CN113624260A - Odometer pulse equivalent calibration method and device, electronic equipment and storage medium - Google Patents
Odometer pulse equivalent calibration method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention relates to the field of coal mining, and discloses a method and a device for calibrating pulse equivalent of an odometer, electronic equipment and a storage medium, wherein the method is applied to a positioning system, the positioning system comprises a vehicle, inertial navigation deployed on the vehicle and the odometer deployed on a wheel of the vehicle, and the method comprises the following steps: acquiring the pulse number of the odometer in a sampling period; calculating a pulse equivalent value of the odometer by using the pulse number and the wheel radius of the vehicle; constructing a route error model between the odometer and the inertial navigation based on first route information of the vehicle obtained through the odometer calculation and second route information of the vehicle obtained through the inertial navigation calculation; and calibrating the pulse equivalent value by using a least square method principle and a path error model. The technical problem that the vehicle positioning is inaccurate due to the fact that the odometer equivalent cannot be calibrated in a vehicle positioning scheme based on the inertial navigation odometer combined system in the related technology is solved.
Description
Technical Field
The invention relates to the field of coal mining, in particular to a method and a device for calibrating pulse equivalent of a speedometer, electronic equipment and a storage medium.
Background
The odometer is an angle sensor installed on a wheel shaft, the output angle of the odometer is given in a form that pulse numbers or pulses are converted into digital communication, the driving distance of a vehicle can be calculated according to the pulse numbers output by the odometer under the condition that the radius of a wheel is known, the vehicle positioning under a coal mine can be realized by combining inertial navigation and a coal mining machine odometer, the application range is very wide, for example, the coal mining machine positioning is realized by combining the inertial navigation and the coal mining machine odometer, the alignment of a fully mechanized mining face is realized on the basis of combining the inertial navigation and the coal mining machine odometer, and the centimeter-level accurate positioning is realized by tightly coupling an encoder and inertial equipment. However, in these applications, rough values of the odometer equivalent are obtained in advance and then used, and the calibration results during the vehicle operation cannot be accurately reflected.
In view of the above technical problems in the related art, no effective solution has been proposed at present.
Disclosure of Invention
In view of the above problems, the present invention provides a method and an apparatus for calibrating pulse equivalent of an odometer, an electronic device, and a storage medium, so as to at least solve the technical problem in the related art that a vehicle positioning method based on an inertial navigation odometer combined system cannot calibrate the pulse equivalent of the odometer, which results in inaccurate vehicle positioning.
In a first aspect, the present invention provides an odometer pulse equivalent calibration method, applied to a positioning system, where the positioning system includes a vehicle, an inertial navigation system deployed on the vehicle, and an odometer deployed on a wheel of the vehicle, and the odometer pulse equivalent calibration method includes: acquiring the pulse number of the odometer in a sampling period; calculating a pulse equivalent value corresponding to the odometer by using the pulse number and the wheel radius of the vehicle; constructing a route error model between the odometer and the inertial navigation system based on first route information of the vehicle calculated by the odometer and second route information of the vehicle calculated by the inertial navigation system; and calibrating the pulse equivalent value by using a least square method principle and the path error model.
Optionally, before constructing the route error model between the odometer and the inertial navigation system based on the first route information of the vehicle calculated by the odometer and the second route information of the vehicle calculated by the inertial navigation system, the method further includes: constructing a geographic coordinate system e and a navigation coordinate system n of the vehicle relative to the earth; wherein, the geographic coordinate system takes the geocenter as the center of a circle, and the connecting line of the geocenter and the point with the longitude as zero is xeAxle, center and weftThe line connecting the zero-degree points is yeThe axis and the earth center are connected with the north pole by zeA right-hand rectangular coordinate system of the axis, the navigation coordinate system n is a centroid of the inertial navigation system as a circle center, and the horizontal eastern direction is xnThe axis and horizontal north direction are ynRight hand rectangular coordinate system of axes.
Optionally, the constructing a route error model between the odometer and the inertial navigation system based on the first route information of the vehicle calculated by the odometer and the second route information of the vehicle calculated by the inertial navigation system includes: calculating the first trip information using the pulse equivalent value and a trip measurement model of the odometer; calculating first angular speed information corresponding to the odometer according to the first route information and the pulse equivalent value; constructing a position posture differential model of the inertial navigation system by using the first angular velocity information, the earth rotation angular velocity information and the angular velocity information of the vehicle; performing integral calculation on the position posture differential model to obtain the second path information; and generating the route error model by calculating the difference between the first route information and the second route information.
