CN114019954A - Course installation angle calibration method and device, computer equipment and storage medium - Google Patents
Course installation angle calibration method and device, computer equipment and storage medium Download PDFInfo
- Publication number
- CN114019954A CN114019954A CN202111186646.XA CN202111186646A CN114019954A CN 114019954 A CN114019954 A CN 114019954A CN 202111186646 A CN202111186646 A CN 202111186646A CN 114019954 A CN114019954 A CN 114019954A
- Authority
- CN
- China
- Prior art keywords
- course
- angle
- information
- time
- zero offset
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000009434 installation Methods 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000004590 computer program Methods 0.000 claims description 25
- 230000008859 change Effects 0.000 claims description 19
- 238000004364 calculation method Methods 0.000 claims description 17
- 238000012937 correction Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 241000197727 Euscorpius alpha Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
The application relates to a course installation angle calibration method, a course installation angle calibration device, computer equipment and a storage medium. The method comprises the following steps: acquiring initial gyro zero offset, a fixed distance and angular speed information, vehicle wheel speed, course angle information and track angle information of each information acquisition moment in a driving time period; determining a course offset corresponding to each information acquisition moment according to the initial gyroscope zero offset, the fixed distance, the angular speed information, the course angle information and the vehicle wheel speed; correcting the flight path angle information according to the course offset, and obtaining a course mounting angle corresponding to each information acquisition moment according to the corrected flight path angle information and the corrected course angle information; determining a course mounting angle weight corresponding to the course mounting angle according to the speed of the vehicle; and carrying out weighted average according to the course mounting angle and the weight of the course mounting angle to obtain a course mounting angle calibration result. The method can improve the calibration precision of the course installation angle.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a method and an apparatus for calibrating a heading installation angle, a computer device, and a storage medium.
Background
In the field of automatic driving technology, a combined Navigation algorithm of a Global Navigation Satellite System (GNSS) and an inertial Navigation System is generally used to estimate information such as the attitude, speed, and position of an automatic driving vehicle. The global navigation satellite system composed of double antennas is often adopted for estimation, the global navigation satellite system can provide position and speed information and course information along the directions of the double antennas, the course information can improve the course accuracy of the integrated navigation algorithm and can also provide a course initial value for the integrated navigation system, and the system initialization is convenient. However, the global navigation satellite system has installation errors with the longitudinal axis of the vehicle, which can cause the combined navigation system to have fixed course errors, and the state estimation of the automatic driving vehicle is influenced, so that the course installation angle between the global navigation satellite system and the longitudinal axis of the vehicle needs to be calibrated. The vehicle longitudinal axis refers to the longitudinal axis direction of the vehicle coordinate system.
In the conventional technology, a commonly adopted course mounting angle calibration method is to directly calculate by using the geometric position of a double antenna of a global navigation satellite system.
However, due to the irregular shape of the vehicle, the course mounting angle calibration performed by the traditional method has measurement errors and the problem of low calibration precision of the course mounting angle.
Disclosure of Invention
In view of the above, it is necessary to provide a heading installation angle calibration method, apparatus, computer device and storage medium capable of improving the accuracy of the heading installation angle calibration.
A method of course mount angle calibration, the method comprising:
acquiring initial gyro zero offset, a fixed distance, and angular speed information, vehicle wheel speed, course angle information and track angle information of each information acquisition moment in a driving time period, wherein the fixed distance is the distance between a vehicle steering center and a main antenna in a global navigation satellite system;
determining a course offset corresponding to each information acquisition moment according to the initial gyroscope zero offset, the fixed distance, the angular speed information, the course angle information and the vehicle wheel speed;
correcting the flight path angle information according to the course offset, and obtaining a course mounting angle corresponding to each information acquisition moment according to the corrected flight path angle information and the corrected course angle information;
determining a course mounting angle weight corresponding to the course mounting angle according to the speed of the vehicle;
and carrying out weighted average according to the course mounting angle and the weight of the course mounting angle to obtain a course mounting angle calibration result.
In one embodiment, determining a heading offset corresponding to each information acquisition time based on the initial gyro zero offset, the fixed distance, the angular velocity information, the heading angle information, and the vehicle wheel speed comprises:
iteratively calculating the gyro zero offset corresponding to each information acquisition moment according to the initial gyro zero offset, the course angle information and the angular speed information;
and obtaining the course offset corresponding to each information acquisition moment according to the fixed distance, the gyro zero offset corresponding to each information acquisition moment, the angular speed information and the vehicle wheel speed.
In one embodiment, iteratively calculating the gyro zero offset corresponding to each information acquisition time according to the initial gyro zero offset, the heading angle information and the angular velocity information comprises:
taking the initial gyro zero offset as a gyro zero offset corresponding to the initial driving time, and taking the initial driving time as the current time;
obtaining the gyro zero offset corresponding to the predicted time according to the gyro zero offset and the course angle information corresponding to the current time, and the course angle information and the angular speed information corresponding to the predicted time, wherein the predicted time is the next time corresponding to the current time;
updating the predicted time to the current time, estimating the gyro zero offset of the predicted time corresponding to the updated current time until the predicted time corresponding to the updated current time is the driving termination time in the driving time period, and obtaining the gyro zero offset corresponding to each information acquisition time.
In one embodiment, obtaining the gyro zero offset corresponding to the predicted time according to the gyro zero offset corresponding to the current time, the heading angle information corresponding to the predicted time, and the angular velocity information includes:
determining a course angle difference value according to course angle information corresponding to the prediction moment and course angle information corresponding to the current moment;
acquiring a time interval between the current moment and the prediction moment, and determining a course change angular speed according to the time interval and the course angular difference;
and obtaining the gyro zero offset corresponding to the predicted time according to the course change angular speed, the angular speed information corresponding to the predicted time and the gyro zero offset corresponding to the current time.
In one embodiment, determining a heading stagger angle weight corresponding to the heading stagger angle based on the wheel speed of the vehicle comprises:
determining the maximum vehicle wheel speed in the running time period according to the vehicle wheel speed;
and determining the course mounting angle weight corresponding to the course mounting angle according to the maximum vehicle wheel speed and the vehicle wheel speed corresponding to the course mounting angle.
In one embodiment, performing a weighted average according to the heading mount angle and the heading mount angle weight to obtain a heading mount angle calibration result comprises:
obtaining the total course mounting angle weight according to the course mounting angle weight, and determining the corresponding information acquisition time number according to the driving time period;
superposing the course mounting angle and the corresponding course mounting angle weight to obtain a superposed course mounting angle;
and obtaining a course mounting angle calibration result according to the superimposed course mounting angle, the total course mounting angle weight and the information acquisition time number.
