CN114323069A - IMU calibration method, device, storage medium and terminal equipment - Google Patents
IMU calibration method, device, storage medium and terminal equipment Download PDFInfo
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Abstract
The invention discloses an IMU calibration method, an IMU calibration device, a storage medium and terminal equipment, wherein the method comprises the following steps: acquiring reference IMU data detected by a reference IMU in a preset time period, wherein the reference IMU is a calibrated IMU; when the reference IMU data is valid IMU data, calculating to obtain an error compensation value of the IMU to be calibrated according to the valid IMU data and IMU data to be calibrated detected by the IMU to be calibrated; and carrying out error compensation on the IMU data to be calibrated detected by the IMU to be calibrated according to the error compensation value. By adopting the technical scheme of the invention, the calibration difficulty of the IMU can be greatly reduced, the calibration steps are simplified, and the calibration efficiency is improved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an IMU calibration method, an IMU calibration device, a computer readable storage medium and terminal equipment.
Background
With the rapid development of the automatic driving technology, the automatic driving vehicle is increasingly used. In the automatic driving process of a vehicle, an Inertial Measurement Unit (IMU) is a key sensor for realizing positioning, speed Measurement and attitude estimation, and is mainly used for detecting and measuring IMU data such as acceleration and the like. In consideration of the functional safety of Advanced Driving Assistance System (ADAS System) of a vehicle, the ADAS controller needs to receive IMU data transmitted by other IMUs on different links as backup in addition to IMU data transmitted by one IMU. However, the IMU has an error during installation, which causes the IMU to have a problem of zero drift and affects the measurement accuracy of the IMU, and thus causes the data of the IMU received by the ADAS controller to have an error and affects the safety of the autonomous vehicle, and therefore, the IMU needs to be calibrated to zero.
In the conventional IMU zero calibration scheme, each IMU needs to be subjected to zero calibration at a Tier1 factory, and after being installed in a vehicle, each IMU needs to be subjected to zero calibration again at an oem (original Equipment manufacture) factory, which results in complicated calibration steps and low efficiency; meanwhile, in the actual calibration process, the process requirement on a production line is high, factors such as whether the station is horizontal or not, noise influence, temperature influence, good adjustment of the whole vehicle posture and the like need to be considered, and the calibration difficulty is increased.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present invention is to provide an IMU calibration method, apparatus, computer-readable storage medium and terminal device, which can greatly reduce the difficulty of IMU calibration, simplify the calibration steps and improve the calibration efficiency.
In order to solve the above technical problem, an embodiment of the present invention provides an IMU calibration method, including:
acquiring reference IMU data detected by a reference IMU in a preset time period, wherein the reference IMU is a calibrated IMU;
when the reference IMU data is valid IMU data, calculating to obtain an error compensation value of the IMU to be calibrated according to the valid IMU data and IMU data to be calibrated detected by the IMU to be calibrated;
and carrying out error compensation on the IMU data to be calibrated detected by the IMU to be calibrated according to the error compensation value.
Further, the method further comprises:
acquiring the value of a valid bit corresponding to the reference IMU data;
when the value of the valid bit indicates valid, determining the reference IMU data as valid IMU data;
when the value of the valid bit indicates invalid, determining the reference IMU data as invalid IMU data.
Further, the calculating, according to the effective IMU data and IMU-to-be-calibrated data detected by the IMU-to-be-calibrated, to obtain an error compensation value of the IMU-to-be-calibrated specifically includes:
calculating to obtain an average value of the effective IMU data, wherein the effective IMU data comprises n groups of IMU data, and n is greater than 1;
and calculating to obtain a difference value between the IMU data to be calibrated detected by the IMU to be calibrated and the average value, and taking the difference value as the error compensation value.
Further, the average value is at least one of an average value of the X-axis acceleration, an average value of the Y-axis acceleration, an average value of the Z-axis acceleration, an average value of the X-axis yaw rate, an average value of the Y-axis yaw rate, and an average value of the Z-axis yaw rate.