Optionally, the calculating the first angular velocity information corresponding to the odometer according to the first route information and the pulse equivalent value includes: calculating speed information corresponding to the odometer according to the first route information, the pulse equivalent value, the sampling period and the attitude quaternion of the vehicle; and calculating the first angular velocity information by using the velocity information, the geographical latitude information corresponding to the vehicle, the altitude information corresponding to the vehicle, the meridian curvature radius corresponding to the vehicle and the prime-unitary curvature radius corresponding to the vehicle.
Optionally, the constructing a position and attitude differential model of the inertial navigation system by using the first angular velocity information, the earth rotation angular velocity information, and the angular velocity information of the vehicle includes: constructing an attitude angle differential model of the inertial navigation system according to the first angle information, the earth rotation angular velocity information and the angular velocity information of the vehicle; constructing a velocity differential model of the inertial navigation system based on accelerometer output and gravitational acceleration of the inertial navigation system by using the attitude angle measurement model; and constructing the position posture differential model according to the speed differential model of the inertial navigation system, the geographical latitude information corresponding to the vehicle, the altitude information corresponding to the vehicle, the meridian curvature radius corresponding to the vehicle and the prime circle curvature radius corresponding to the vehicle.
Optionally, the performing integral calculation on the position posture differential model to obtain the second path information includes: performing integral calculation on the position and posture differential model to obtain position information of the vehicle, wherein the position information comprises latitude information, longitude information and altitude information; and calculating second route information corresponding to the inertial navigation system by using the latitude information, the longitude information and the altitude information.
Optionally, the calibrating the pulse equivalent value by using the principle of the least square method and the path error model includes: collecting a plurality of pulse equivalent error values corresponding to a plurality of sampling moments to construct a pulse equivalent error model of the odometer; wherein the pulse equivalent error model is a matrix equation constructed from an accelerometer null error of the inertial navigation system and the plurality of pulse equivalent error values; when the vehicle does non-uniform acceleration motion, processing the route error model by utilizing a least square method principle to obtain a pulse equivalent error value of the odometer; and calibrating the pulse equivalent value by using the pulse equivalent error value.
In a second aspect, the present invention provides an odometer pulse equivalent calibration device, applied to a positioning system, where the positioning system includes a vehicle, an inertial navigation system deployed on the vehicle, and an odometer deployed on a wheel of the vehicle, and the device includes: the acquisition module is used for acquiring the pulse number of the odometer in a sampling period; the calculation module is used for calculating a pulse equivalent value corresponding to the odometer by utilizing the pulse number and the wheel radius of the vehicle; the first construction module is used for constructing a route error model between the odometer and the inertial navigation system based on first route information obtained by calculation of the odometer and second route information obtained by calculation of the inertial navigation system; and the calibration module is used for calibrating the pulse equivalent value by utilizing a least square method principle and the path error model.
Optionally, the apparatus further comprises: the second construction module is used for constructing a geographic coordinate system e and a navigation coordinate system n of the vehicle relative to the earth before the first construction module constructs a route error model between the odometer and the inertial navigation system based on the first route information of the vehicle calculated by the odometer and the second route information of the vehicle calculated by the inertial navigation system; wherein, the geographic coordinate system takes the geocenter as the center of a circle, and the connecting line of the geocenter and the point with the longitude as zero is xeThe connecting line of the axis, the geocentric and the point with zero latitude is yeThe axis and the earth center are connected with the north pole by zeA right-hand rectangular coordinate system of the axis, the navigation coordinate system n is a centroid of the inertial navigation system as a circle center, and the horizontal eastern direction is xnThe axis and horizontal north direction are ynRight hand rectangular coordinate system of axes.
Optionally, the first building module includes: a first calculation unit for calculating the first trip information using the pulse equivalent value and a trip measurement model of the odometer; the second calculation unit is used for calculating first angular speed information corresponding to the odometer according to the first route information and the pulse equivalent value; the first construction unit is used for constructing a position and attitude differential model of the inertial navigation system by utilizing the first angular velocity information, the earth rotation angular velocity information and the angular velocity information of the vehicle; the third calculation unit is used for carrying out integral calculation on the position and posture differential model to obtain the second route information; and the fourth calculating unit is used for generating the route error model by calculating the difference between the first route information and the second route information.
Optionally, the second calculating unit includes: the first calculating subunit is used for calculating speed information corresponding to the odometer according to the first route information, the pulse equivalent value, the sampling period and the attitude quaternion of the vehicle; and the second calculating subunit is configured to calculate the first angular velocity information by using the speed information, the geographical latitude information corresponding to the vehicle, the altitude information corresponding to the vehicle, the meridian curvature radius corresponding to the vehicle, and the prime circle curvature radius corresponding to the vehicle.