In one embodiment, the correcting the track angle information according to the heading offset, and the obtaining the heading installation angle corresponding to each information acquisition time according to the corrected track angle information and the corrected heading angle information comprises:
correcting the track angle information according to the course offset to obtain corrected track angle information;
determining the angle difference between the course angle and the corrected track angle according to the course angle information and the corrected track angle information;
and obtaining a course mounting angle corresponding to each information acquisition moment according to the angle difference.
A course mounting angle calibration device, the device comprising:
the acquisition module is used for acquiring initial gyro zero offset, a fixed distance and angular speed information, vehicle wheel speed, course angle information and track angle information of each information acquisition moment in a driving time period, wherein the fixed distance is the distance between a vehicle steering center and a main antenna in a global navigation satellite system;
the processing module is used for determining a course offset corresponding to each information acquisition moment according to the initial gyroscope zero offset, the fixed distance, the angular speed information, the course angle information and the vehicle wheel speed;
the correction module is used for correcting the track angle information according to the course offset, and obtaining a course installation angle corresponding to each information acquisition moment according to the corrected track angle information and the corrected course angle information;
the weight calculation module is used for determining the course mounting angle weight corresponding to the course mounting angle according to the speed of the vehicle;
and the weighted calculation module is used for carrying out weighted average according to the course mounting angle and the weight of the course mounting angle to obtain a course mounting angle calibration result.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring initial gyro zero offset, a fixed distance, and angular speed information, vehicle wheel speed, course angle information and track angle information of each information acquisition moment in a driving time period, wherein the fixed distance is the distance between a vehicle steering center and a main antenna in a global navigation satellite system;
determining a course offset corresponding to each information acquisition moment according to the initial gyroscope zero offset, the fixed distance, the angular speed information, the course angle information and the vehicle wheel speed;
correcting the flight path angle information according to the course offset, and obtaining a course mounting angle corresponding to each information acquisition moment according to the corrected flight path angle information and the corrected course angle information;
determining a course mounting angle weight corresponding to the course mounting angle according to the speed of the vehicle;
and carrying out weighted average according to the course mounting angle and the weight of the course mounting angle to obtain a course mounting angle calibration result.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring initial gyro zero offset, a fixed distance, and angular speed information, vehicle wheel speed, course angle information and track angle information of each information acquisition moment in a driving time period, wherein the fixed distance is the distance between a vehicle steering center and a main antenna in a global navigation satellite system;
determining a course offset corresponding to each information acquisition moment according to the initial gyroscope zero offset, the fixed distance, the angular speed information, the course angle information and the vehicle wheel speed;
correcting the flight path angle information according to the course offset, and obtaining a course mounting angle corresponding to each information acquisition moment according to the corrected flight path angle information and the corrected course angle information;
determining a course mounting angle weight corresponding to the course mounting angle according to the speed of the vehicle;
and carrying out weighted average according to the course mounting angle and the weight of the course mounting angle to obtain a course mounting angle calibration result.
The course installation angle calibration method, the device, the computer equipment and the storage medium determine the course offset corresponding to each information acquisition time according to the initial gyro zero offset, the fixed distance, the angular velocity information, the course angle information and the vehicle wheel speed, can realize the correction of the track angle information by using the course offset, reduce the influence of the vehicle steering on the track angle, obtain the course installation angle corresponding to each information acquisition time according to the corrected track angle information and the course angle information, can directly estimate the course installation angle according to the relation between the course angle and the track angle, avoid the influence of measurement errors, determine the course installation angle weight corresponding to the course installation angle according to the vehicle wheel speed, can realize the weighted average of the course installation angle and the course installation angle weight to obtain the high-precision installation angle calibration result, and the calibration precision of the course installation angle is improved.
Drawings
FIG. 1 is a schematic flow chart of a method for calibrating a heading installation angle in one embodiment;
FIG. 2 is a parameter diagram of a method for calibrating a heading installation angle in one embodiment;
FIG. 3 is a schematic flow chart of a method for calibrating a heading installation angle in another embodiment;
FIG. 4 is a schematic flow chart illustrating a method for calibrating a heading installation angle according to yet another embodiment;
FIG. 5 is a block diagram of a course mounting angle calibration apparatus according to an embodiment;
FIG. 6 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, a heading installation angle calibration method is provided, and this embodiment is exemplified by applying the method to a server, it is to be understood that the method may also be applied to a terminal, and may also be applied to a system including a terminal and a server, and is implemented by interaction between the terminal and the server. The terminal can be but is not limited to various personal computers, notebook computers, smart phones, tablet computers, portable wearable devices and intelligent driving vehicle computing platforms, and the server can be realized by an independent server or a server cluster formed by a plurality of servers. In this embodiment, the method includes the steps of:
and 102, acquiring initial gyro zero offset, a fixed distance, and angular speed information, vehicle wheel speed, course angle information and track angle information of each information acquisition moment in a driving time period, wherein the fixed distance is the distance between a vehicle steering center and a main antenna in the global navigation satellite system.
The initial gyro zero offset refers to the calculated Z-axis gyro zero offset of the inertia measurement unit according to the Z-axis angular velocity measured value of the inertia measurement unit when the vehicle is static, and the calculated Z-axis gyro zero offset is the same as the Z-axis angular velocity measured value of the inertia measurement unit. For example, when the Z-axis angular velocity measurement is w, the initial gyro has zero bias bg — w. The fixed distance is the distance between the vehicle steering center and the main antenna in the global navigation satellite system and can be measured by a ruler or a laser range finder. For example, as shown in fig. 2, the vehicle steering center may specifically be the center of the rear wheel of the vehicle, and the fixed distance may specifically be the distance (i.e., R in the illustration) from the center of the rear wheel of the vehicle to the main antenna in the global navigation satellite system.
The driving time period refers to the time required for the vehicle to complete one complete driving. For example, the driving time period may specifically refer to the time required for the vehicle to move from a standstill to a movement and then move to a standstill. The information acquisition time refers to the time for acquiring angular velocity information, vehicle wheel speed, course angle information and track angle information. For example, the information collection time may be a collection time point determined according to a preset collection interval. The angular velocity information refers to angular velocity obtained by an inertial measurement unit. The vehicle wheel speed refers to a measurement value (V _ CAR in fig. 2) obtained by a sensor that measures the vehicle wheel speed. For example, the sensor for measuring the wheel speed of the vehicle may specifically be a wheel speed meter, and the wheel speed of the vehicle may be acquired through an On Board Diagnostics (OBD) interface of the vehicle.
As shown in fig. 2, the gnss includes a master antenna and a slave antenna (the positions of which are respectively represented by two circles in fig. 2, where a circle close to the center of a rear wheel represents the position of the slave antenna, and a circle far from the center of the rear wheel represents the position of the master antenna), the master antenna is used for position measurement, speed measurement and track angle measurement, the slave antenna is used for heading angle measurement, an included angle between a connection line of the installation positions of the two antennas (i.e., a vector from the antenna to the master antenna) and the east direction is a heading angle (i.e., a heading angle in fig. 2), the heading angle can be obtained by the gnss measurement, and the principle can be understood that the master antenna and the slave antenna respectively measure a longitude and latitude position, and the difference between the latitude and the longitude is a tangent value of the heading angle.
