CN113932763B - Geomagnetic vehicle detector posture health monitoring system and method and geomagnetic vehicle detector - Google Patents
Geomagnetic vehicle detector posture health monitoring system and method and geomagnetic vehicle detector Download PDFInfo
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- 230000036541 health Effects 0.000 title claims abstract description 48
- 238000012544 monitoring process Methods 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000005259 measurement Methods 0.000 claims abstract description 60
- 238000012545 processing Methods 0.000 claims abstract description 54
- 230000004927 fusion Effects 0.000 claims abstract description 16
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- 238000004364 calculation method Methods 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims description 27
- 230000001133 acceleration Effects 0.000 claims description 17
- 238000001228 spectrum Methods 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 6
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
Abstract
The invention discloses a geomagnetic vehicle detector, a geomagnetic vehicle detector posture health monitoring system and a geomagnetic vehicle detector posture health monitoring method, wherein the geomagnetic vehicle detector posture health monitoring system comprises: the gesture measurement module and the processing module; the attitude measurement module is used for acquiring the attitude information of the geomagnetic vehicle detector in real time; the processing module is connected with the gesture measuring module and used for realizing vibration detection and gesture calculation through a fast Fourier transform and data fusion algorithm. According to the geomagnetic vehicle detector, the geomagnetic vehicle detector posture health monitoring system and the geomagnetic vehicle detector posture health monitoring method, the health state of the geomagnetic vehicle detector can be monitored by detecting the geomagnetic vehicle detector in real time, so that abnormal conditions of the geomagnetic vehicle detector can be timely acquired, and the equipment can be ensured to continuously work normally.
Description
Technical Field
The invention belongs to the technical field of electronic information, relates to a geomagnetic vehicle detector, and particularly relates to a geomagnetic vehicle detector posture health monitoring system and method.
Background
Along with the rapid rise of the automobile conservation amount in China, the 'difficult parking' becomes a main problem of driving and traveling in most cities, the state of a parking space is detected in real time, and the intelligent management of a parking lot is a key for solving the problem.
The geomagnetic parking space detector taking the magnetic resistance sensor as a basic element has the advantages of small volume, high detection precision, strong environmental adaptability and simple installation, and is an important link for developing an intelligent parking lot system, however, the phenomenon that the geomagnetic vehicle detector is stolen and artificially crushed and damaged is not lacked because the current parking lot adopts roadside open parking spaces.
The existing geomagnetic vehicle detector is usually placed in the center of a parking space, and is at risk of being stolen or manually crushed and destroyed, and the stolen or crushed vehicle detector can cause the change of gesture information.
In view of this, there is an urgent need to design a new geomagnetic vehicle detector so as to overcome at least some of the above-mentioned drawbacks of the existing geomagnetic vehicle detectors.
Disclosure of Invention
The invention provides a geomagnetic vehicle detector, a geomagnetic vehicle detector posture health monitoring system and a geomagnetic vehicle detector posture health monitoring method, which can monitor the health state of the geomagnetic vehicle detector by detecting the posture of the geomagnetic vehicle detector in real time so as to acquire the abnormal condition of the geomagnetic vehicle detector in time and ensure that equipment continuously and normally works.
In order to solve the technical problems, according to one aspect of the present invention, the following technical scheme is adopted:
a geomagnetic vehicle detector pose health monitoring system, the pose health monitoring system comprising:
the attitude measurement module is used for acquiring the attitude information of the geomagnetic vehicle detector in real time;
and the processing module is connected with the gesture measurement module and is used for realizing vibration detection and gesture calculation through a fast Fourier transform and data fusion algorithm.
As an embodiment of the present invention, the attitude measurement module includes an inertial measurement unit IMU for acquiring acceleration, velocity and displacement information of the geomagnetic vehicle detector.
As an embodiment of the present invention, the processing module includes a fast fourier transform unit for performing a fast fourier transform FFT process on the gesture information, converting the vibration acceleration signal into a spectrum signal, and extracting a vibration frequency and amplitude from the spectrum signal for realizing vibration detection.