Optionally, the first building unit includes: the first construction subunit is used for constructing an attitude angle differential model of the inertial navigation system according to the first angle information, the earth rotation angular velocity information and the angular velocity information of the vehicle; the second construction subunit is used for constructing a velocity differential model of the inertial navigation system based on the accelerometer output and the gravity acceleration of the inertial navigation system by using the attitude angle measurement model; and the third construction subunit is used for constructing the position and posture differential model according to the speed differential model of the inertial navigation system, the geographical latitude information corresponding to the vehicle, the altitude information corresponding to the vehicle, the meridian curvature radius corresponding to the vehicle and the prime and unitary curvature radius corresponding to the vehicle.
Optionally, the third computing unit includes: the third calculation subunit is used for performing integral calculation on the position and posture differential model to obtain position information of the vehicle, wherein the position information comprises latitude information, longitude information and altitude information; and the fourth calculating subunit is used for calculating second route information corresponding to the inertial navigation system by using the latitude information, the longitude information and the altitude information.
Optionally, the calibration module includes: the second construction unit is used for acquiring a plurality of pulse equivalent error values corresponding to a plurality of sampling moments to construct a pulse equivalent error model of the odometer; wherein the pulse equivalent error model is a matrix equation constructed from an accelerometer null error of the inertial navigation system and the plurality of pulse equivalent error values; the processing unit is used for processing the route error model by utilizing a least square method principle to obtain a pulse equivalent error value of the odometer when the vehicle does non-uniform acceleration motion; and the calibration unit is used for calibrating the pulse equivalent value by using the pulse equivalent error value.
In a third aspect, there is also provided an electronic device comprising a memory having a computer program stored therein and a processor configured to execute the computer program to perform the steps of any of the above method embodiments.
In a fourth aspect, a storage medium is provided, in which a computer program is stored, wherein the computer program is configured to perform the steps in any of the above apparatus embodiments when executed.
The odometer pulse equivalent calibration method provided by the embodiment of the invention is applied to a positioning system based on an inertial navigation system and an odometer, the positioning system comprises a vehicle, the inertial navigation system deployed on the vehicle and the odometer deployed on wheels of the vehicle, and the pulse number of the odometer in a sampling period is obtained in the driving process of the vehicle; calculating a pulse equivalent value of the odometer by using the pulse number and the wheel radius of the vehicle; constructing a route error model between the odometer and the inertial navigation system based on first route information obtained by computing the odometer and second route information obtained by computing the inertial navigation system; the pulse equivalent value is calibrated by using a least square method and a path error model, so that the technical problem of inaccurate vehicle positioning caused by incapability of calibrating the odometer equivalent value in a vehicle positioning scheme based on an inertial navigation odometer combined system in the related technology is solved, the path of the vehicle is not required to be measured in advance, the method can be applied to mines or other places which cannot be covered by a GPS, and the method can be used for detecting the space coordinate trajectory of a travelling mechanism with an encoder, and has high accuracy; the running mechanism does not need to run along a straight line or a broken line strictly; the given running process design rule of the running mechanism is simple and visual.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below.
Fig. 1 is a block diagram of a hardware structure of a odometer pulse equivalent calibration method applied to a computer terminal according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an inertial navigation odometer combination according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for odometer pulse equivalent calibration according to an embodiment of the invention;
FIG. 4 is a schematic diagram of a coordinate system for odometer pulse equivalent calibration according to an embodiment of the present invention;
fig. 5 is a block diagram of a structure of an odometer pulse equivalent calibrating device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that such uses are interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the term "include" and its variants are to be read as open-ended terms meaning "including, but not limited to".
In order to solve the technical problems in the related art, the present embodiment provides a method for calibrating pulse equivalent of a odometer. The following describes the technical solution of the present invention and how to solve the above technical problems with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
The method provided by the embodiment of the invention can be executed in a mobile terminal, a server, a computer terminal or a similar operation device. Taking the operation on a computer terminal as an example, fig. 1 is a block diagram of a hardware structure of a method for calibrating pulse equivalent of a speedometer applied to a computer terminal according to an embodiment of the present invention. As shown in fig. 1, the computer terminal may include one or more (only one shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, and optionally, a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration and is not intended to limit the structure of the computer terminal. For example, the computer terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program and a module of an application software, such as a computer program corresponding to the odometer pulse equivalent calibration method in the embodiment of the present invention, and the processor 102 executes the computer program stored in the memory 104 to execute various functional applications and data processing, i.e., to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory, and may also include volatile memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to a computer terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the computer terminal. In one example, the transmission device 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
In an application scenario of the present disclosure, fig. 2 is a schematic diagram of an inertial navigation odometer combination application provided according to an embodiment of the present disclosure, and as shown in fig. 2, the odometer equivalent calibration method for the inertial navigation odometer combination system is directed to a system including an inertial navigation meter 2 deployed on a heading machine, a coal mining machine and various related vehicle bodies 1, and an odometer 4 deployed on a wheel axle 3.