The principle of the method is that the relative speed between the antenna and the satellite of the global navigation satellite system can be calculated through the doppler effect between the antenna and the satellite, the speed of the satellite can be calculated through analyzing satellite signals, when a sufficient number of satellites (at least four satellites) exist, the east-direction speed and the north-direction speed of the antenna of the global navigation satellite system can be calculated, the included angle between the speed vector of the antenna of the global navigation satellite system and the east direction, namely the track angle (the course angle in fig. 2), is obtained, and the speed vector of the antenna of the global navigation satellite system is also obtained (the V _ GNSS in fig. 2).
It should be noted that the difference between the heading angle and the track angle is: the course angle is an included angle between a connecting line of the installation positions of the double antennas and the main east, the difference between the course angle and the orientation of the vehicle is a fixed constant, and the track angle is an included angle between the motion direction of the main antenna and the main east and is irrelevant to the orientation of the vehicle.
Specifically, when course installation angle calibration is needed, the server obtains initial gyro zero offset, fixed distance, and angular speed information, vehicle wheel speed, course angle information, and track angle information of each information acquisition time in a driving time period.
And step 104, determining a course offset corresponding to each information acquisition moment according to the initial gyroscope zero offset, the fixed distance, the angular speed information, the course angle information and the vehicle wheel speed.
When the vehicle starts moving, the vehicle has a slight angular velocity, which results in that the velocity direction of the GNSS main antenna is not exactly parallel to the longitudinal axis of the vehicle, i.e. V _ GNSS and V _ CAR in fig. 2 are not parallel, but there is a heading offset (i.e. alpha angle in fig. 2), which is generated because: on one hand, the vehicle has a speed parallel to the vehicle direction, which can be directly measured by a wheel speed meter, i.e. V _ CAR, and on the other hand, since the vehicle has an angular velocity in motion, the rotation center of which is the center of the rear axle of the vehicle, which causes a right-direction speed in the direction of the main antenna, and the speed of the main antenna of the global navigation satellite system is the sum of the wheel speed and the right-direction speed of the vehicle, it is necessary to calculate the speed deviation caused by the vehicle angular velocity.
Specifically, the server iteratively calculates a gyro zero offset corresponding to each information acquisition time according to the initial gyro zero offset, the fixed distance and the angular speed information, determines a right-direction speed generated in the main antenna direction corresponding to each information acquisition time according to the fixed distance, the gyro zero offset corresponding to each information acquisition time and the angular speed information, and obtains a course offset corresponding to each information acquisition time by using the right-direction speed and the vehicle wheel speed. The iterative calculation of the gyro zero offset corresponding to each information acquisition time refers to that the gyro zero offset corresponding to the initial driving time is determined according to the initial gyro zero offset, then the gyro zero offset at the next time is determined according to the gyro zero offset corresponding to the initial driving time, and the gyro zero offset at the next time is calculated according to the gyro zero offset at the next time until the gyro zero offset corresponding to the driving termination time is calculated, so that the iterative calculation is completed. Wherein, the next time refers to the next time corresponding to the next time.
And 106, correcting the flight path angle information according to the course offset, and obtaining a course mounting angle corresponding to each information acquisition moment according to the corrected flight path angle information and the corrected course angle information.
The heading mounting angle refers to an angle between a connection line of two antennas in the global navigation satellite system and a longitudinal axis of the vehicle, that is, the GNSS mounting angle in fig. 2.
Specifically, after the course offset is obtained, the server corrects the track angle information according to the course offset, obtains the angle difference between the course angle and the corrected track angle according to the corrected track angle information and the course angle information, and takes the angle difference as a course installation angle.
And step 108, determining the course mounting angle weight corresponding to the course mounting angle according to the wheel speed of the vehicle.
Specifically, the server may determine a maximum vehicle wheel speed within the driving time period according to the vehicle wheel speed, and may determine a heading mount angle weight corresponding to the heading mount angle according to the maximum vehicle wheel speed and the vehicle wheel speed corresponding to the heading mount angle.
And step 110, carrying out weighted average according to the course mounting angle and the weight of the course mounting angle to obtain a course mounting angle calibration result.
Specifically, the server performs weighted average on the course mounting angle and the corresponding course mounting angle weight to obtain a course mounting angle calibration result, wherein the course mounting angle calibration result is the weighted average course mounting angle.
The course installation angle calibration method determines the course offset corresponding to each information acquisition moment according to the initial gyroscope zero offset, the fixed distance, the angular speed information, the course angle information and the vehicle wheel speed, can realize the correction of the track angle information by utilizing the course offset, reduces the influence of vehicle steering on the track angle, the course mounting angle corresponding to each information acquisition moment is obtained according to the corrected track angle information and the course angle information, the course mounting angle can be directly estimated according to the relation between the course angle and the track angle, the influence of measurement errors is avoided, by determining the course installation angle weight corresponding to the course installation angle according to the vehicle wheel speed, the weighted average of the course installation angle and the course installation angle weight can be realized, the high-precision course installation angle calibration result can be obtained, and the course installation angle calibration precision can be improved.
In one embodiment, determining a heading offset corresponding to each information acquisition time based on the initial gyro zero offset, the fixed distance, the angular velocity information, the heading angle information, and the vehicle wheel speed comprises:
iteratively calculating the gyro zero offset corresponding to each information acquisition moment according to the initial gyro zero offset, the course angle information and the angular speed information;
and obtaining the course offset corresponding to each information acquisition moment according to the fixed distance, the gyro zero offset corresponding to each information acquisition moment, the angular speed information and the vehicle wheel speed.
Specifically, the server takes the initial gyro zero offset as the gyro zero offset corresponding to the initial driving time, determines the gyro zero offset at the next time according to the gyro zero offset and the course angle information corresponding to the initial driving time, and the course angle information and the angular speed information corresponding to the next time, calculates the gyro zero offset at the next time according to the gyro zero offset and the course angle information at the next time, and the course angle information and the angular speed information corresponding to the next time, and finishes iterative calculation until the gyro zero offset corresponding to the final driving time is calculated. Wherein, the next time refers to the next time corresponding to the next time.
Specifically, the server calculates a right speed generated in the main antenna direction corresponding to each information acquisition time according to a fixed distance, a gyro zero offset corresponding to each information acquisition time and angular speed information, and obtains a course offset corresponding to each information acquisition time by using the right speed and the vehicle wheel speed. The formula for calculating the heading offset may be alpha (k) ═ atan ((w-bg (k) × R/V _ CAR), where k denotes the information acquisition time, w is the angular velocity information, bg is the gyro zero offset, R is the fixed distance, and V _ CAR is the wheel speed of the vehicle.