Further, the method further comprises:
calculating to obtain a variance value of the effective IMU data, wherein the effective IMU data comprises n groups of IMU data, and n is greater than 1;
when the variance value is smaller than a preset variance threshold value, judging that the effective IMU data is stable IMU data;
when the variance value is not smaller than the variance threshold value, judging that the effective IMU data is unstable IMU data;
then, the calculating to obtain an error compensation value of the IMU to be calibrated according to the effective IMU data and IMU to be calibrated data detected by the IMU to be calibrated specifically is:
and calculating to obtain an error compensation value of the IMU to be calibrated according to the stable IMU data and the IMU data to be calibrated detected by the IMU to be calibrated.
Further, the variance value is at least one of a variance value of the X-axis acceleration, a variance value of the Y-axis acceleration, a variance value of the Z-axis acceleration, a variance value of the X-axis yaw rate, a variance value of the Y-axis yaw rate, and a variance value of the Z-axis yaw rate.
Further, the variance value of the X axial acceleration
Obtained by the following formula:
In order to solve the above technical problem, an embodiment of the present invention further provides an IMU calibration apparatus, configured to implement any one of the IMU calibration methods described above, where the apparatus includes:
the device comprises a reference data acquisition module, a calibration module and a comparison module, wherein the reference data acquisition module is used for acquiring reference IMU data detected by a reference IMU within a preset time period, and the reference IMU is a calibrated IMU;
an error compensation acquisition module, configured to calculate an error compensation value of the IMU to be calibrated according to the effective IMU data and IMU to be calibrated data detected by the IMU to be calibrated, when the reference IMU data is effective IMU data;
and the error compensation module is used for carrying out error compensation on the IMU data to be calibrated detected by the IMU to be calibrated according to the error compensation value.
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program; wherein the computer program, when running, controls the device on which the computer readable storage medium is located to execute any of the IMU calibration methods described above.
An embodiment of the present invention further provides a terminal device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, where the processor, when executing the computer program, implements the IMU calibration method described in any one of the above.
Compared with the prior art, the embodiment of the invention provides an IMU calibration method, an IMU calibration device, a computer readable storage medium and a terminal device, wherein a calibrated IMU is used as a reference IMU, reference IMU data detected by the reference IMU in a preset time period is obtained, and when the reference IMU data is effective IMU data, an error compensation value of the IMU to be calibrated is obtained through calculation according to the effective IMU data and IMU data to be calibrated detected by the IMU to be calibrated, so that the IMU to be calibrated is subjected to error compensation according to the error compensation value, the effective IMU data of the calibrated IMU is used as a reference, the IMU to be calibrated is subjected to zero calibration, the zero calibration of the IMU to be calibrated does not depend on a specific scene, the calibration difficulty of the IMU is greatly reduced, the calibration step is simplified, and the calibration efficiency is effectively improved.
Drawings
FIG. 1 is a flow chart of a preferred embodiment of an IMU calibration method provided by the present invention;
FIG. 2 is a block diagram of an IMU calibration apparatus according to a preferred embodiment of the present invention;
fig. 3 is a block diagram of a preferred embodiment of a terminal device provided in the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.
An embodiment of the present invention provides an IMU calibration method, which is a flowchart of a preferred embodiment of the IMU calibration method provided by the present invention, and is shown in fig. 1, where the method includes steps S11 to S13:
step S11, acquiring reference IMU data detected by a reference IMU in a preset time period, wherein the reference IMU is a calibrated IMU;
step S12, when the reference IMU data is valid IMU data, calculating to obtain an error compensation value of the IMU to be calibrated according to the valid IMU data and IMU data to be calibrated detected by the IMU to be calibrated;
and step S13, performing error compensation on the IMU data to be calibrated detected by the IMU to be calibrated according to the error compensation value.
It should be noted that the embodiment of the present invention is applicable to an application scenario in which a calibrated IMU exists in an ADAS system, and all other uncalibrated IMUs are used as IMUs to be calibrated, where the calibrated IMU may complete zeroing calibration by using a calibration scheme provided in the prior art (for example, at an EOL station), and the IMU to be calibrated is calibrated by using the technical scheme provided by the embodiment of the present invention, and the technical scheme provided by the embodiment of the present invention may be executed by the IMU to be calibrated itself, or by an associated controller that receives IMU data.