Fig. 3 is a flowchart of a method for calibrating an impulse equivalent of an odometer according to an embodiment of the present invention, where as shown in fig. 3, the flowchart includes the following steps:
step S302, acquiring the pulse number of the odometer in a sampling period;
step S304, calculating a pulse equivalent value corresponding to the odometer by using the pulse number and the wheel radius of the vehicle;
step S306, constructing a route error model between the odometer and the inertial navigation system based on first route information of the vehicle obtained through calculation of the odometer and second route information of the vehicle obtained through calculation of the inertial navigation system;
before the step S306, a geographic coordinate system e and a navigation coordinate system n of the vehicle relative to the earth are constructed; wherein the geographic coordinate system takes the geocenter as the center of a circle, and the connecting line of the geocenter and a point with zero longitude is xeThe connecting line of the axis, the geocentric and the point with zero latitude is yeThe axis and the earth center are connected with the north pole by zeA right-hand rectangular coordinate system of the axis, a navigation coordinate system n taking the centroid of the inertial navigation system as the center of circle and a horizontal eastern direction as xnThe axis and horizontal north direction are ynRight hand rectangular coordinate system of axes.
In an optional embodiment of the scheme, the first route information is calculated by using a pulse equivalent value and a route measurement model of the odometer; calculating first angular speed information corresponding to the odometer according to the first route information and the pulse equivalent value; constructing a position posture differential model of the inertial navigation system by using the first angular velocity information, the earth rotation angular velocity information and the angular velocity information of the vehicle; performing integral calculation on the position posture differential model to obtain second path information; and generating a route error model by calculating the difference between the first route information and the second route information.
Further, calculating speed information corresponding to the odometer according to the first route information, the pulse equivalent value, the sampling period and the posture quaternion of the vehicle; and calculating the first angular velocity information by using the speed information, the geographical latitude information corresponding to the vehicle, the altitude information corresponding to the vehicle, the meridian curvature radius corresponding to the vehicle and the prime circle curvature radius corresponding to the vehicle.
Further, constructing an attitude angle differential model of the inertial navigation system according to the first angle information, the earth rotation angular velocity information and the angular velocity information of the vehicle; constructing a velocity differential model of the inertial navigation system based on accelerometer output and gravity acceleration of the inertial navigation system by using the attitude angle measurement model; and constructing a position posture differential model according to the speed differential model of the inertial navigation system, the geographical latitude information corresponding to the vehicle, the altitude information corresponding to the vehicle, the meridian curvature radius corresponding to the vehicle and the prime-unitary circle curvature radius corresponding to the vehicle.
Further, performing integral calculation on the position and posture differential model to obtain position information of the vehicle, wherein the position information comprises latitude information, longitude information and altitude information; and calculating second route information corresponding to the inertial navigation system by using the latitude information, the longitude information and the altitude information.
And step S308, calibrating the pulse equivalent value by using a least square method principle and a path error model.
In an optional aspect of the present disclosure, calibrating the pulse equivalent value using a least squares principle and a path error model includes: collecting a plurality of pulse equivalent error values corresponding to a plurality of sampling moments to construct a pulse equivalent error model of the odometer; the pulse equivalent error model is a matrix equation constructed by an accelerometer zero error of an inertial navigation system and a plurality of pulse equivalent error values; when the vehicle does non-uniform acceleration motion, processing the route error model by using the principle of a least square method to obtain a pulse equivalent error value of the odometer; and calibrating the pulse equivalent value by using the pulse equivalent error value.
The odometer pulse equivalent calibration method provided by the embodiment of the invention is applied to a positioning system based on inertial navigation and an odometer, the positioning system comprises a vehicle, the inertial navigation deployed on the vehicle and the odometer deployed on wheels of the vehicle, and the pulse number of the odometer in a sampling period is obtained in the driving process of the vehicle; calculating a pulse equivalent value of the odometer by using the pulse number and the wheel radius of the vehicle; constructing a route error model between the odometer and the inertial navigation based on first route information obtained through calculation of the odometer and second route information obtained through calculation of the inertial navigation; the pulse equivalent value is calibrated by using a least square method and a path error model, so that the technical problem of inaccurate vehicle positioning caused by incapability of calibrating the odometer equivalent value in a vehicle positioning scheme based on an inertial navigation odometer combined system in the related technology is solved, the path of the vehicle is not required to be measured in advance, the method can be applied to mines or other places which cannot be covered by a GPS, and the method can be used for detecting the space coordinate trajectory of a travelling mechanism with an encoder, and has high accuracy; the running mechanism does not need to run along a straight line or a broken line strictly; the given running process design rule of the running mechanism is simple and visual.
