamics of the carrier, here takes 0.6m/s.
In the invention, the GNSS update frequency is 10Hz, namely the period is 0.1s, and the i is taken 40, namely the speed of 4 seconds of continuous GNSS is considered to meet the threshold judgment condition.
Since the dynamics of the carrier is small (the dynamics means that the speed/acceleration/jerk of the carrier is small, the speed can be considered to be small here), if the carrier is in the continuous reverse deceleration state, the GNSS speed must be reduced to 0 within 4 seconds, and the above speed threshold judgment condition is not satisfied, that is, the continuous reverse deceleration is not judged to be continuous forward acceleration. The duration can be dynamically adjusted for different carriers and different dynamics (if an automobile carrier is used, the speed is relatively high, the reversing speed is relatively long, and the time can be prolonged according to experience).
(III) initial alignment
And after the carrier is judged to be in the forward state, the initial heading of the combined navigation is initially aligned by using the east and north speeds of the GNSS.
Example 2
As shown in fig. 2, the carrier continuously accelerates forward, and then moves at a uniform speed (similar to starting an automobile). It can be seen from fig. 2 (a) that at time periods 155 to 182, the carrier forward axis acceleration is always positive and there is a change from small to large or from large to small, and at time periods 161 and 180 the forward axis acceleration reaches a maximum and exceeds the above set threshold of 1.8m/s/s. Fig. 2 (b) shows the slope of the straight line of the real-time least squares fitting, i.e., the trend of the change in acceleration of the reaction forward axis, and it can be seen from the graph that the trend coincides with the trend of fig. 2 (a), and the maximum value is reached at epochs 162 and 180, and exceeds the above-described set threshold value of 4.0. At point 2, the carrier is judged to be in a "carrier suspected advancing" motion state. At this time, looking at FIG. 2 (c), the GNSS speed continues to increase and then stabilizes, and is greater than the above-mentioned set threshold value of 0.6m/s. At the moment, the carrier can be judged to be in a forward motion state, and the initial alignment condition of the combined navigation is met.
As shown in fig. 3, the carrier is continuously accelerated and then stopped (continuously decelerated and returned). It can be seen from fig. 3 (a) that at 80 to 120 epochs, the forward axis acceleration is always negative and there is a change of increasing first and then decreasing second. The braking process continues from epoch 107 to epoch 120. It can be seen from fig. 3 (b) that the slope of the fitted straight line is large at this time, the above-described threshold determination condition is satisfied, but the forward axis acceleration does not satisfy the above-described threshold determination condition (note that the forward axis acceleration does not satisfy the condition in this experiment, but the forward axis acceleration may satisfy the above-described condition if conditions such as "sudden braking" are present). Referring again to fig. 3 (c), when the carrier brakes, i.e., continues to decelerate, the speed of the GNSS quickly decreases to approximately 0, and the speed determination condition is not necessarily satisfied at this time, so the "continuous backward deceleration" state is not determined as the "continuous forward acceleration" state, and erroneous determination does not occur.
While the invention has been described with reference to the preferred embodiments, it is not limited thereto, and various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (6)
1. A method for determining a forward or reverse state of a carrier for initial alignment of a combined navigation mobile base, wherein the combined navigation is performed by using a single antenna GNSS and a 6-axis IMU, and the method comprises the following steps:
(1) Judging whether the carrier is in two suspected forward states of forward acceleration or reverse deceleration by using the acceleration of the carrier forward axis:
① Judging whether the carrier is in an unknown motion state, wherein the unknown motion state refers to when the carrier is stationary or moves at a uniform speed, and the acceleration of a forward axis is smaller than a threshold value at the moment;
② If the carrier is in a motion state unknown, judging the change trend of the forward axis acceleration of the carrier in a period of time, and when the forward axis acceleration of the carrier in the period of time is continuously larger than a set threshold value, performing straight line fitting on the forward axis acceleration in the period of time by using a least square method;
③ If the slope of the straight line obtained by fitting is larger than a set threshold value, defining the state of the carrier as a suspected carrier advancing state;
(2) On the basis of judging the suspected carrier advancing state, further judging whether the carrier is in the advancing state or in other states by using the GNSS speed;
If the speed of the GNSS is greater than the set threshold value from the current k time to the future k+i time, the carrier is judged to be in a forward state, otherwise, the carrier motion state is set to be unknown.
2. The method of claim 1, wherein the threshold in step (1) ① is set to 1.8m/s 2.
3. The method of claim 1, wherein the step (1) ② is a method for determining a trend of the forward axis acceleration of the carrier over a period of time, comprising:
Wherein:
acc k: forward axis acceleration at carrier k;
acc k-n: forward axis acceleration at time k-n of the carrier;
Acc th: a carrier forward axis acceleration threshold; 1.8m/s 2.
4. The method of claim 1, wherein the method of performing a straight line fitting on the forward axis acceleration in the period of time by using the least square method in step (1) ② is:
y＝a*x+b
Wherein:
x-axis data: time increment corresponding to the acceleration of the forward axis from the moment k to the moment k-m;
y-axis data: forward axis acceleration from time k to time k-m;
m: the number of data involved in the straight line fitting, and the value of m comprehensively considers the error of the straight line fitting and the acceleration time of the carrier.
5. The method of claim 1, wherein in step (1) ③, the threshold value of the slope of the straight line is set to 4.0.
6. The method of claim 1, wherein in step (2), the method of further determining whether the carrier is in the forward state or in another state using the GNSS speed is:
Wherein:
V k: speed of GNSS at time k;
V k+i: speed of GNSS at time k+i;
v th: GNSS speed determination threshold.
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| US9791575B2 (en) * | 2016-01-27 | 2017-10-17 | Novatel Inc. | GNSS and inertial navigation system utilizing relative yaw as an observable for an ins filter |
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