As one embodiment of the present invention, the processing module includes an attitude angle acquisition unit configured to acquire data including an attitude angle result obtained through attitude calculation; the attitude angle results obtained by the attitude angle obtaining unit comprise pitch angles, roll angles and course angles;
the geomagnetic vehicle detector comprises a magnetic resistance sensor, and the attitude angle acquisition unit is connected with the magnetic resistance sensor and can acquire data sensed by the magnetic resistance sensor;
and the attitude angle acquisition unit utilizes the data sensed by the magnetic resistance sensor and the data acquired by the inertial measurement unit IMU in the attitude measurement module to calculate and obtain an attitude angle result through a data fusion algorithm.
As an embodiment of the present invention, the processing module includes a data fusion unit, configured to perform the following procedure:
when the geomagnetic vehicle detector is stationary in a geographic coordinate system, the gravity vector measured by the accelerometer in the inertial measurement unit is [ 0g] T The magnetic resistance sensor measures geomagnetic vector as
When the geomagnetic vehicle detector is in any posture, the measured values of the accelerometer and the magneto-resistance sensor under the machine body coordinate system are respectively expressed asAnd->
Using a rotation matrixAnd converting the gravity vector and the geomagnetic vector under the geographic coordinate system into the machine body coordinate system, and solving the pitch angle, the roll angle and the course angle.
As one embodiment of the present invention, the processing module includes a measurement reference determining unit to perform initial calibration of the inertial measurement unit IMU to determine a measurement reference of the attitude angle before the attitude is resolved;
the inertial measurement unit IMU calibration steps are as follows: the inertial measurement unit IMU is arranged on a three-axis position velocity turntable through a special tool, the IMU is turned over at different n positions, each position is kept for a set time, namely, the X, Y, Z axis of the inertial measurement unit IMU is sequentially upwards and downwards, each axial direction is upwards measured for 2 times, and the difference between the 2 times is that the position is rotated 180 degrees around the radial direction, and the output average value of the inertial measurement unit IMU at different rotation positions is obtained; and solving an IMU error parameter estimation value of the inertial measurement unit by using the measured n groups of data through a least square method.
As an embodiment of the present invention, the processing module includes:
the vibration detection unit is used for judging whether the geomagnetic vehicle detector has the phenomena of manual driving rolling and intentional chiseling breaking;
and the gesture resolving unit is used for judging whether the current state of the geomagnetic vehicle detector is possibly stolen or not.
As one embodiment of the present invention, the posture health monitoring system further includes a communication module, and the processing module is connected to the communication module; the processing module sends setting data to the server or/and the external terminal through the communication module;
the communication module is a wireless communication module, and the processing module sends the attitude angle result and the health state of the geomagnetic vehicle detector to the server or/and the external terminal in a wireless transmission mode through the wireless communication module;
the wireless communication module adopts LoRa or NB-IoT wireless communication technology to support low power consumption and long distance transmission.
According to another aspect of the invention, the following technical scheme is adopted: a geomagnetic vehicle detector comprises the geomagnetic vehicle detector posture health monitoring system.
According to a further aspect of the invention, the following technical scheme is adopted: a geomagnetic vehicle detector posture health monitoring method comprises the following steps:
s1, initializing a system;
s2, an Inertial Measurement Unit (IMU) in the attitude measurement module collects information such as acceleration, speed, displacement and the like of a geomagnetic vehicle detector and sends the information to a processing module;
s3, a processing module performs fast Fourier transform FFT processing on acceleration data in the attitude information, and converts a vibration acceleration signal into a frequency spectrum signal;
s4, extracting vibration frequency and amplitude from the frequency spectrum signal by the processing module, and calculating an attitude angle by using a data fusion algorithm;
step S5, the processing module judges whether the geomagnetic vehicle detector has the phenomena of manual driving rolling and intentional chiseling breaking through the vibration frequency and the amplitude, judges whether the current state of the geomagnetic vehicle detector has the possibility of being stolen according to the attitude angle result, if so, the processing module enters a step S6, otherwise, the processing module returns to the step S2;
and S6, reporting the attitude health state of the geomagnetic vehicle detector by the wireless communication module, and returning to the step S2.