The invention will be further described with reference to specific embodiments:
fig. 2 shows a positioning system for an odometer equivalent calibration method of an inertial navigation odometer combination system, the relationship between coordinate systems related to the invention is shown in fig. 4, fig. 4 is a schematic diagram of a coordinate system for odometer pulse equivalent calibration provided according to an embodiment of the invention, an earth coordinate system e is fixedly connected with the earth, and longitude, latitude and altitude of a vehicle on the earth are all relative to the earthThe coordinate system is defined. The earth coordinate system e takes the earth center as the center of a circle, and the point connecting line of the earth center and the longitude and latitude which are zero is xeThe axis, the earth center and the north pole are connected by zeAxis, xe、yeAnd zeAnd forming a right-hand rectangular coordinate system. The origin of the navigation coordinate system n is at the inertial navigation centroid, xnHorizontally east, ynHorizontally north, znPointing vertically towards the sky. The inertial navigation coordinate system b is fixedly connected with the vehicle body, xbThe axis being directed to the right side of the vehicle body, ybThe axis being directed forwardly of the body, zbThe axis pointing above the vehicle body, xb、ybAnd zbAnd forming a right-hand rectangular coordinate system.
The odometer measurement model (i.e., the distance measurement model) is:
s＝kod·Nod (1)
wherein: s is the distance corresponding to the output of the odometer (i.e. the first distance information); k is a radical ofodIs a mileometer equivalent, i.e., the amount that the invention needs to be calibrated; n is a radical ofodThe number of pulses output for the odometer.
In the embodiment, an inertial navigation system is initialized in a static state, the acceleration of the vehicle reaches 80km/h after the inertial navigation is initialized, and the vehicle is decelerated to stop after the vehicle runs for 4 minutes at the speed; then, according to the wheel radius design value
And the number N of pulses of one revolution of the odometerrRoughly calculating the odometer equivalent
Comprises the following steps:
the odometer rough trip information (i.e., the first trip information) calculated from the odometer rough equivalent (i.e., the pulse equivalent value) and the odometer output is:
the odometer rough speed information (i.e. the speed information corresponding to the odometer) calculated according to the odometer rough equivalent and the odometer output is as follows:
wherein:
is tk-1To tkA representation of the average velocity between moments in a navigation coordinate system;
and
are respectively as
Velocity components in the east, north, and sky directions; n is a radical ofodkIs tkThe accumulated pulse number of the time odometer; n is a radical ofodk-1Is tk-1The accumulated pulse number of the time odometer; t issA sampling period for odometry data; q is a quaternion representing the vehicle attitude and is given by inertial navigation resolving;
representing a quaternion multiplication operation.
Computing
For calculating the angular velocity of a navigation system relative to a geographical system caused by the movement of the vehicle
(i.e., the first angular velocity information) is utilized in the inertial navigation solution process
In place of equation
To simplify the inertial navigation error equation. Angular velocity
The calculation formula of (2) is as follows:
in formula (5): l and h are the geographical latitude (i.e. the geographical latitude information) and the altitude (i.e. the altitude information), respectively, and are given by inertial navigation solution; rMAnd RNAnd calculating the radius of curvature of the meridian circle and the radius of curvature of the unitary fourth-quarter circle according to L and h.
In the calibration process, the attitude differential equation of inertial navigation (i.e. the attitude differential model of inertial navigation) is:
in the formula:
calculating the rotation angular velocity of the earth according to the longitude and latitude;
the angular velocity of the vehicle is measured by inertial navigation.
In the calibration process, the velocity differential equation of the inertial navigation (i.e. the differential model of the inertial navigation) is:
in formula (7): f. ofbFor acceleration in inertial navigationThe output of the meter; gnAnd calculating the local gravity acceleration according to the longitude and latitude.
In the calibration process, the position and attitude differential equation of inertial navigation (i.e. the position and attitude differential model of inertial navigation) is:
in the formula (8), vE、vN、vUIs a VnThree components of (a).
Further, integration is carried out by adopting a numerical method to obtain the latitude containing the error
Longitude (G)
And height
T calculated from inertial navigation positioning resultkThe distance information of the time is
(i.e., the second route information):
the second route information contains errors in addition to the actual route information. The test size time is short, generally about 5 minutes, and for a high-precision gyroscope, the influence of the high-precision gyroscope on the distance is small, so that the test size time is ignored, and only the zero position error of the longitudinal accelerometer is considered
Sum equivalent error δ kaInfluence of (3), course information of inertial navigation
The following were used:
the mileage meter has the following components:
wherein:
further, a path error model is calculated to obtain:
wherein the odometer equivalent error δ kod(i.e., the path error model described above) and accelerometer equivalent error δ kaThe effect on δ s is the same. Therefore, it is impossible to calculate δ k from δ s separatelyodAnd δ ka。δkodThe calibration precision requirement of (1) is generally about 0.001, and the equivalent error delta k of an accelerometer in inertial navigationaNot more than 0.0001. Therefore, δ k can be ignoredaThe effect on deltas, i.e.,
wherein δ s (k) is the difference between the distance given by the odometer and the inertial navigation,
zero error of accelerometer, tkIs time, δ kodFor odometry equivalent error, s (k) is the true range.
Therefore, as long as the vehicle is notThe delta s at different moments can be calculated by always making uniform acceleration motion
And δ kodThe analysis was as follows: assuming that the vehicle makes uniform acceleration motion at the acceleration a, the real distance is as follows:
thus, in conjunction with the real distance, the difference between the distance given by the odometer and the inertial navigation is expressed as:
in the case of uniform acceleration of the vehicle, δ kodAnd
the influence on δ s (k) is quadratic in time. Therefore, δ k cannot be calculated from the sequences δ s (1), δ s (2) … δ s (k)od。
In the actual calibration process, the vehicle always accelerates from a static state, then keeps the speed in a certain range to move for a period of time, and finally decelerates to stop, and the movement process can avoid the delta k caused by uniform acceleration movementodThe problem of being unable to estimate.
Alternatively, the distance measured by an odometer
The approximation replaces the s (k) true path, the error thereby introduced is a negligible second order small quantity, i.e.,
and constructing a matrix equation in the calibration process to obtain:
Z＝HX (17)
wherein:
when the vehicle is not in a uniform acceleration motion,
if it is not a quadratic function of time, the first column of the matrix H will not be correlated with the second column, and the rank of the matrix H is equal to 2, so using the least squares method it can be obtained:
X＝(HTH)-1HTZ (18)
the second component of X is the odometry equivalent error δ kod(i.e., the pulse equivalent error value) using δ kodFor odometer rough equivalent
And (3) correcting to obtain a calibration result:
through the implementation steps, the embodiment of the invention provides the odometer equivalent calibration method for the inertial navigation odometer combined navigation system, and the odometer equivalent calibration is realized by adopting least square fitting inertial navigation and distance information given by an odometer; the method does not need to measure the running distance of the vehicle in advance, is applied to a mine or other places which cannot be covered by a GPS, and carries out space coordinate track detection on a running mechanism with an encoder; the running mechanism does not need to run along a straight line or a broken line strictly; the running process of the applied running mechanism is simple and visual according to the design rule.
Based on the odometer pulse equivalent calibration method provided in each of the above embodiments, based on the same inventive concept, the present embodiment further provides an odometer pulse equivalent calibration device, which is used to implement the above embodiments and preferred embodiments, and the description of the device is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 5 is a block diagram of an odometer pulse equivalent calibrating apparatus provided according to an embodiment of the present invention, as shown in fig. 5, the apparatus is applied to a positioning system, the positioning system includes a vehicle, an inertial navigation system disposed on the vehicle, and an odometer disposed on a wheel of the vehicle, the apparatus includes: an obtaining module 50, configured to obtain a pulse number of the odometer in a sampling period; a calculating module 52, connected to the obtaining module 50, for calculating a pulse equivalent value corresponding to the odometer by using the number of pulses and a wheel radius of the vehicle; a first construction module 54, connected to the calculation module 52, for constructing a route error model between the odometer and the inertial navigation system based on the first route information calculated by the odometer and the second route information calculated by the inertial navigation system; and a calibration module 56, connected to the first building module 54, for calibrating the pulse equivalent value using the least square method principle and the path error model.
Optionally, the apparatus further comprises: the second construction module is used for constructing a geographic coordinate system e and a navigation coordinate system n of the vehicle relative to the earth before the first construction module constructs a route error model between the odometer and the inertial navigation system based on the first route information of the vehicle obtained through the odometer calculation and the second route information of the vehicle obtained through the inertial navigation system calculation; wherein the geographic coordinate system takes the geocenter as the center of a circle, and the connecting line of the geocenter and a point with zero longitude is xeThe connecting line of the axis, the geocentric and the point with zero latitude is yeThe axis and the earth center are connected with the north pole by zeA right-hand rectangular coordinate system of the axis, a navigation coordinate system n taking the centroid of the inertial navigation system as the center of circle and a horizontal eastern direction as xnThe axis and horizontal north direction are ynRight hand rectangular coordinate system of axes.