In this embodiment, the gyro zero offset corresponding to each information acquisition time is iteratively calculated according to the initial gyro zero offset, the course angle information and the angular velocity information, so that the real-time updating of the gyro zero offset can be realized, the error of the gyro zero offset is reduced, the course offset corresponding to each information acquisition time is obtained according to the fixed distance, the gyro zero offset corresponding to each information acquisition time, the angular velocity information and the vehicle wheel speed, and the calculation of the course offset corresponding to each information acquisition time is realized.
In one embodiment, iteratively calculating the gyro zero offset corresponding to each information acquisition time according to the initial gyro zero offset, the heading angle information and the angular velocity information comprises:
taking the initial gyro zero offset as a gyro zero offset corresponding to the initial driving time, and taking the initial driving time as the current time;
obtaining the gyro zero offset corresponding to the predicted time according to the gyro zero offset and the course angle information corresponding to the current time, and the course angle information and the angular speed information corresponding to the predicted time, wherein the predicted time is the next time corresponding to the current time;
updating the predicted time to the current time, estimating the gyro zero offset of the predicted time corresponding to the updated current time until the predicted time corresponding to the updated current time is the driving termination time in the driving time period, and obtaining the gyro zero offset corresponding to each information acquisition time.
Specifically, after the vehicle moves, the gyro zero offset may change, so the gyro zero offset corresponding to each information acquisition time needs to be updated by using the heading angle information. And the server takes the initial gyro zero offset as the gyro zero offset corresponding to the initial driving time and starts iterative computation by taking the initial driving time as the current time. During iterative calculation, the server obtains the gyro zero offset corresponding to the predicted time according to the gyro zero offset and the course angle information corresponding to the current time, and the course angle information and the angular speed information corresponding to the predicted time, updates the predicted time to the current time, continues iterative calculation of the gyro zero offset of the predicted time corresponding to the updated current time until the predicted time corresponding to the updated current time is the driving termination time in the driving time period, and obtains the gyro zero offset corresponding to each information acquisition time.
In this embodiment, the initial gyro zero offset is used to obtain the gyro zero offset corresponding to the initial driving time, and then the initial driving time is used as the current time to start iterative computation of the gyro zero offset corresponding to each information acquisition time, so that the gyro zero offset corresponding to each information acquisition time can be updated, and the angular velocity measurement accuracy of the inertial measurement unit can be improved by using the updated gyro zero offset.
In one embodiment, obtaining the gyro zero offset corresponding to the predicted time according to the gyro zero offset corresponding to the current time, the heading angle information corresponding to the predicted time, and the angular velocity information includes:
determining a course angle difference value according to course angle information corresponding to the prediction moment and course angle information corresponding to the current moment;
acquiring a time interval between the current moment and the prediction moment, and determining a course change angular speed according to the time interval and the course angular difference;
and obtaining the gyro zero offset corresponding to the predicted time according to the course change angular speed, the angular speed information corresponding to the predicted time and the gyro zero offset corresponding to the current time.
Specifically, when the gyro zero offset corresponding to the prediction time is obtained, the server determines a course angle difference value according to course angle information corresponding to the prediction time and course angle information corresponding to the current time, then obtains a time interval between the current time and the prediction time, determines a course change angular velocity according to the time interval and the course angle difference value, calculates the course change angular velocity and an angular velocity difference value of the angular velocity information corresponding to the prediction time, and obtains the gyro zero offset corresponding to the prediction time according to the angular velocity difference value, the gyro zero offset corresponding to the current time and a preset gyro zero offset update coefficient, wherein the preset gyro zero offset update coefficient can be automatically set as required and is a numerical value between 0 and 1.
For example, the calculation formula of the gyro zero offset corresponding to the predicted time may be:
bg (k +1) ═ beta × bg (k) + (1-beta) ((leading (k +1) -leading (k))/t-w), where k +1 denotes the predicted time, k denotes the current time, bg (k +1) is the gyro zero offset corresponding to the predicted time, beta is the preset gyro zero offset update coefficient, bg (k) is the gyro zero offset corresponding to the current time, leading (k +1) is the heading angle information corresponding to the predicted time, leading (k) is the heading angle information corresponding to the current time, t is the time interval, and w is the angular velocity information corresponding to the predicted time.
In the embodiment, the gyro zero offset corresponding to the prediction time can be updated by determining the course angle difference by using the course angle information corresponding to the prediction time and the course angle information corresponding to the current time, acquiring the time interval between the current time and the prediction time, determining the course change angular speed according to the time interval and the course angle difference, and obtaining the gyro zero offset corresponding to the prediction time according to the course change angular speed, the angular speed information corresponding to the prediction time and the gyro zero offset corresponding to the current time.
In one embodiment, determining a heading stagger angle weight corresponding to the heading stagger angle based on the wheel speed of the vehicle comprises:
determining the maximum vehicle wheel speed in the running time period according to the vehicle wheel speed;
and determining the course mounting angle weight corresponding to the course mounting angle according to the maximum vehicle wheel speed and the vehicle wheel speed corresponding to the course mounting angle.
Specifically, the server may determine a maximum wheel speed of the vehicle within the driving time period according to the wheel speed of the vehicle, and may further determine a course mounting angle weight corresponding to the course mounting angle according to a quotient of the wheel speed of the vehicle corresponding to the course mounting angle and the maximum wheel speed of the vehicle. For example, the calculation formula of the heading and installation angle weight can be as follows: m (k) ═ V _ CAR (k)/MAX (V _ CAR), where m (k) is the heading stagger angle weight, V _ CAR (k) is the vehicle wheel speed corresponding to the heading stagger angle, and MAX (V _ CAR) is the maximum vehicle wheel speed.
In this embodiment, the maximum wheel speed of the vehicle in the driving time period is determined according to the wheel speed of the vehicle, and the heading mount angle weight corresponding to the heading mount angle can be determined according to the maximum wheel speed of the vehicle and the wheel speed of the vehicle corresponding to the heading mount angle.
In one embodiment, performing a weighted average according to the heading mount angle and the heading mount angle weight to obtain a heading mount angle calibration result comprises:
obtaining the total course mounting angle weight according to the course mounting angle weight, and determining the corresponding information acquisition time number according to the driving time period;
superposing the course mounting angle and the corresponding course mounting angle weight to obtain a superposed course mounting angle;
and obtaining a course mounting angle calibration result according to the superimposed course mounting angle, the total course mounting angle weight and the information acquisition time number.
The information acquisition time number refers to the number of times of information acquisition. For example, if 10 times of information acquisition are performed in a driving time period, 10 information acquisition times are provided, and the number of information acquisition times is 10.