In specific implementation, a calibrated IMU is used as a reference IMU, first, reference IMU data detected by the reference IMU in a preset time period is obtained, when the reference IMU normally works, real-time IMU data are obtained according to a certain time period, each time period is correspondingly detected to obtain a group of IMU data, at least one group of IMU data are obtained through corresponding detection of the reference IMU in the preset time period, and the obtained at least one group of IMU data are used as the reference IMU data, wherein the preset time period can be set according to actual needs, but the time period at least longer than the time period for detecting the IMU data by the reference IMU is required to be ensured (for example, the preset time period is 10s, and the time period is 20ms) so as to ensure that the reference IMU detects to obtain at least one group of IMU data in the preset time period; and then, judging whether the obtained reference IMU data is valid IMU data or not, and when the obtained reference IMU data is judged to be valid IMU data, calculating an error compensation value of the IMU to be calibrated according to the valid IMU data and the IMU data to be calibrated detected by the IMU to be calibrated, so as to perform error compensation on the IMU data to be calibrated detected by the IMU to be calibrated according to the error compensation value obtained by calculation.
It can be understood that when the obtained reference IMU data is determined to be invalid IMU data, it indicates that the obtained reference IMU data is not usable, new reference IMU data detected by the reference IMU within a preset time period may be obtained again, and it is continuously determined whether the new reference IMU data is valid IMU data, and so on until the obtained reference IMU data is valid IMU data, an error compensation value of the IMU to be calibrated is obtained according to the valid IMU data,
it should be noted that, when the IMU to be calibrated works normally, the IMU data to be calibrated is also obtained according to a certain time period, and a group of IMU data to be calibrated is obtained by corresponding detection in each time period; when the IMU data to be calibrated detected by the IMU to be calibrated is subjected to error compensation according to the error compensation value, the error compensation value can be used as a fixed compensation value when an error compensation value is obtained through first calculation, and the IMU data to be calibrated, which is obtained through subsequent IMU to be calibrated in each time period, is subjected to error compensation by using the same fixed compensation value; in each time period, recalculating an error compensation value according to the IMU data to be calibrated detected and obtained by the IMU to be calibrated in the current time period, and only performing error compensation on the IMU data to be calibrated detected and obtained in the current time period; the embodiments of the present invention are not particularly limited.
According to the IMU calibration method provided by the embodiment of the invention, the calibrated IMU is used as the reference IMU, the reference IMU data detected by the reference IMU in the preset time period is obtained, and when the reference IMU data is the effective IMU data, the error compensation value of the IMU to be calibrated is obtained through calculation according to the effective IMU data and the IMU to be calibrated detected by the IMU to be calibrated, so that the error compensation is carried out on the IMU to be calibrated detected by the IMU to be calibrated according to the error compensation value, the IMU to be calibrated can be subjected to zero calibration by taking the effective IMU data of the calibrated IMU as the reference, the zero calibration of the IMU to be calibrated does not depend on a specific scene (for example, the IMU calibration difficulty is greatly reduced, the calibration step is simplified, and the calibration efficiency is effectively improved.
In another preferred embodiment, the method further comprises:
acquiring the value of a valid bit corresponding to the reference IMU data;
when the value of the valid bit indicates valid, determining the reference IMU data as valid IMU data;
when the value of the valid bit indicates invalid, determining the reference IMU data as invalid IMU data.
Specifically, with reference to the above embodiment, an effective bit is correspondingly set in IMU data sent by the IMU, where the effective bit is used to indicate whether the IMU data is valid, and after obtaining reference IMU data sent by the reference IMU, a value of the effective bit corresponding to the reference IMU data lock may be further obtained to determine whether the reference IMU data is valid IMU data; when the value of the valid bit indicates valid, the reference IMU data is determined to be valid IMU data, and when the value of the valid bit indicates invalid, the reference IMU data is determined to be invalid IMU data.
For example, assuming that "1" is used to indicate valid, and "0" is used to indicate invalid, the reference IMU data includes at least one set of IMU data, if the value of the valid bit corresponding to a certain set of IMU data is "1", the set of IMU data is valid, and if the value of the valid bit corresponding to a certain set of IMU data is "0", the set of IMU data is invalid, and accordingly, all valid data in the reference IMU data may be determined according to the value of the valid bit corresponding to each set of IMU data, and all valid data as a whole (i.e., the valid IMU data) may be involved in the subsequent error compensation value calculation process.