Optionally, the first building block 54 includes: the first calculation unit is used for calculating first route information by using the pulse equivalent value and a route measurement model of the odometer; the second calculation unit is used for calculating first angular speed information corresponding to the odometer according to the first route information and the pulse equivalent value; the first construction unit is used for constructing a position and attitude differential model of the inertial navigation system by utilizing the first angular velocity information, the earth rotation angular velocity information and the angular velocity information of the vehicle; the third calculation unit is used for carrying out integral calculation on the position and posture differential model to obtain second route information; and the fourth calculating unit is used for generating a route error model by calculating the difference between the first route information and the second route information.
Optionally, the second calculating unit includes: the first calculating subunit is used for calculating speed information corresponding to the odometer according to the first route information, the pulse equivalent value, the sampling period and the posture quaternion of the vehicle; and the second calculating subunit is used for calculating the first angular velocity information by utilizing the speed information, the geographical latitude information corresponding to the vehicle, the altitude information corresponding to the vehicle, the meridian curvature radius corresponding to the vehicle and the prime circle curvature radius corresponding to the vehicle.
Optionally, the first building unit includes: the first construction subunit is used for constructing an attitude angle differential model of the inertial navigation system according to the first angle information, the earth rotation angular velocity information and the angular velocity information of the vehicle; the second construction subunit is used for constructing a velocity differential model of the inertial navigation system based on the accelerometer output and the gravity acceleration of the inertial navigation system by using the attitude angle measurement model; and the third construction subunit is used for constructing a position posture differential model according to the speed differential model of the inertial navigation system, the geographical latitude information corresponding to the vehicle, the altitude information corresponding to the vehicle, the meridian curvature radius corresponding to the vehicle and the prime-and-unitary curvature radius corresponding to the vehicle.
Optionally, the third computing unit includes: the third calculation subunit is used for performing integral calculation on the position and posture differential model to obtain the position information of the vehicle, wherein the position information comprises latitude information, longitude information and altitude information; and the fourth calculating subunit is used for calculating second route information corresponding to the inertial navigation system by using the latitude information, the longitude information and the altitude information.
Optionally, the calibration module 56 includes: the second construction unit is used for acquiring a plurality of pulse equivalent error values corresponding to a plurality of sampling moments to construct a pulse equivalent error model of the odometer; the pulse equivalent error model is a matrix equation constructed by an accelerometer zero error of an inertial navigation system and a plurality of pulse equivalent error values; the processing unit is used for processing the route error model by utilizing a least square method principle to obtain a pulse equivalent error value of the odometer when the vehicle does non-uniform acceleration motion; and the calibration unit is used for calibrating the pulse equivalent value by using the pulse equivalent error value.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, acquiring the pulse number of the odometer in a sampling period;
s2, calculating a pulse equivalent value corresponding to the odometer by using the pulse number and the wheel radius of the vehicle;
s3, constructing a route error model between the odometer and the inertial navigation system based on first route information of the vehicle calculated by the odometer and second route information of the vehicle calculated by the inertial navigation system;
and S4, calibrating the pulse equivalent value by using a least square method principle and the path error model.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Based on the above embodiments of the method shown in fig. 3 and the apparatus shown in fig. 5, in order to achieve the above object, an embodiment of the present invention further provides an electronic device, as shown in fig. 6, including a memory 62 and a processor 61, where the memory 62 and the processor 61 are both disposed on a bus 63, and the memory 62 stores a computer program, and the processor 61 implements the odometer pulse equivalent calibration method shown in fig. 3 when executing the computer program.
Based on such understanding, the technical solution of the present invention can be embodied in the form of a software product, which can be stored in a memory (which can be a CD-ROM, a usb disk, a removable hard disk, etc.), and includes several instructions for enabling an electronic device (which can be a personal computer, a server, or a network device, etc.) to execute the method according to the implementation scenarios of the present invention.
Optionally, the device may also be connected to a user interface, a network interface, a camera, Radio Frequency (RF) circuitry, sensors, audio circuitry, a WI-FI module, and so forth. The user interface may include a Display screen (Display), an input unit such as a keypad (Keyboard), etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (e.g., a bluetooth interface, WI-FI interface), etc.
It will be understood by those skilled in the art that the structure of an electronic device provided in the present embodiment does not constitute a limitation of the physical device, and may include more or less components, or some components in combination, or a different arrangement of components.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An odometer pulse equivalent weight calibration method is applied to a positioning system, wherein the positioning system comprises a vehicle, an inertial navigation system deployed on the vehicle and an odometer deployed on a wheel of the vehicle, and the odometer pulse equivalent weight calibration method comprises the following steps:
acquiring the pulse number of the odometer in a sampling period;
calculating a pulse equivalent value corresponding to the odometer by using the pulse number and the wheel radius of the vehicle;
constructing a route error model between the odometer and the inertial navigation system based on first route information of the vehicle calculated by the odometer and second route information of the vehicle calculated by the inertial navigation system;
and calibrating the pulse equivalent value by using a least square method principle and the path error model.
2. The method of claim 1, wherein prior to constructing the range error model between the odometer and the inertial navigation system based on the first range information of the vehicle calculated by the odometer and the second range information of the vehicle calculated by the inertial navigation system, the method further comprises:
constructing a geographic coordinate system e and a navigation coordinate system n of the vehicle relative to the earth;
wherein, the geographic coordinate system takes the geocenter as the center of a circle, and the connecting line of the geocenter and the point with the longitude as zero is xeThe connecting line of the axis, the geocentric and the point with zero latitude is yeThe axis and the earth center are connected with the north pole by zeA right-hand rectangular coordinate system of the axis, the navigation coordinate system n is a centroid of the inertial navigation system as a circle center, and the horizontal eastern direction is xnThe axis and horizontal north direction are ynRight hand rectangular coordinate system of axes.
3. The method of claim 1, wherein constructing the range error model between the odometer and the inertial navigation system based on first range information of the vehicle calculated by the odometer and second range information of the vehicle calculated by the inertial navigation system comprises:
calculating the first trip information using the pulse equivalent value and a trip measurement model of the odometer;
calculating first angular speed information corresponding to the odometer according to the first route information and the pulse equivalent value;
constructing a position posture differential model of the inertial navigation system by using the first angular velocity information, the earth rotation angular velocity information and the angular velocity information of the vehicle;
performing integral calculation on the position posture differential model to obtain the second path information;
and generating the route error model by calculating the difference between the first route information and the second route information.
4. The method of claim 3, wherein the calculating the first angular velocity information corresponding to the odometer from the first trip information and the pulse equivalent value comprises:
calculating speed information corresponding to the odometer according to the first route information, the pulse equivalent value, the sampling period and the attitude quaternion of the vehicle;
and calculating the first angular velocity information by using the velocity information, the geographical latitude information corresponding to the vehicle, the altitude information corresponding to the vehicle, the meridian curvature radius corresponding to the vehicle and the prime-unitary curvature radius corresponding to the vehicle.
5. The method of claim 3, wherein the constructing a position attitude differential model of the inertial navigation system using the first angular velocity information, the earth rotational angular velocity information, and the angular velocity information of the vehicle comprises:
constructing an attitude angle differential model of the inertial navigation system according to the first angle information, the earth rotation angular velocity information and the angular velocity information of the vehicle;
constructing a velocity differential model of the inertial navigation system based on accelerometer output and gravitational acceleration of the inertial navigation system by using the attitude angle measurement model;
and constructing the position posture differential model according to the speed differential model of the inertial navigation system, the geographical latitude information corresponding to the vehicle, the altitude information corresponding to the vehicle, the meridian curvature radius corresponding to the vehicle and the prime circle curvature radius corresponding to the vehicle.
6. The method of claim 3, wherein the integrating the position and orientation differential model to obtain the second path information comprises:
performing integral calculation on the position and posture differential model to obtain position information of the vehicle, wherein the position information comprises latitude information, longitude information and altitude information;
and calculating second route information corresponding to the inertial navigation system by using the latitude information, the longitude information and the altitude information.
7. The method according to any one of claims 1-6, wherein said calibrating the pulse equivalent value using a least squares principle and the range error model comprises:
collecting a plurality of pulse equivalent error values corresponding to a plurality of sampling moments to construct a pulse equivalent error model of the odometer; wherein the pulse equivalent error model is a matrix equation constructed from an accelerometer null error of the inertial navigation system and the plurality of pulse equivalent error values;
when the vehicle does non-uniform acceleration motion, processing the route error model by utilizing a least square method principle to obtain a pulse equivalent error value of the odometer;
and calibrating the pulse equivalent value by using the pulse equivalent error value.
8. An odometer pulse equivalent calibration device, for use in a positioning system including a vehicle, an inertial navigation system deployed on the vehicle, and an odometer deployed on a wheel of the vehicle, the device comprising:
the acquisition module is used for acquiring the pulse number of the odometer in a sampling period;
the calculation module is used for calculating a pulse equivalent value corresponding to the odometer by utilizing the pulse number and the wheel radius of the vehicle;
the first construction module is used for constructing a route error model between the odometer and the inertial navigation system based on first route information obtained by calculation of the odometer and second route information obtained by calculation of the inertial navigation system;
and the calibration module is used for calibrating the pulse equivalent value by utilizing a least square method principle and the path error model.
9. An electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A storage medium having a computer program stored thereon, the computer program, when being executed by a processor, realizing the steps of the method of any one of claims 1 to 7.
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