Specifically, during weighted averaging, the server obtains a total course mounting angle weight according to the course mounting angle weight, determines a corresponding information acquisition time number according to a driving time period, then superposes the course mounting angle and the corresponding course mounting angle weight to obtain a superposed course mounting angle, and obtains a course mounting angle calibration result according to the superposed course mounting angle, the total course mounting angle weight and the information acquisition time number. For example, the formula of the weighted average may specifically be: Σ M (K) × gnss _ align (K)/(M × K), where M (K) is the heading mount angle weight, gnss _ align (K) is the heading mount angle, M is the total heading mount angle weight, and K is the number of information acquisition times.
In the embodiment, the superimposed course mounting angle is obtained by calculating the total course mounting angle weight and the information acquisition time number, and superimposing the course mounting angle and the corresponding course mounting angle weight, and the determination of the course mounting angle calibration result can be realized according to the superimposed course mounting angle, the total course mounting angle weight and the information acquisition time number.
In one embodiment, the correcting the track angle information according to the heading offset, and the obtaining the heading installation angle corresponding to each information acquisition time according to the corrected track angle information and the corrected heading angle information comprises:
correcting the track angle information according to the course offset to obtain corrected track angle information;
determining the angle difference between the course angle and the corrected track angle according to the course angle information and the corrected track angle information;
and obtaining a course mounting angle corresponding to each information acquisition moment according to the angle difference.
Specifically, the server corrects the track angle information according to the course offset, superimposes the course offset to the track angle to obtain corrected track angle information, determines the angle difference between the course angle and the corrected track angle according to the course angle information and the corrected track angle information, and obtains a course installation angle corresponding to each information acquisition moment according to the angle difference. For example, the calculation formula of the heading installation angle may specifically be: gnss _ align (k) -heading (k) -alpha (k), wherein k represents the information acquisition time, gnss _ align (k) represents the heading installation angle, heading (k) represents the heading angle, heading (k) is the track angle, and alpha (k) is the heading offset.
In the embodiment, the correction of the track angle information is realized by utilizing the course offset, so that the influence of vehicle steering on the track angle can be reduced, and the accurate course installation angle corresponding to each information acquisition moment is obtained.
In an embodiment, as shown in fig. 3, a schematic flow chart is used to describe the heading installation angle calibration method of the present application, and the heading installation angle calibration method specifically includes the following steps:
when course installation angle calibration is needed, a server firstly obtains initial gyro zero offset, a fixed distance and angular speed information, vehicle wheel speed, course angle information and track angle information of each information acquisition moment in a running time period, wherein the fixed distance is the distance between a vehicle steering center and a main antenna in a global navigation satellite system. Determining a course offset corresponding to each information acquisition time (namely, the speed caused by calculating the angular speed and the course offset caused by calculating the angular speed) according to the initial gyro zero offset, the fixed distance, the angular speed information, the course angle information and the vehicle wheel speed, correcting the course angle information according to the course offset, obtaining a course installation angle (namely, calculating a GNSS installation angle) corresponding to each information acquisition time according to the corrected course angle information and the course angle information, determining a course installation angle weight corresponding to the course installation angle according to the vehicle wheel speed, and performing weighted average according to the course installation angle and the course installation angle weight to obtain a course installation angle calibration result (namely, the GNSS installation angle weighted average). Determining the heading offset corresponding to each information acquisition time according to the initial gyroscope zero offset, the fixed distance, the angular speed information, the heading angle information and the vehicle wheel speed means iteratively calculating the gyroscope zero offset corresponding to each information acquisition time (namely updating the gyroscope zero offset) according to the initial gyroscope zero offset, the heading angle information and the angular speed information, and obtaining the heading offset corresponding to each information acquisition time according to the fixed distance, the gyroscope zero offset corresponding to each information acquisition time, the angular speed information and the vehicle wheel speed.
In an embodiment, as shown in fig. 4, a schematic flow chart is used to describe the heading installation angle calibration method of the present application, and the heading installation angle calibration method specifically includes the following steps:
426, obtaining a total course mounting angle weight according to the course mounting angle weight, and determining a corresponding information acquisition time number according to the running time period;
and 430, obtaining a course mounting angle calibration result according to the superimposed course mounting angle, the total course mounting angle weight and the information acquisition time number.
It should be understood that, although the steps in the flowcharts related to the above embodiments are shown in sequence as indicated by the arrows, the steps are not necessarily executed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in each flowchart related to the above embodiments may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
In one embodiment, as shown in fig. 5, there is provided a heading and mounting angle calibration device, including: an obtaining module 502, a processing module 504, a modifying module 506, a weight calculating module 508, and a weight calculating module 510, wherein:
an obtaining module 502, configured to obtain an initial gyro zero offset, a fixed distance, and angular velocity information, a vehicle wheel speed, course angle information, and track angle information at each information acquisition time in a driving time period, where the fixed distance is a distance between a vehicle steering center and a main antenna in a global navigation satellite system;
the processing module 504 is configured to determine a heading offset corresponding to each information acquisition time according to the initial gyroscope zero offset, the fixed distance, the angular velocity information, the heading angle information, and the vehicle wheel speed;
the correcting module 506 is used for correcting the track angle information according to the course offset, and obtaining a course installation angle corresponding to each information acquisition moment according to the corrected track angle information and the corrected course angle information;
the weight calculation module 508 is configured to determine a course mounting angle weight corresponding to the course mounting angle according to the wheel speed of the vehicle;
and the weighted calculation module 510 is configured to perform weighted average according to the heading mount angle and the weighting of the heading mount angle to obtain a heading mount angle calibration result.
The course mounting angle calibration device determines the course offset corresponding to each information acquisition moment according to the initial gyroscope zero offset, the fixed distance, the angular speed information, the course angle information and the vehicle wheel speed, can realize the correction of the track angle information by using the course offset, reduces the influence of vehicle steering on the track angle, the course mounting angle corresponding to each information acquisition moment is obtained according to the corrected track angle information and the course angle information, the course mounting angle can be directly estimated according to the relation between the course angle and the track angle, the influence of measurement errors is avoided, by determining the course installation angle weight corresponding to the course installation angle according to the vehicle wheel speed, the weighted average of the course installation angle and the course installation angle weight can be realized, the high-precision course installation angle calibration result can be obtained, and the course installation angle calibration precision can be improved.
In one embodiment, the processing module is further configured to iteratively calculate a gyro zero offset corresponding to each information acquisition time according to the initial gyro zero offset, the course angle information, and the angular velocity information, and obtain a course offset corresponding to each information acquisition time according to the fixed distance, the gyro zero offset corresponding to each information acquisition time, the angular velocity information, and the vehicle wheel speed.
In one embodiment, the processing module is further configured to use the initial gyro zero offset as a gyro zero offset corresponding to a driving initial time, use the driving initial time as a current time, obtain the gyro zero offset corresponding to a predicted time according to the gyro zero offset corresponding to the current time, the course angle information corresponding to the predicted time, and the angular velocity information, update the predicted time to the current time, estimate the gyro zero offset of the predicted time corresponding to the updated current time, and obtain the gyro zero offset corresponding to each information acquisition time until the predicted time corresponding to the updated current time is a driving termination time within a driving time period.