The invention has the beneficial effects that: according to the geomagnetic vehicle detector, the geomagnetic vehicle detector posture health monitoring system and the geomagnetic vehicle detector posture health monitoring method, the health state of the geomagnetic vehicle detector can be monitored by detecting the geomagnetic vehicle detector in real time, so that abnormal conditions of the geomagnetic vehicle detector can be timely acquired, and the equipment can be ensured to continuously work normally.
Drawings
Fig. 1 is a schematic diagram of a geomagnetic vehicle detector posture health monitoring system according to an embodiment of the invention.
Fig. 2 is a schematic diagram of a geomagnetic vehicle detector posture health monitoring system according to an embodiment of the invention.
Fig. 3 is a flowchart of a method for monitoring posture health of a geomagnetic vehicle detector in an embodiment of the invention.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
For a further understanding of the present invention, preferred embodiments of the invention are described below in conjunction with the examples, but it should be understood that these descriptions are merely intended to illustrate further features and advantages of the invention, and are not limiting of the claims of the invention.
The description of this section is intended to be illustrative of only a few exemplary embodiments and the invention is not to be limited in scope by the description of the embodiments. It is also within the scope of the description and claims of the invention to interchange some of the technical features of the embodiments with other technical features of the same or similar prior art.
The description of the steps in the various embodiments in the specification is merely for convenience of description, and the implementation of the present application is not limited by the order in which the steps are implemented. "connected" in the specification includes both direct and indirect connections.
The invention discloses a geomagnetic vehicle detector posture health monitoring system, and fig. 1 and 2 are schematic diagrams of the geomagnetic vehicle detector posture health monitoring system in an embodiment of the invention; referring to fig. 1 and 2, the posture health monitoring system includes: the attitude measurement module 1 and the processing module 2. The attitude measurement module 1 is used for acquiring the attitude information of the geomagnetic vehicle detector in real time; the processing module 2 is connected with the gesture measuring module 1 and is used for realizing vibration detection and gesture calculation through a fast Fourier transform and data fusion algorithm.
In an embodiment of the present invention, the attitude measurement module 1 includes an inertial measurement unit IMU 11 for acquiring acceleration, velocity and displacement information of a geomagnetic vehicle detector.
In an embodiment of the present invention, the processing module 2 includes a fast fourier transform unit 21 for performing a fast fourier transform FFT process on the gesture information, converting the vibration acceleration signal into a spectrum signal, and extracting the vibration frequency and amplitude from the spectrum signal for vibration detection.
In an embodiment of the present invention, the processing module 2 includes an attitude angle acquiring unit 22, and the data obtained by the attitude calculation by the attitude angle acquiring unit 22 includes an attitude angle result; the attitude angle results acquired by the attitude angle acquisition unit 22 include a pitch angle, a roll angle, and a heading angle. The geomagnetic vehicle detector 3 comprises a magnetic resistance sensor 31, and the attitude angle acquisition unit 22 is connected with the magnetic resistance sensor 31 and can acquire data sensed by the magnetic resistance sensor. The attitude angle obtaining unit 22 obtains an attitude angle result by using the data sensed by the magneto-resistive sensor 31 and the data collected by the inertial measurement unit IMU 11 in the attitude measurement module 1 through a data fusion algorithm.
In an embodiment of the present invention, the processing module 2 may further include a data fusion unit 23, where the data fusion unit 23 is configured to perform the following procedure:
when the geomagnetic vehicle detector is stationary in a geographic coordinate system, the gravity vector measured by the accelerometer in the inertial measurement unit is [ 0g] T The magnetic resistance sensor measures geomagnetic vector as
When the geomagnetic vehicle detector is in any posture, the measured values of the accelerometer and the magneto-resistance sensor under the machine body coordinate system are respectively expressed asAnd->
Using a rotation matrixAnd converting the gravity vector and the geomagnetic vector under the geographic coordinate system into the machine body coordinate system, and solving the pitch angle, the roll angle and the course angle.