In another preferred embodiment, the calculating an error compensation value of the IMU to be calibrated according to the valid IMU data and IMU to be calibrated data detected by the IMU to be calibrated specifically includes:
calculating to obtain an average value of the effective IMU data, wherein the effective IMU data comprises n groups of IMU data, and n is greater than 1;
and calculating to obtain a difference value between the IMU data to be calibrated detected by the IMU to be calibrated and the average value, and taking the difference value as the error compensation value.
Specifically, with reference to the above embodiment, when calculating the error compensation value, an average value of n sets of IMU data included in the effective IMU data may be calculated first, where n is greater than 1, and then a difference between the IMU data to be calibrated detected by the IMU to be calibrated and the average value is calculated, so that the difference obtained by calculation is used as the error compensation value of the IMU to be calibrated.
As a modification of the above aspect, the average value is at least one of an average value of the X-axis acceleration, an average value of the Y-axis acceleration, an average value of the Z-axis acceleration, an average value of the X-axis yaw rate, an average value of the Y-axis yaw rate, and an average value of the Z-axis yaw rate.
It can be understood that the IMU data obtained by IMU detection includes X-axis acceleration, Y-axis acceleration, Z-axis acceleration, X-axis yaw rate, Y-axis yaw rate, Z-axis yaw rate, and the like, and when an average value of n sets of IMU data included in effective IMU data is actually calculated, only one of the data may be selected for average value calculation, or two or more of the data may be selected for average value calculation, respectively, and the embodiment of the present invention is not particularly limited.
For example, assuming that X axial acceleration is selected for average calculation, n sets of IMU data included in the effective IMU data correspond to the average of n X axial accelerations, which are X1、X2、…、XnAverage value of X axial acceleration
Can be represented by formula
Calculating to obtain; correspondingly, when the error compensation value is calculated, the average value of the X axial acceleration to be calibrated and the X axial acceleration contained in the IMU data to be calibrated is correspondingly calculated
And taking the difference delta X as an error compensation value of the X axial acceleration of the IMU to be calibrated, and performing error compensation on the X axial acceleration to be calibrated in the IMU data to be calibrated detected by the IMU to be calibrated.
Illustratively, assuming that the X-axis acceleration, the Y-axis acceleration, and the Z-axis yaw rate are simultaneously selected for the average calculation, the average of the X-axis acceleration is similarly calculated
Average value of Y-axis acceleration
Average value of Z-axis yaw rate
Correspondingly, when the error compensation value is calculated, the X axial acceleration to be calibrated and the average value contained in the IMU data to be calibrated are correspondingly calculated
Taking the difference delta X as an error compensation value of the X axial acceleration of the IMU to be calibrated, and performing error compensation on the X axial acceleration to be calibrated in the IMU data to be calibrated detected by the IMU to be calibrated; correspondingly calculating the Y-axis acceleration to be calibrated and the average value contained in the IMU data to be calibrated
Taking the difference delta Y as an error compensation value of the Y axial acceleration of the IMU to be calibrated, and carrying out error compensation on the Y axial acceleration to be calibrated in the IMU data to be calibrated detected by the IMU to be calibrated; correspondingly calculating Z-axis yaw velocity to be calibrated and average value contained in IMU data to be calibrated
Difference value Δ Z therebetweenYawWill beThe difference value DeltaZYawAnd as an error compensation value of the Z-axis yaw rate of the IMU to be calibrated, performing error compensation on the Z-axis yaw rate to be calibrated in the IMU data to be calibrated detected by the IMU to be calibrated.
In yet another preferred embodiment, the method further comprises:
calculating to obtain a variance value of the effective IMU data, wherein the effective IMU data comprises n groups of IMU data, and n is greater than 1;
when the variance value is smaller than a preset variance threshold value, judging that the effective IMU data is stable IMU data;
when the variance value is not smaller than the variance threshold value, judging that the effective IMU data is unstable IMU data;
then, the calculating to obtain an error compensation value of the IMU to be calibrated according to the effective IMU data and IMU to be calibrated data detected by the IMU to be calibrated specifically is:
and calculating to obtain an error compensation value of the IMU to be calibrated according to the stable IMU data and the IMU data to be calibrated detected by the IMU to be calibrated.