In one embodiment, the processing module is further configured to determine a heading angle difference value according to the heading angle information corresponding to the predicted time and the heading angle information corresponding to the current time, obtain a time interval between the current time and the predicted time, determine a heading change angular velocity according to the time interval and the heading angle difference value, and obtain a gyroscope zero offset corresponding to the predicted time according to the heading change angular velocity, the angular velocity information corresponding to the predicted time, and the gyroscope zero offset corresponding to the current time.
In one embodiment, the weight calculation module is further configured to determine a maximum vehicle wheel speed within the driving time period according to the vehicle wheel speed, and determine a heading mount angle weight corresponding to the heading mount angle according to the maximum vehicle wheel speed and the vehicle wheel speed corresponding to the heading mount angle.
In one embodiment, the weighting calculation module is further configured to obtain a total heading installation angle weight according to the heading installation angle weight, determine a corresponding information acquisition time number according to the driving time period, superimpose the heading installation angle and the corresponding heading installation angle weight to obtain a superimposed heading installation angle, and obtain a heading installation angle calibration result according to the superimposed heading installation angle, the total heading installation angle weight and the information acquisition time number.
In one embodiment, the correction module is further configured to correct the track angle information according to the heading offset to obtain corrected track angle information, determine an angle difference between the heading angle and the corrected track angle according to the heading angle information and the corrected track angle information, and obtain a heading installation angle corresponding to each information acquisition time according to the angle difference.
For a specific embodiment of the heading installation angle calibration device, reference may be made to the above embodiment of the heading installation angle calibration method, which is not described herein again. Each module in the course installation angle calibration device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 6. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer equipment is used for storing data such as initial gyro zero offset, fixed distance and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a heading fix calibration method.
Those skilled in the art will appreciate that the architecture shown in fig. 6 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring initial gyro zero offset, a fixed distance, and angular speed information, vehicle wheel speed, course angle information and track angle information of each information acquisition moment in a driving time period, wherein the fixed distance is the distance between a vehicle steering center and a main antenna in a global navigation satellite system;
determining a course offset corresponding to each information acquisition moment according to the initial gyroscope zero offset, the fixed distance, the angular speed information, the course angle information and the vehicle wheel speed;
correcting the flight path angle information according to the course offset, and obtaining a course mounting angle corresponding to each information acquisition moment according to the corrected flight path angle information and the corrected course angle information;
determining a course mounting angle weight corresponding to the course mounting angle according to the speed of the vehicle;
and carrying out weighted average according to the course mounting angle and the weight of the course mounting angle to obtain a course mounting angle calibration result.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and iteratively calculating the gyro zero offset corresponding to each information acquisition time according to the initial gyro zero offset, the course angle information and the angular speed information, and obtaining the course offset corresponding to each information acquisition time according to the fixed distance, the gyro zero offset corresponding to each information acquisition time, the angular speed information and the vehicle wheel speed.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and taking the initial gyro zero offset as the gyro zero offset corresponding to the initial driving time, taking the initial driving time as the current time, obtaining the gyro zero offset corresponding to the predicted time according to the gyro zero offset and the course angle information corresponding to the current time, the course angle information corresponding to the predicted time and the angular speed information, updating the predicted time to the current time, estimating the gyro zero offset of the predicted time corresponding to the updated current time until the predicted time corresponding to the updated current time is the driving termination time in the driving time period, and obtaining the gyro zero offset corresponding to each information acquisition time.
In one embodiment, the processor, when executing the computer program, further performs the steps of: determining a course angle difference value according to course angle information corresponding to the prediction time and course angle information corresponding to the current time, obtaining a time interval between the current time and the prediction time, determining a course change angular speed according to the time interval and the course angle difference value, and obtaining a gyro zero offset corresponding to the prediction time according to the course change angular speed, the angular speed information corresponding to the prediction time and the gyro zero offset corresponding to the current time.
In one embodiment, the processor, when executing the computer program, further performs the steps of: determining the maximum vehicle wheel speed in the running time period according to the vehicle wheel speed, and determining the course mounting angle weight corresponding to the course mounting angle according to the maximum vehicle wheel speed and the vehicle wheel speed corresponding to the course mounting angle.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and obtaining a total course mounting angle weight according to the course mounting angle weight, determining a corresponding information acquisition time number according to the driving time period, overlapping the course mounting angle and the corresponding course mounting angle weight to obtain an overlapped course mounting angle, and obtaining a course mounting angle calibration result according to the overlapped course mounting angle, the total course mounting angle weight and the information acquisition time number.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and correcting the track angle information according to the course offset to obtain corrected track angle information, determining the angle difference between the course angle and the corrected track angle according to the course angle information and the corrected track angle information, and obtaining a course installation angle corresponding to each information acquisition time according to the angle difference.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring initial gyro zero offset, a fixed distance, and angular speed information, vehicle wheel speed, course angle information and track angle information of each information acquisition moment in a driving time period, wherein the fixed distance is the distance between a vehicle steering center and a main antenna in a global navigation satellite system;
determining a course offset corresponding to each information acquisition moment according to the initial gyroscope zero offset, the fixed distance, the angular speed information, the course angle information and the vehicle wheel speed;
correcting the flight path angle information according to the course offset, and obtaining a course mounting angle corresponding to each information acquisition moment according to the corrected flight path angle information and the corrected course angle information;
determining a course mounting angle weight corresponding to the course mounting angle according to the speed of the vehicle;
and carrying out weighted average according to the course mounting angle and the weight of the course mounting angle to obtain a course mounting angle calibration result.
In one embodiment, the computer program when executed by the processor further performs the steps of: and iteratively calculating the gyro zero offset corresponding to each information acquisition time according to the initial gyro zero offset, the course angle information and the angular speed information, and obtaining the course offset corresponding to each information acquisition time according to the fixed distance, the gyro zero offset corresponding to each information acquisition time, the angular speed information and the vehicle wheel speed.
In one embodiment, the computer program when executed by the processor further performs the steps of: and taking the initial gyro zero offset as the gyro zero offset corresponding to the initial driving time, taking the initial driving time as the current time, obtaining the gyro zero offset corresponding to the predicted time according to the gyro zero offset and the course angle information corresponding to the current time, the course angle information corresponding to the predicted time and the angular speed information, updating the predicted time to the current time, estimating the gyro zero offset of the predicted time corresponding to the updated current time until the predicted time corresponding to the updated current time is the driving termination time in the driving time period, and obtaining the gyro zero offset corresponding to each information acquisition time.