In an embodiment of the invention, the processing module 2 further comprises a measurement reference determination unit 24, the measurement reference determination unit 24 being adapted to perform an initial calibration of the inertial measurement unit IMU 11 prior to the pose solution to determine a measurement reference for the pose angle.
The calibration steps of the inertial measurement unit IMU 11 are: the inertial measurement unit IMU is arranged on a triaxial position velocity turntable through a special tool, the IMU is turned over at different n positions, the set time is kept at each position (more than 1min, data can be sampled at 100Hz, of course, the sampling frequency can be also sampled at 50Hz for 3 min), namely the X, Y, Z axis of the inertial measurement unit IMU is sequentially upwards and downwards, one axial direction is upwards measured for 2 times, and the difference of the 2 times is that the positions are rotated 180 degrees around the radial direction, so that the output average value of the inertial measurement unit IMU at different rotation positions is obtained; and solving an IMU error parameter estimation value of the inertial measurement unit by using the measured n groups of data through a least square method. The direction of the sky is the direction of the zenith, the navigation coordinate system used in inertial navigation is the northeast-north-sky coordinate system, the X axis points to the east, the Y axis points to the north, and the Z axis points to the zenith.
In an embodiment of the present invention, the processing module 2 further includes a vibration detecting unit 25 and an attitude resolving unit 26, where the vibration detecting unit 25 is configured to determine whether the geomagnetic vehicle detector has a phenomenon of man-made driving rolling and intentional breaking; the gesture resolving unit 26 is used for determining whether the current state of the geomagnetic vehicle detector is likely to be stolen.
In an embodiment of the present invention, the gesture health monitoring system further includes a communication module 4, and the processing module is connected to the communication module; the processing module sends setting data to the server or/and the external terminal through the communication module. The communication module 4 may be a wireless communication module, and the processing module sends the attitude angle result and the health status of the geomagnetic vehicle detector to the server or/and the external terminal in a wireless transmission mode through the wireless communication module. In one embodiment, the wireless communication module supports low power consumption, long range transmissions using LoRa or NB-IoT wireless communication technology.
The invention also discloses a geomagnetic vehicle detector, which comprises the geomagnetic vehicle detector posture health monitoring system.
The invention further discloses a method for monitoring the posture health of the geomagnetic vehicle detector, and FIG. 3 is a flow chart of the method for monitoring the posture health of the geomagnetic vehicle detector in an embodiment of the invention; referring to fig. 3, the method for monitoring the posture health of the geomagnetic vehicle detector includes the following steps:
s1, initializing a system;
s2, an Inertial Measurement Unit (IMU) in the attitude measurement module collects information such as acceleration, speed, displacement and the like of a geomagnetic vehicle detector and sends the information to a processing module;
s3, a processing module performs fast Fourier transform FFT processing on acceleration data in the attitude information, and converts a vibration acceleration signal into a frequency spectrum signal;
s4, extracting vibration frequency and amplitude from the frequency spectrum signal by the processing module, and calculating an attitude angle by using a data fusion algorithm;
step S5, the processing module judges whether the geomagnetic vehicle detector has the phenomena of manual driving rolling and intentional chiseling breaking through the vibration frequency and the amplitude, judges whether the current state of the geomagnetic vehicle detector has the possibility of being stolen according to the attitude angle result, if so, the processing module enters a step S6, otherwise, the processing module returns to the step S2;
and S6, reporting the attitude health state of the geomagnetic vehicle detector by the wireless communication module, and returning to the step S2.
In summary, the geomagnetic vehicle detector posture health monitoring system and the geomagnetic vehicle detector posture health monitoring method can monitor the health state of the geomagnetic vehicle detector by detecting the posture of the geomagnetic vehicle detector in real time, so that abnormal conditions of the geomagnetic vehicle detector can be acquired in time, and continuous normal operation of equipment is ensured.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware; for example, an Application Specific Integrated Circuit (ASIC), a general purpose computer, or any other similar hardware device may be employed. In some embodiments, the software programs of the present application may be executed by a processor to implement the above steps or functions. Likewise, the software programs of the present application (including related data structures) may be stored in a computer-readable recording medium; such as RAM memory, magnetic or optical drives or diskettes, and the like. In addition, some steps or functions of the present application may be implemented in hardware; for example, as circuitry that cooperates with the processor to perform various steps or functions.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The description and applications of the present invention herein are illustrative and are not intended to limit the scope of the invention to the embodiments described above. Effects or advantages referred to in the embodiments may not be embodied in the embodiments due to interference of various factors, and description of the effects or advantages is not intended to limit the embodiments. Variations and modifications of the embodiments disclosed herein are possible, and alternatives and equivalents of the various components of the embodiments are known to those of ordinary skill in the art. It will be clear to those skilled in the art that the present invention may be embodied in other forms, structures, arrangements, proportions, and with other assemblies, materials, and components, without departing from the spirit or essential characteristics thereof. Other variations and modifications of the embodiments disclosed herein may be made without departing from the scope and spirit of the invention.
Claims (7)
1. A geomagnetic vehicle detector posture health monitoring system, characterized in that the posture health monitoring system comprises:
the attitude measurement module is used for acquiring the attitude information of the geomagnetic vehicle detector in real time;
the processing module is connected with the gesture measurement module and used for realizing vibration detection and gesture calculation through a fast Fourier transform and data fusion algorithm;
the attitude measurement module comprises an Inertial Measurement Unit (IMU) and is used for acquiring acceleration, speed and displacement information of the geomagnetic vehicle detector;
the processing module comprises an attitude angle acquisition unit, wherein the data obtained by attitude calculation through the attitude angle acquisition unit comprises an attitude angle result; the attitude angle results obtained by the attitude angle obtaining unit comprise pitch angles, roll angles and course angles;
the geomagnetic vehicle detector comprises a magnetic resistance sensor, and the attitude angle acquisition unit is connected with the magnetic resistance sensor and can acquire data sensed by the magnetic resistance sensor;
the attitude angle acquisition unit obtains an attitude angle result by utilizing data sensed by the magnetic resistance sensor and data acquired by an Inertial Measurement Unit (IMU) in the attitude measurement module through a data fusion algorithm;
the processing module comprises a data fusion unit for executing the following processes:
when the geomagnetic vehicle detector is stationary in a geographic coordinate system, the gravity vector measured by the accelerometer in the inertial measurement unit is [ 0g] T The magnetic resistance sensor measures geomagnetic vector as
When the geomagnetic vehicle detector is in any posture, the measured values of the accelerometer and the magneto-resistance sensor under the machine body coordinate system are respectively expressed asAnd->
Using a rotation matrixAnd converting the gravity vector and the geomagnetic vector under the geographic coordinate system into the machine body coordinate system, and solving the pitch angle, the roll angle and the course angle.
2. The geomagnetic vehicle detector pose health monitoring system of claim 1, wherein:
the processing module comprises a fast Fourier transform unit which is used for carrying out fast Fourier transform FFT processing on the gesture information, converting the vibration acceleration signal into a frequency spectrum signal, and extracting the vibration frequency and the amplitude from the frequency spectrum signal for realizing vibration detection.
3. The geomagnetic vehicle detector pose health monitoring system of claim 1, wherein:
the processing module comprises a measurement reference determining unit, wherein the measurement reference determining unit is used for carrying out initial calibration on an Inertial Measurement Unit (IMU) before gesture calculation so as to determine a measurement reference of a gesture angle;
the inertial measurement unit IMU calibration steps are as follows: the inertial measurement unit IMU is arranged on a three-axis position velocity turntable through a special tool, the IMU is turned over at different n positions, each position is kept for a set time, namely, the X, Y, Z axis of the inertial measurement unit IMU is sequentially upwards and downwards, each axial direction is upwards measured for 2 times, and the difference between the 2 times is that the position is rotated 180 degrees around the radial direction, and the output average value of the inertial measurement unit IMU at different rotation positions is obtained; and solving an IMU error parameter estimation value of the inertial measurement unit by using the measured n groups of data through a least square method.
4. The geomagnetic vehicle detector pose health monitoring system of claim 1, wherein:
the processing module comprises:
the vibration detection unit is used for judging whether the geomagnetic vehicle detector has the phenomena of manual driving rolling and intentional chiseling breaking;
and the gesture resolving unit is used for judging whether the current state of the geomagnetic vehicle detector is possibly stolen or not.
5. The geomagnetic vehicle detector pose health monitoring system of claim 1, wherein:
the gesture health monitoring system further comprises a communication module, and the processing module is connected with the communication module; the processing module sends setting data to the server or/and the external terminal through the communication module;
the communication module is a wireless communication module, and the processing module sends the attitude angle result and the health state of the geomagnetic vehicle detector to the server or/and the external terminal in a wireless transmission mode through the wireless communication module;
the wireless communication module adopts LoRa or NB-IoT wireless communication technology to support low power consumption and long distance transmission.
6. The utility model provides a geomagnetic vehicle detector which characterized in that: comprising a geomagnetic vehicle detector pose health monitoring system as defined in any of claims 1 to 5.
7. The attitude health monitoring method of the geomagnetic vehicle detector is characterized by comprising the following steps of:
s1, initializing a system;
s2, an Inertial Measurement Unit (IMU) in the attitude measurement module collects acceleration, speed and displacement information of a geomagnetic vehicle detector and sends the acceleration, speed and displacement information to the processing module;
s3, a processing module performs fast Fourier transform FFT processing on acceleration data in the attitude information, and converts a vibration acceleration signal into a frequency spectrum signal;
s4, extracting vibration frequency and amplitude from the frequency spectrum signal by the processing module, and calculating an attitude angle by using a data fusion algorithm;
step S5, the processing module judges whether the geomagnetic vehicle detector has the phenomena of manual driving rolling and intentional chiseling breaking through the vibration frequency and the amplitude, judges whether the current state of the geomagnetic vehicle detector has the possibility of being stolen according to the attitude angle result, if so, the processing module enters a step S6, otherwise, the processing module returns to the step S2;
step S6, the wireless communication module reports the attitude health state of the geomagnetic vehicle detector, and returns to the step S2;
the attitude measurement module comprises an Inertial Measurement Unit (IMU) and is used for acquiring acceleration, speed and displacement information of a geomagnetic vehicle detector;
the processing module comprises an attitude angle acquisition unit, wherein the data obtained by attitude calculation through the attitude angle acquisition unit comprises an attitude angle result; the attitude angle results obtained by the attitude angle obtaining unit comprise pitch angles, roll angles and course angles; the geomagnetic vehicle detector comprises a magnetic resistance sensor, and the attitude angle acquisition unit is connected with the magnetic resistance sensor and can acquire data sensed by the magnetic resistance sensor;
the attitude angle acquisition unit obtains an attitude angle result by utilizing data sensed by the magnetic resistance sensor and data acquired by an Inertial Measurement Unit (IMU) in the attitude measurement module through a data fusion algorithm;
the processing module comprises a data fusion unit for executing the following processes:
when the geomagnetic vehicle detector is stationary in a geographic coordinate system, the gravity vector measured by the accelerometer in the inertial measurement unit is [ 0g] T The magnetic resistance sensor measures geomagnetic vector as
When the geomagnetic vehicle detector is in any posture, the measured values of the accelerometer and the magneto-resistance sensor under the machine body coordinate system are respectively expressed asAnd->
Using a rotation matrixAnd converting the gravity vector and the geomagnetic vector under the geographic coordinate system into the machine body coordinate system, and solving the pitch angle, the roll angle and the course angle.
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| CN109029455A (en) * | 2018-07-17 | 2018-12-18 | 济南浪潮高新科技投资发展有限公司 | A kind of indoor navigation method |
| CN113340305A (en) * | 2021-07-06 | 2021-09-03 | 哈尔滨理工大学 | Hydraulic support attitude monitoring method based on MEMS |
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