Specifically, with reference to the above embodiment, before calculating the error compensation value of the IMU to be calibrated according to the effective IMU data and the IMU data to be calibrated, it may be further determined whether the effective IMU data is stable, and when specifically determining, the variance values of n sets of IMU data included in the effective IMU data may be obtained by calculation, where n is greater than 1, and then the variance values obtained by calculation are compared with the preset variance threshold value to determine whether the variance values are smaller than the preset variance threshold value; when the variance value is smaller than a preset variance threshold value, judging that the effective IMU data is stable IMU data; when the variance value is larger than or equal to a preset variance threshold value, judging that the effective IMU data is unstable IMU data; correspondingly, only when the effective IMU data is judged to be stable IMU data, the error compensation value of the IMU to be calibrated is calculated and obtained according to the stable IMU data and the IMU data to be calibrated detected by the IMU to be calibrated.
It should be noted that, in the embodiment of the present invention, before calculating the error compensation value of the IMU to be calibrated, it is determined whether the effective IMU data is stable, and only when it is determined that the effective IMU data is the stable IMU data, the error compensation value of the IMU to be calibrated is continuously calculated, so that the accuracy of the error compensation value can be improved, and the accuracy of the IMU calibration is further improved.
As a modification of the above, the variance value is at least one of a variance value of the X axial acceleration, a variance value of the Y axial acceleration, a variance value of the Z axial acceleration, a variance value of the X axial yaw rate, a variance value of the Y axial yaw rate, and a variance value of the Z axial yaw rate.
It can be understood that the IMU data obtained by IMU detection includes an X axial acceleration, a Y axial acceleration, a Z axial acceleration, an X axial yaw rate, a Y axial yaw rate, a Z axial yaw rate, and the like, and when variance values of n sets of IMU data included in effective IMU data are actually calculated, only one of the data may be selected for performing the variance value calculation, or two or more of the data may be selected for performing the variance value calculation, respectively, and the embodiment of the present invention is not particularly limited.
It should be noted that, when comparing the variance value obtained by calculation with the variance threshold value set in advance, different variance threshold values may be set according to different variance values. For example, assuming that the variance value of the X axial acceleration is selected for variance calculation, a variance threshold of the X axial acceleration is set corresponding to the variance value of the X axial acceleration, so as to perform stability judgment on the X axial acceleration in the effective IMU data; assuming that the X axial acceleration, the Y axial acceleration and the Z axial yaw rate are simultaneously selected for calculating the variance value, different variance threshold values are correspondingly set for the variance value of the X axial acceleration, the variance value of the Y axial acceleration and the variance value of the Z axial yaw rate, respectively, so as to perform stability judgment on the X axial acceleration, the Y axial acceleration and the Z axial yaw rate in the effective IMU data, respectively.
As an improvement of the above, the variance value of the X axial acceleration
Obtained by the following formula:
In the present embodiment, taking the variance value of the X axial acceleration as an example, the variance value of the X axial acceleration
Can be represented by formula
Is obtained by calculation of XiRepresents the X axial acceleration contained in the i-th set of IMU data of the n sets of IMU data,
represents the average of n X axial accelerations contained in the n sets of IMU data (see the above embodiment for a specific calculation); for the variance value of the Y axial acceleration, the variance value of the Z axial acceleration, the variance value of the X axial yaw rate, the variance value of the Y axial yaw rate, and the variance value of the Z axial yaw rate, the specific calculation mode is similar to the calculation mode of the variance value of the X axial acceleration, and is not described herein again.
An embodiment of the present invention further provides an IMU calibration apparatus, configured to implement the IMU calibration method according to any one of the above embodiments, and is a structural block diagram of a preferred embodiment of the IMU calibration apparatus according to the present invention, as shown in fig. 2, where the apparatus includes:
a reference data obtaining module 11, configured to obtain reference IMU data detected by a reference IMU within a preset time period, where the reference IMU is a calibrated IMU;
an error compensation obtaining module 12, configured to, when the reference IMU data is valid IMU data, calculate an error compensation value of the IMU to be calibrated according to the valid IMU data and IMU to be calibrated data detected by the IMU to be calibrated;
and the error compensation module 13 is configured to perform error compensation on the to-be-calibrated IMU data detected by the to-be-calibrated IMU according to the error compensation value.
Preferably, the apparatus further comprises a validity judging module, configured to:
acquiring the value of a valid bit corresponding to the reference IMU data;
when the value of the valid bit indicates valid, determining the reference IMU data as valid IMU data;
when the value of the valid bit indicates invalid, determining the reference IMU data as invalid IMU data.
Preferably, the error compensation obtaining module 12 specifically includes:
the average value calculating unit is used for calculating and obtaining the average value of the effective IMU data when the reference IMU data is the effective IMU data, wherein the effective IMU data comprises n groups of IMU data, and n is greater than 1;
and the error compensation value calculating unit is used for calculating and obtaining the difference value between the IMU data to be calibrated detected by the IMU to be calibrated and the average value, and taking the difference value as the error compensation value.
Preferably, the average value is at least one of an average value of the X-axis acceleration, an average value of the Y-axis acceleration, an average value of the Z-axis acceleration, an average value of the X-axis yaw rate, an average value of the Y-axis yaw rate, and an average value of the Z-axis yaw rate.
Preferably, the apparatus further comprises a stability determining module, configured to:
calculating to obtain a variance value of the effective IMU data, wherein the effective IMU data comprises n groups of IMU data, and n is greater than 1;
when the variance value is smaller than a preset variance threshold value, judging that the effective IMU data is stable IMU data;
when the variance value is not smaller than the variance threshold value, judging that the effective IMU data is unstable IMU data;
then, the error compensation obtaining module 12 calculates and obtains an error compensation value of the IMU to be calibrated according to the effective IMU data and the IMU to be calibrated detected by the IMU to be calibrated, specifically:
and calculating to obtain an error compensation value of the IMU to be calibrated according to the stable IMU data and the IMU data to be calibrated detected by the IMU to be calibrated.
Preferably, the variance value is at least one of a variance value of the X-axis acceleration, a variance value of the Y-axis acceleration, a variance value of the Z-axis acceleration, a variance value of the X-axis yaw rate, a variance value of the Y-axis yaw rate, and a variance value of the Z-axis yaw rate.
Preferably, the variance value of the X axial acceleration
Obtained by the following formula:
It should be noted that, the IMU calibration apparatus provided in the embodiments of the present invention can implement all the processes of the IMU calibration method described in any one of the embodiments, and the functions and implemented technical effects of each module and unit in the apparatus are respectively the same as those of the IMU calibration method described in the embodiments, and are not described herein again.
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program; when the computer program runs, the apparatus where the computer readable storage medium is located is controlled to execute the IMU calibration method according to any one of the above embodiments.
An embodiment of the present invention further provides a terminal device, which is shown in fig. 3 and is a block diagram of a preferred embodiment of the terminal device provided in the present invention, where the terminal device includes a processor 10, a memory 20, and a computer program stored in the memory 20 and configured to be executed by the processor 10, and the processor 10, when executing the computer program, implements the IMU calibration method according to any one of the embodiments.
It should be noted that, the IMU calibration method described in any of the above embodiments may be executed by the IMU to be calibrated itself, or may be executed by an associated controller that receives IMU data, and in this embodiment, the terminal device may specifically be the IMU to be calibrated, or may also be the controller, and the embodiment of the present invention is not limited specifically.
Preferably, the computer program can be divided into one or more modules/units (e.g. computer program 1, computer program 2,) which are stored in the memory 20 and executed by the processor 10 to accomplish the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program in the terminal device.
The Processor 10 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, etc., the general purpose Processor may be a microprocessor, or the Processor 10 may be any conventional Processor, the Processor 10 is a control center of the terminal device, and various interfaces and lines are used to connect various parts of the terminal device.
The memory 20 mainly includes a program storage area that may store an operating system, an application program required for at least one function, and the like, and a data storage area that may store related data and the like. In addition, the memory 20 may be a high speed random access memory, may also be a non-volatile memory, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), and the like, or the memory 20 may also be other volatile solid state memory devices.
It should be noted that the terminal device may include, but is not limited to, a processor and a memory, and those skilled in the art will understand that the structural block diagram in fig. 3 is only an example of the terminal device and does not constitute a limitation to the terminal device, and may include more or less components than those shown, or combine some components, or different components.
In summary, the embodiment of the present invention provides an IMU calibration method, an IMU calibration apparatus, a computer-readable storage medium, and a terminal device, by taking the calibrated IMU as a reference IMU and acquiring reference IMU data detected by the reference IMU within a preset time period, when the reference IMU data is valid IMU data, calculating to obtain an error compensation value of the IMU to be calibrated according to the effective IMU data and the IMU data to be calibrated detected by the IMU to be calibrated, therefore, the error compensation is carried out on the IMU data to be calibrated detected by the IMU to be calibrated according to the error compensation value, the effective IMU data of the calibrated IMU can be taken as the reference, the IMU to be calibrated is subjected to zero calibration, so that the zero calibration of the IMU to be calibrated does not depend on a specific scene (for example, the IMU to be calibrated must be calibrated in the whole vehicle posture at a four-wheel positioning station of the vehicle), the calibration difficulty of the IMU is greatly reduced, the calibration steps are simplified, and the calibration efficiency is effectively improved.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An IMU calibration method is characterized by comprising the following steps:
acquiring reference IMU data detected by a reference IMU in a preset time period, wherein the reference IMU is a calibrated IMU;
when the reference IMU data is valid IMU data, calculating to obtain an error compensation value of the IMU to be calibrated according to the valid IMU data and IMU data to be calibrated detected by the IMU to be calibrated;
and carrying out error compensation on the IMU data to be calibrated detected by the IMU to be calibrated according to the error compensation value.
2. The IMU calibration method of claim 1, further comprising:
acquiring the value of a valid bit corresponding to the reference IMU data;
when the value of the valid bit indicates valid, determining the reference IMU data as valid IMU data;
when the value of the valid bit indicates invalid, determining the reference IMU data as invalid IMU data.
3. The IMU calibration method according to claim 1, wherein the calculating, according to the valid IMU data and the IMU to be calibrated data detected by the IMU to be calibrated, an error compensation value of the IMU to be calibrated specifically includes:
calculating to obtain an average value of the effective IMU data, wherein the effective IMU data comprises n groups of IMU data, and n is greater than 1;
and calculating to obtain a difference value between the IMU data to be calibrated detected by the IMU to be calibrated and the average value, and taking the difference value as the error compensation value.
4. The IMU calibration method of claim 3, wherein the average value is at least one of an average value of X axial acceleration, an average value of Y axial acceleration, an average value of Z axial acceleration, an average value of X axial yaw rate, an average value of Y axial yaw rate, and an average value of Z axial yaw rate.
5. A method of IMU calibration as claimed in any one of claims 1 to 4, further comprising:
calculating to obtain a variance value of the effective IMU data, wherein the effective IMU data comprises n groups of IMU data, and n is greater than 1;
when the variance value is smaller than a preset variance threshold value, judging that the effective IMU data is stable IMU data;
when the variance value is not smaller than the variance threshold value, judging that the effective IMU data is unstable IMU data;
then, the calculating to obtain an error compensation value of the IMU to be calibrated according to the effective IMU data and IMU to be calibrated data detected by the IMU to be calibrated specifically is:
and calculating to obtain an error compensation value of the IMU to be calibrated according to the stable IMU data and the IMU data to be calibrated detected by the IMU to be calibrated.
6. The IMU calibration method of claim 5, wherein the variance values are at least one of X-axis acceleration variance values, Y-axis acceleration variance values, Z-axis acceleration variance values, X-axis yaw rate variance values, Y-axis yaw rate variance values, and Z-axis yaw rate variance values.
7. The IMU calibration method of claim 6, wherein the variance value of the X axial acceleration
Obtained by the following formula:
8. An IMU calibration apparatus, for implementing an IMU calibration method as claimed in any one of claims 1-7, the apparatus comprising:
the device comprises a reference data acquisition module, a calibration module and a comparison module, wherein the reference data acquisition module is used for acquiring reference IMU data detected by a reference IMU within a preset time period, and the reference IMU is a calibrated IMU;
an error compensation acquisition module, configured to calculate an error compensation value of the IMU to be calibrated according to the effective IMU data and IMU to be calibrated data detected by the IMU to be calibrated, when the reference IMU data is effective IMU data;
and the error compensation module is used for carrying out error compensation on the IMU data to be calibrated detected by the IMU to be calibrated according to the error compensation value.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored computer program; wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the IMU calibration method of any one of claims 1-7.
10. A terminal device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor when executing the computer program implementing an IMU calibration method as claimed in any one of claims 1-7.
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