In one embodiment, the computer program when executed by the processor further performs the steps of: determining a course angle difference value according to course angle information corresponding to the prediction time and course angle information corresponding to the current time, obtaining a time interval between the current time and the prediction time, determining a course change angular speed according to the time interval and the course angle difference value, and obtaining a gyro zero offset corresponding to the prediction time according to the course change angular speed, the angular speed information corresponding to the prediction time and the gyro zero offset corresponding to the current time.
In one embodiment, the computer program when executed by the processor further performs the steps of: determining the maximum vehicle wheel speed in the running time period according to the vehicle wheel speed, and determining the course mounting angle weight corresponding to the course mounting angle according to the maximum vehicle wheel speed and the vehicle wheel speed corresponding to the course mounting angle.
In one embodiment, the computer program when executed by the processor further performs the steps of: and obtaining a total course mounting angle weight according to the course mounting angle weight, determining a corresponding information acquisition time number according to the driving time period, overlapping the course mounting angle and the corresponding course mounting angle weight to obtain an overlapped course mounting angle, and obtaining a course mounting angle calibration result according to the overlapped course mounting angle, the total course mounting angle weight and the information acquisition time number.
In one embodiment, the computer program when executed by the processor further performs the steps of: and correcting the track angle information according to the course offset to obtain corrected track angle information, determining the angle difference between the course angle and the corrected track angle according to the course angle information and the corrected track angle information, and obtaining a course installation angle corresponding to each information acquisition time according to the angle difference.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A course mounting angle calibration method is characterized by comprising the following steps:
acquiring initial gyro zero offset, a fixed distance, and angular speed information, vehicle wheel speed, course angle information and track angle information of each information acquisition moment in a driving time period, wherein the fixed distance is the distance between a vehicle steering center and a main antenna in a global navigation satellite system;
determining a course offset corresponding to each information acquisition moment according to the initial gyroscope zero offset, the fixed distance, the angular speed information, the course angle information and the vehicle wheel speed;
correcting the flight path angle information according to the course offset, and obtaining a course mounting angle corresponding to each information acquisition moment according to the corrected flight path angle information and the course angle information;
determining the course mounting angle weight corresponding to the course mounting angle according to the vehicle wheel speed;
and carrying out weighted average according to the course mounting angle and the weight of the course mounting angle to obtain a course mounting angle calibration result.
2. The method of claim 1, wherein determining a heading offset corresponding to each information acquisition time based on the initial gyro zero offset, the fixed distance, the angular velocity information, the heading angle information, and the vehicle wheel speed comprises:
iteratively calculating the gyro zero offset corresponding to each information acquisition moment according to the initial gyro zero offset, the course angle information and the angular speed information;
and obtaining the course offset corresponding to each information acquisition moment according to the fixed distance, the gyro zero offset corresponding to each information acquisition moment, the angular speed information and the vehicle wheel speed.
3. The method of claim 2, wherein iteratively calculating a gyro zero offset corresponding to each information acquisition time based on the initial gyro zero offset, the heading angle information, and the angular velocity information comprises:
taking the initial gyro zero offset as a gyro zero offset corresponding to the initial driving time, and taking the initial driving time as the current time;
obtaining the gyro zero offset corresponding to the predicted time according to the gyro zero offset and the course angle information corresponding to the current time, and the course angle information and the angular speed information corresponding to the predicted time, wherein the predicted time is the next time corresponding to the current time;
updating the predicted time to the current time, estimating the gyro zero offset of the predicted time corresponding to the updated current time until the predicted time corresponding to the updated current time is the driving termination time in the driving time period, and obtaining the gyro zero offset corresponding to each information acquisition time.
4. The method of claim 3, wherein obtaining the gyro zero offset corresponding to the predicted time according to the gyro zero offset corresponding to the current time, the course angle information corresponding to the predicted time, and the angular velocity information comprises:
determining a course angle difference value according to course angle information corresponding to the prediction time and course angle information corresponding to the current time;
acquiring a time interval between the current time and the prediction time, and determining a course change angular speed according to the time interval and the course angle difference;
and obtaining the gyro zero offset corresponding to the predicted time according to the course change angular speed, the angular speed information corresponding to the predicted time and the gyro zero offset corresponding to the current time.
5. The method of claim 1, wherein determining a course setting angle weight corresponding to the course setting angle based on the wheel speed of the vehicle comprises:
determining the maximum vehicle wheel speed in a running time period according to the vehicle wheel speed;
and determining the course mounting angle weight corresponding to the course mounting angle according to the maximum vehicle wheel speed and the vehicle wheel speed corresponding to the course mounting angle.
6. The method of claim 1, wherein the performing a weighted average according to the heading and heading angle and the heading and heading angle weight to obtain a heading and heading angle calibration result comprises:
obtaining the total course mounting angle weight according to the course mounting angle weight, and determining the corresponding information acquisition time number according to the running time period;
superposing the course mounting angle and the corresponding course mounting angle weight to obtain a superposed course mounting angle;
and obtaining a course mounting angle calibration result according to the superimposed course mounting angle, the total course mounting angle weight and the information acquisition time number.
7. The method of claim 1, wherein the correcting the track angle information according to the heading offset, and obtaining a heading mount angle corresponding to each information acquisition time according to the corrected track angle information and the heading angle information comprises:
correcting the flight path angle information according to the course offset to obtain corrected flight path angle information;
determining the angle difference between the course angle and the corrected track angle according to the course angle information and the corrected track angle information;
and obtaining a course mounting angle corresponding to each information acquisition moment according to the angle difference.
8. A course erection angle calibration device is characterized by comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring initial gyro zero offset, a fixed distance and angular speed information, vehicle wheel speed, course angle information and track angle information of each information acquisition moment in a driving time period, and the fixed distance is the distance between a vehicle steering center and a main antenna in a global navigation satellite system;
the processing module is used for determining a course offset corresponding to each information acquisition moment according to the initial gyroscope zero offset, the fixed distance, the angular speed information, the course angle information and the vehicle wheel speed;
the correction module is used for correcting the flight path angle information according to the course offset, and obtaining a course installation angle corresponding to each information acquisition moment according to the corrected flight path angle information and the course angle information;
the weight calculation module is used for determining the course mounting angle weight corresponding to the course mounting angle according to the vehicle wheel speed;
and the weighted calculation module is used for carrying out weighted average according to the course mounting angle and the weight of the course mounting angle to obtain a course mounting angle calibration result.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111186646.XA CN114019954B (en) | 2021-10-12 | 2021-10-12 | Course installation angle calibration method, device, computer equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111186646.XA CN114019954B (en) | 2021-10-12 | 2021-10-12 | Course installation angle calibration method, device, computer equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114019954A true CN114019954A (en) | 2022-02-08 |
| CN114019954B CN114019954B (en) | 2024-02-09 |
Family
ID=80055636
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111186646.XA Active CN114019954B (en) | 2021-10-12 | 2021-10-12 | Course installation angle calibration method, device, computer equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114019954B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116990045A (en) * | 2023-05-18 | 2023-11-03 | 运来智能装备(无锡)有限公司 | Drive-by-wire chassis scale factor calibration method, system and medium based on inertial measurement |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103339472A (en) * | 2010-12-03 | 2013-10-02 | 高通股份有限公司 | Inertial sensor aided heading and positioning for GNSS vehicle navigation |
| CN104121905A (en) * | 2014-07-28 | 2014-10-29 | 东南大学 | Course angle obtaining method based on inertial sensor |
| US20180017390A1 (en) * | 2015-12-21 | 2018-01-18 | Shanghai Huace Navigation Technology Ltd | Method of determining gnss-ins vehicle attitude based on single antenna |
| CN109470276A (en) * | 2018-12-20 | 2019-03-15 | 中国人民解放军战略支援部队信息工程大学 | Mileage meter calibration method and device based on zero-velocity curve |
| CN110764506A (en) * | 2019-11-05 | 2020-02-07 | 广东博智林机器人有限公司 | Course angle fusion method and device of mobile robot and mobile robot |
| CN110940344A (en) * | 2019-11-25 | 2020-03-31 | 奥特酷智能科技(南京)有限公司 | Low-cost sensor combination positioning method for automatic driving |
| CN111949030A (en) * | 2020-08-17 | 2020-11-17 | 江苏常发农业装备股份有限公司 | Agricultural machinery positioning method, agricultural machinery vehicle and storage medium |
| US20210025710A1 (en) * | 2019-07-26 | 2021-01-28 | Honeywell International Inc. | Apparatus and method for terrain aided navigation using inertial position |
| CN113008273A (en) * | 2021-03-09 | 2021-06-22 | 北京小马智行科技有限公司 | Calibration method and device for inertial measurement unit of vehicle and electronic equipment |
-
2021
- 2021-10-12 CN CN202111186646.XA patent/CN114019954B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103339472A (en) * | 2010-12-03 | 2013-10-02 | 高通股份有限公司 | Inertial sensor aided heading and positioning for GNSS vehicle navigation |
| CN104121905A (en) * | 2014-07-28 | 2014-10-29 | 东南大学 | Course angle obtaining method based on inertial sensor |
| US20180017390A1 (en) * | 2015-12-21 | 2018-01-18 | Shanghai Huace Navigation Technology Ltd | Method of determining gnss-ins vehicle attitude based on single antenna |
| CN109470276A (en) * | 2018-12-20 | 2019-03-15 | 中国人民解放军战略支援部队信息工程大学 | Mileage meter calibration method and device based on zero-velocity curve |
| US20210025710A1 (en) * | 2019-07-26 | 2021-01-28 | Honeywell International Inc. | Apparatus and method for terrain aided navigation using inertial position |
| CN110764506A (en) * | 2019-11-05 | 2020-02-07 | 广东博智林机器人有限公司 | Course angle fusion method and device of mobile robot and mobile robot |
| CN110940344A (en) * | 2019-11-25 | 2020-03-31 | 奥特酷智能科技(南京)有限公司 | Low-cost sensor combination positioning method for automatic driving |
| CN111949030A (en) * | 2020-08-17 | 2020-11-17 | 江苏常发农业装备股份有限公司 | Agricultural machinery positioning method, agricultural machinery vehicle and storage medium |
| CN113008273A (en) * | 2021-03-09 | 2021-06-22 | 北京小马智行科技有限公司 | Calibration method and device for inertial measurement unit of vehicle and electronic equipment |
Non-Patent Citations (3)
| Title |
|---|
| PENTEK, Z: "IMU-based mounting parameter estimation on construction vehicles", INERTIAL SENSORS AND SYSTEMS, pages 1 - 14 * |
| 许建国;张志利;周召发;: "基于DR/GIS组合导航动态对准方法研究", 计算机测量与控制, vol. 21, no. 03, pages 747 - 749 * |
| 高丽珍，等: "地磁矢量信息测量安装角的快速标定算法", 兵器装备工程学报, vol. 41, no. 12, pages 220 - 224 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116990045A (en) * | 2023-05-18 | 2023-11-03 | 运来智能装备(无锡)有限公司 | Drive-by-wire chassis scale factor calibration method, system and medium based on inertial measurement |
| CN116990045B (en) * | 2023-05-18 | 2024-04-05 | 运来智能装备(无锡)有限公司 | Drive-by-wire chassis scale factor calibration method, system and medium based on inertial measurement |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114019954B (en) | 2024-02-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112577521B (en) | Combined navigation error calibration method and electronic equipment | |
| US9057615B2 (en) | Systems and methods for navigating using corrected yaw bias values | |
| US20230366680A1 (en) | Initialization method, device, medium and electronic equipment of integrated navigation system | |
| CN109507706B (en) | GPS signal loss prediction positioning method | |
| CN112946681B (en) | Laser radar positioning method fusing combined navigation information | |
| CN114812545B (en) | Combined navigation method and device based on double-laser Doppler velocimeter and inertial navigation system | |
| CN114545472B (en) | Navigation method and device of GNSS/INS combined system | |
| CN113252048B (en) | Navigation positioning method, navigation positioning system and computer readable storage medium | |
| CN112146683B (en) | Inertial measurement unit calibration parameter adjusting method and device and electronic equipment | |
| KR101107219B1 (en) | Method for navigation of an aircraft, intertial navigation system filter using the same, and navigation system using the same | |
| CN113566850B (en) | Method and device for calibrating installation angle of inertial measurement unit and computer equipment | |
| CN113092822A (en) | Online calibration method and device of laser Doppler velocimeter based on inertial measurement unit | |
| CN115856922A (en) | Loosely-coupled land combined navigation method and device, computer equipment and medium | |
| CN114019954B (en) | Course installation angle calibration method, device, computer equipment and storage medium | |
| CN114323007A (en) | Carrier motion state estimation method and device | |
| CN111197994B (en) | Position data correction method, position data correction device, computer device, and storage medium | |
| CN106886037A (en) | Suitable for the POS data method for correcting error of weak GNSS signal condition | |
| CN114964262A (en) | Robot positioning method based on multi-source fusion | |
| CN114001730A (en) | Fusion positioning method and device, computer equipment and storage medium | |
| CN111580139B (en) | Satellite navigation data validity judgment method and device and electronic equipment | |
| CN113959433A (en) | Combined navigation method and device | |
| CN112229401A (en) | Measurement information synchronous extrapolation method and system suitable for INS-GPS pseudo range fusion | |
| CN113566849B (en) | Method and device for calibrating installation angle of inertial measurement unit and computer equipment | |
| CN113137975B (en) | Inertial correction method and device for astronomical inertial integrated navigation and electronic equipment | |
| CN112325770B (en) | Method and system for evaluating confidence of relative precision of monocular vision measurement at vehicle end |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |