CN116243631A - Equipment control method and device based on inertial navigation and computer equipment - Google Patents

Equipment control method and device based on inertial navigation and computer equipment Download PDF

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Publication number
CN116243631A
CN116243631A CN202310009823.XA CN202310009823A CN116243631A CN 116243631 A CN116243631 A CN 116243631A CN 202310009823 A CN202310009823 A CN 202310009823A CN 116243631 A CN116243631 A CN 116243631A
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angular velocity
filtered
acceleration
information
speed
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宋舜辉
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DeepRoute AI Ltd
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DeepRoute AI Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25257—Microcontroller
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

The application relates to a device control method, a device, a computer device, a storage medium and a computer program product based on inertial navigation. The method comprises the following steps: acquiring detection parameters of non-inertial device detection of equipment; under the condition that the equipment is in a static state based on the detection parameters, acquiring inertial navigation data of an inertial navigation device of the equipment, wherein the inertial navigation data comprises angular speed and acceleration; performing low-pass filtering processing on the inertial navigation data to obtain a filtered angular velocity and a filtered acceleration; analyzing the filtered angular velocity and the filtered acceleration based on the preset resting state angular velocity information and the preset resting state acceleration information to obtain an analysis result, and determining whether the equipment is in a zero-speed resting state according to the analysis result; and under the condition that the equipment is in a zero-speed static state, performing zero-speed correction on the equipment. By adopting the method, the accuracy of zero-speed detection is improved.

Description

Equipment control method and device based on inertial navigation and computer equipment
Technical Field
The present invention relates to the field of inertial navigation technology, and in particular, to an inertial navigation-based device control method, an inertial navigation-based device control apparatus, a computer device, a storage medium, and a computer program product.
Background
Along with the development of inertial navigation technology, an inertial navigation system calculates the information of the carrier position, speed and posture at the next moment by utilizing the three-axis acceleration and three-axis angular velocity information output by an Inertial Measurement Unit (IMU), and through the steps of posture updating, removing harmful acceleration, speed updating, position updating and the like, the inertial navigation system is widely applied to the fields of navigation, positioning and the like, such as the navigation positioning process of various mobile equipment such as vehicles, mobile phones and the like.
However, due to factors such as sensor model errors, noise, etc. of the inertial navigation IMU, errors in the position/speed/attitude of the inertial navigation system may gradually increase over time, which may lead to an increase in errors in controlling the device accordingly. Accordingly, zero-speed updating techniques have emerged to effectively suppress such an increase in error, the zero-speed updating including zero-speed detection for detecting whether or not the device in which the inertial navigation device is located is at zero speed, and zero-speed correction for performing a related correction process by the zero-speed correction when it is determined that it is at zero speed. Therefore, the accuracy of zero speed detection directly influences the accuracy of zero speed correction, and further influences the accuracy of equipment control based on inertial navigation. However, the inventors of the present application found that the accuracy of zero-speed detection in the conventional manner is low.
Disclosure of Invention
In view of the foregoing, it is desirable to provide an inertial navigation-based device control method, an inertial navigation-based device control apparatus, a computer device, a storage medium, and a computer program product with high accuracy.
In a first aspect, the present application provides a device control method based on inertial navigation, the method comprising:
acquiring detection parameters of non-inertial device detection of equipment;
acquiring inertial navigation data of an inertial navigation device of the equipment under the condition that the equipment is in a static state based on the detection parameters, wherein the inertial navigation data comprises angular speed and acceleration;
performing low-pass filtering processing on the inertial navigation data to obtain a filtered angular velocity and a filtered acceleration;
analyzing the filtered angular velocity and the filtered acceleration based on preset resting state angular velocity information and preset resting state acceleration information to obtain an analysis result, and determining whether the equipment is in a zero-speed resting state according to the analysis result;
and carrying out zero-speed correction on the equipment under the condition that the equipment is in a zero-speed static state.
In some embodiments, the acquiring the detection parameters of the non-inertial device detection of the apparatus includes:
The method comprises the steps of obtaining wheel speed parameters obtained through wheel speed meter measurement and satellite measurement speed parameters obtained through GNSS receiver board card measurement, wherein the detection parameters comprise the detection parameters and the satellite measurement speed parameters.
In some embodiments, the angular velocity comprises a lateral angular velocity of the inertial navigation device and the acceleration comprises a longitudinal acceleration of the inertial navigation device.
In some embodiments, the analyzing the filtered angular velocity and the filtered acceleration based on the preset rest angular velocity information and the preset rest acceleration information to obtain an analysis result includes:
performing discrete degree calculation processing on the filtered angular velocity and the filtered acceleration in a specified time window respectively to obtain filtered angular velocity discrete information and filtered acceleration discrete information;
and obtaining an analysis result according to the magnitude relation between the filtered angular velocity discrete information and the preset static angular velocity information and the magnitude relation between the filtered acceleration discrete information and the preset static acceleration information.
In some embodiments, the obtaining the analysis result according to the magnitude relation between the filtered angular velocity discrete information and the preset rest state angular velocity information and the magnitude relation between the filtered acceleration discrete information and the preset rest state acceleration information includes:
And determining whether the filtered angular velocity discrete information is smaller than the preset rest state angular velocity information of a preset multiple, and whether the filtered acceleration discrete information is smaller than the preset rest state acceleration information of the preset multiple, so as to obtain the analysis result.
In some embodiments, the determining whether the device is in a zero-speed stationary state according to the analysis result includes:
the analysis results were: and under the condition that the filtered angular velocity discrete information is smaller than the preset rest state angular velocity information of the preset multiple and the filtered acceleration discrete information is smaller than the preset rest state acceleration information of the preset multiple, determining that the equipment is in a zero-speed rest state.
In some embodiments, the filtered angular velocity dispersion information includes the filtered angular velocity variance, and the filtered acceleration dispersion information includes a filtered acceleration variance.
In some embodiments, the performing zero-speed correction on the device when the device is in a zero-speed stationary state includes:
under the condition that the equipment is in a zero-speed static state, estimating the zero offset of the angular velocity of an inertial navigation device to obtain the zero offset estimated angular velocity;
And correcting the angular velocity output by the inertial navigation device based on the zero offset estimated angular velocity.
In some embodiments, the method further comprises:
low-pass filtering is carried out on the corrected angular velocity, and the filtered corrected angular velocity is obtained;
and respectively updating the preset static state angular velocity information and the preset static state acceleration information by combining the filtered corrected angular velocity and the filtered acceleration information.
In a second aspect, the present application further provides an apparatus control device based on inertial navigation, the device including:
the detection parameter acquisition module is used for acquiring detection parameters detected by the non-inertial device of the equipment;
the inertial data acquisition module is used for acquiring inertial navigation data of an inertial navigation device of the equipment under the condition that the equipment is in a static state based on the detection parameters, wherein the inertial navigation data comprises angular speed and acceleration;
the filtering module is used for carrying out low-pass filtering processing on the inertial navigation data to obtain a filtered angular velocity and a filtered acceleration;
the zero-speed analysis module is used for analyzing the filtered angular velocity and the filtered acceleration based on preset resting state angular velocity information and preset resting state acceleration information to obtain an analysis result, and determining whether the equipment is in a zero-speed resting state according to the analysis result;
And the correction module is used for carrying out zero-speed correction on the equipment under the condition that the equipment is in a zero-speed static state.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the steps of the method of any of the embodiments described above when the computer program is executed.
In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method in any of the embodiments described above.
In a fifth aspect, the present application also provides a computer program product. The computer program product comprising a computer program which, when executed by a processor, implements the steps of the method in any of the embodiments described above.
According to the equipment control method, the device, the computer equipment, the storage medium and the computer program product based on inertial navigation, whether the equipment is in a static state or not is initially judged based on detection parameters detected by a non-inertial device, inertial navigation data of the inertial navigation device of the equipment are acquired under the condition that the equipment is in the static state or not is initially judged, whether the equipment is in the static state or not is further judged, and when the inertial navigation data are used for judging, low-pass filtering processing is carried out on the inertial navigation data to obtain filtered angular velocity and filtered acceleration, analysis is carried out on the filtered angular velocity and the filtered acceleration based on preset static angular velocity information and preset static acceleration information, so that the influence of the non-inertial device and the inertial navigation device is comprehensively considered, the influence of external noise interference signals is removed after the inertial navigation data are subjected to low-pass filtering processing when the inertial navigation data are used, the analysis result of the zero-velocity static state is also improved, the accuracy of zero-velocity detection is improved, and the zero-velocity-based on-control accuracy is improved.
Drawings
FIG. 1 is an application environment diagram of a device control method based on inertial navigation in one embodiment;
FIG. 2 is a flow diagram of a method of inertial navigation-based device control in one embodiment;
FIG. 3 is a block diagram of an inertial navigation-based device control apparatus in one embodiment;
fig. 4 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The device control method based on inertial navigation provided by the embodiment of the application can be applied to an application environment shown in fig. 1. Wherein the terminal 102 communicates with the server 104 via a network. The data storage system may store data that the server 104 needs to process. The data storage system may be integrated on the server 104 or may be located on a cloud or other network server. The terminal 102 is provided with an inertial navigation device and a non-inertial device, wherein the inertial navigation device may include an IMU (inertial measurement unit), and the non-inertial device may include a wheel speed meter, a GNSS receiver board card, and the like. During the use process of the terminal 102, inertial navigation devices can be combined to perform inertial navigation, so as to realize processing procedures such as positioning, navigation and the like. The relevant data of the terminal 102 in the inertial navigation process and other data in the use process can be uploaded to the server 104 for storage. In order to effectively inhibit the influence of errors of the inertial navigation device in the use process, the terminal 102 performs analysis of a zero-speed static state based on the detection parameters of the non-inertial device and inertial navigation data of the inertial navigation device and combines preset static angular velocity information and preset static acceleration information, and performs zero-speed correction accordingly. The preset static angular velocity information and the preset static acceleration information may be obtained locally from the terminal 102 or may be obtained from the server 104, for example, the server 104 may obtain data from a data storage system, and provide the data to the terminal 102, or the server 104 determines in real time and provides the data to the terminal 102.
The terminal 102 may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, internet of things devices, and portable wearable devices, where the internet of things devices may be smart speakers, smart televisions, smart air conditioners, smart vehicle devices, and the like. The portable wearable device may be a smart watch, smart bracelet, headset, or the like. The server 104 may be implemented as a stand-alone server or as a server cluster of multiple servers.
In some embodiments, as shown in fig. 2, there is provided an inertial navigation-based device control method, which is described by taking the terminal 102 in fig. 1 as an example, and includes the following steps S101 to S105.
Step S101: the method comprises the steps of obtaining detection parameters of non-inertial device detection of equipment.
The non-inertial device of the apparatus refers to a device that is distinct from the inertial navigation device, and in the embodiments of the present application, the non-inertial device of the apparatus refers to a device that is distinct from the inertial navigation device and is capable of monitoring the speed of the apparatus 102. In some embodiments of the present application, the non-inertial device may include at least one of a wheel speed meter and a GNSS receiver board card.
Taking an example that the non-inertial device may include a wheel speed meter and a GNSS receiver board card, the acquiring the detection parameter detected by the non-inertial device of the apparatus may include:
The method comprises the steps of obtaining wheel speed parameters obtained through wheel speed meter measurement and satellite measurement speed parameters obtained through GNSS receiver board card measurement, wherein the detection parameters comprise the detection parameters and the satellite measurement speed parameters.
The wheel speed meter is a sensing device for obtaining parameters of the wheel. In some embodiments, the wheel speed meter may obtain the rotational speed of the wheel on which it is mounted, and in combination with the rotational speed of the wheel, and the radius/diameter of the wheel, the speed of the forward motion of the device (e.g., vehicle) on which the wheel is mounted may be calculated. In some embodiments, the wheel speed meter may obtain the rotational speed of the wheel at which it is located, and calculate and output the speed of the forward motion of the device (e.g., vehicle) at which it is located, in combination with the rotational speed of the wheel and the radius/diameter of the wheel. In the embodiment of the application, the wheel speed parameter obtained by measurement of the wheel speed meter can be the rotating speed of the wheel speed meter, and can also be the advancing speed of the equipment obtained by combining the rotating speed calculation of the wheel speed meter. When a wheel-equipped device (such as a vehicle) moves, the wheel speed parameter measured by the wheel speed meter is relatively large, so that it is possible to determine whether the device is in a stationary state or not in combination with the wheel speed parameter measured by the wheel speed meter to some extent.
A GNSS (Global Navigation Satellite System ) receiver board is a device that obtains a velocity parameter, which is referred to as a satellite measurement velocity parameter in the embodiment of the present application, by calculating satellite signals received by a GNSS antenna. In some embodiments, the satellite measurement speed parameter may be a combined speed of an east speed and a north speed obtained by calculating a satellite signal received by the GNSS antenna. When the equipment (such as a vehicle) where the GNSS antenna is located moves, the GNSS antenna also moves, and the speed obtained by measuring and calculating the GNSS receiver board card is also larger. Thus, it is possible to determine to some extent whether the device is in a stationary state based on satellite measurement speed parameters obtained by GNSS receiver board measurements.
Step S102: and under the condition that the equipment is in a static state based on the detection parameters, acquiring inertial navigation data of an inertial navigation device of the equipment, wherein the inertial navigation data comprises angular velocity and acceleration.
Determining that the device is in a stationary state based on the monitoring parameter means that the device is determined to be in a stationary state based on the detection parameter detected by the non-inertial device.
The non-inertial device includes a wheel speed meter and a GNSS receiver board card, for example, where the device is determined to be in a stationary state only when the wheel speed parameter based on the wheel speed meter and the satellite measurement speed parameter of the GNSS receiver board card are both determined to be in a stationary state. It should be appreciated that determining that the device is in a stationary state is merely a preliminary rough determination and cannot determine that the device is in an absolute stationary state. Taking a device as an example of a vehicle, under the condition that the vehicle moves very slowly, the motion of the vehicle cannot be accurately monitored based on the wheel speed parameter of the wheel speed meter and the satellite measurement speed parameter of the GNSS receiver board card, so that further judgment is needed by combining the inertial navigation data of the inertial navigation device.
Under the condition that the non-inertial device comprises a wheel speed meter and a GNSS receiver board card, the judging process of whether the device is in a static state or not by combining the wheel speed parameter of the wheel speed meter and the satellite measurement speed parameter of the GNSS receiver board card can be carried out in a non-sequential order or a specified order. In some embodiments, the determination may be made based on satellite measurement speed parameters obtained by measurement and calculation of the GNSS receiving board card, when the wheel speed parameter determining device based on the wheel speed meter is in a stationary state.
When the wheel speed parameter of the wheel speed meter is less than a preset wheel speed parameter threshold value and the satellite measurement speed parameter is less than the satellite measurement speed parameter threshold value, the device is determined to be in a static state. The preset wheel speed parameter threshold and the satellite measurement speed parameter threshold may be set in connection with actual technical needs, for example, in some embodiments, the preset wheel speed parameter threshold may be set to 1m/s (meter/s), and the satellite measurement speed parameter threshold may be set to 0.1m/s. Therefore, under the condition that the wheel speed parameter based on the wheel speed meter determines that the equipment is in a static state, and under the condition that satellite measurement speed parameters obtained through measurement and calculation of the GNSS receiving board card are used for judging, whether the equipment is in a high-speed motion state with the speed higher than 1m/s can be judged by combining the wheel speed parameters, and whether the equipment is in a low-speed motion state with the speed higher than 0.1m/s of the GNSS antenna is judged, so that the influence of the high speed and the low speed is considered, and under the condition that the equipment is in the static state under the condition of both the high speed and the low speed, further judgment is carried out by combining the inertial navigation data of the inertial navigation device, and the detection precision is improved.
The obtained inertial navigation data of the inertial navigation device of the equipment can be inertial navigation data in a specified time window. It should be understood that inertial navigation data within a specified time window refers to inertial navigation data within a specified time window adjacent to the current time, which may be set in connection with actual technical needs, for example, in some embodiments, the specified time window may be set to 1 second.
Step S103: and performing low-pass filtering processing on the inertial navigation data to obtain the filtered angular velocity and the filtered acceleration.
Low pass filtering is the filtering of high frequency signals in the data, i.e. allowing low frequency signals to pass through, but attenuating the passage of signals with frequencies above the cut-off frequency. The influence of the external noise interference signals in the inertial navigation data can be effectively achieved by performing low-pass filtering processing on the inertial navigation data.
Step S104: and analyzing the filtered angular velocity and the filtered acceleration based on the preset resting state angular velocity information and the preset resting state acceleration information to obtain an analysis result, and determining whether the equipment is in a zero-speed resting state according to the analysis result.
The preset rest state angular velocity information and the preset rest state acceleration information refer to information related to the fact that whether the inertial navigation device is in a zero-speed rest state or not can be determined in an auxiliary mode. The preset resting state angular velocity information and the preset resting state acceleration information can be set in combination with actual technical requirements.
In some embodiments, the acceleration information and the angular velocity information related to the inertial navigation device in the zero-speed static state are collected in advance to determine the preset static state angular velocity information and the preset static state acceleration information. In other embodiments, when the inertial navigation device is in the zero-speed static state in combination with the detected certain times of inertial navigation devices in the preset time period, the inertial navigation data of the inertial navigation device is determined, for example, the preset static state acceleration information is determined according to the filtered acceleration of the inertial navigation device in the zero-speed static state in the certain times of the preset time period, and the preset static state angular velocity information is determined according to the filtered angular velocity of the inertial navigation device in the zero-speed static state in the certain times of the preset time period.
Step S105: and carrying out zero-speed correction on the equipment under the condition that the equipment is in a zero-speed static state.
In the case of determining that the apparatus is in the zero-speed stationary state based on the above analysis result, the description can accurately confirm that the apparatus is in the zero-speed state, so that the zero-speed correction can be performed on the apparatus accordingly.
According to the equipment control method based on inertial navigation, whether the equipment is in a static state is initially judged based on detection parameters detected by a non-inertial device, inertial navigation data of the inertial navigation device of the equipment are acquired under the condition that the equipment is in the static state, whether the equipment is in a zero-speed static state is further judged, and when the inertial navigation data are used for judging, low-pass filtering processing is carried out on the inertial navigation data, after the filtered angular velocity and the filtered acceleration are obtained, the filtered angular velocity and the filtered acceleration are analyzed based on preset static angular velocity information and preset static acceleration information, so that the influence of the non-inertial device and the inertial navigation device is comprehensively considered, and when the inertial navigation data of the inertial navigation device are used, the inertial navigation data are subjected to low-pass filtering processing and then analyzed, the influence of external noise interference signals is removed, the analysis result of the zero-speed static state is more accurate, the zero-speed detection accuracy is improved, and the zero-speed correction accuracy is improved based on the basis, and the inertial navigation control is improved based on the zero-speed.
The angular velocity of the inertial navigation data of the inertial navigation device may be an acceleration including a triaxial angular velocity, and the inertial navigation data may be an acceleration including a triaxial acceleration. In some embodiments of the present application, the angular velocity comprises a lateral angular velocity of the inertial navigation device and the acceleration comprises a longitudinal acceleration of the inertial navigation device. The lateral angular velocity of the inertial navigation device may refer to an angular velocity on the right side of the forward direction of the apparatus in which the inertial navigation device is located, and, for example, refer to an angular velocity on the right side of the vehicle. The longitudinal acceleration of the inertial navigation device may refer to the acceleration of the device in the forward direction, and, for example, the device is the vehicle, and refers to the acceleration of the vehicle in the forward direction.
When the equipment is started or stopped, taking the equipment as an example of a vehicle, the vehicle can shake longitudinally, and at the moment, the acceleration of the vehicle in the advancing direction can change; at the same time, the front head of the vehicle is lifted, at this time, the angular velocity of the vehicle in the transverse direction is changed, and the angular velocity in the right direction of the vehicle is determined according to the right hand rule and the advancing direction of the vehicle. Therefore, by selecting the transverse angular velocity and the longitudinal acceleration of the inertial navigation device to carry out subsequent zero-speed static judgment, the unnecessary addition of acceleration and/or angular velocity in other directions is avoided, the data quantity participating in processing is reduced, the processing efficiency is improved, and the precision is improved.
In some embodiments, the low-pass filtering the inertial navigation data to obtain a filtered angular velocity and a filtered acceleration includes:
acquiring a historical angular velocity, a historical filtered angular velocity, a historical acceleration and a historical filtered acceleration corresponding to each historical moment; the historical filtered angular velocity is obtained by performing low-pass filtering on the historical angular velocity, and the historical filtered acceleration is obtained by performing low-pass filtering on the historical acceleration;
weighting the current angular velocity and the historical angular velocity corresponding to each historical moment respectively to obtain weighted angular velocity and each historical weighted angular velocity, and calculating the sum of the weighted angular velocity and each historical weighted angular velocity to obtain a target angular velocity sum;
weighting the historical filtered angular velocities corresponding to each historical moment to obtain weighted angular velocities after each historical filtering, and calculating the sum of the weighted angular velocities after each historical filtering to obtain a target weighted angular velocity sum;
calculating the difference value between the target angular velocity sum and the target filtered weighted angular velocity sum to obtain the filtered angular velocity;
weighting the current acceleration and the historical acceleration corresponding to each historical moment respectively to obtain weighted acceleration and each historical weighted acceleration, and calculating the sum of the weighted acceleration and each historical weighted acceleration to obtain a target acceleration sum;
And weighting the historical filtered acceleration corresponding to each historical moment to obtain each historical filtered weighted acceleration, calculating the sum of the historical filtered weighted accelerations to obtain a target filtered weighted acceleration sum, and calculating the difference between the target acceleration sum and the target filtered weighted acceleration sum to obtain the filtered acceleration.
In the low-pass filtering process, in some embodiments, a k-order IIR (Infinite Impulse Response, infinite impulse response filter) filter may be used to perform low-pass filtering on the inertial navigation data to obtain a filtered angular velocity and a filtered acceleration.
The filtering formula when the k-order IIR filter performs low-pass filtering can be expressed as:
a(1)*y(n)＝b(1)*x(n)+b(2)*x(n-1)+...+b(k+1)*x(n-k)-a(2)*y(n-1)-...-a(k+1)*y(n-k)；
wherein a (1), b (2), b (k+1), a (2), a (k+1) are all filter coefficients, which can be obtained by filter performance, wherein a (1) is a coefficient 1;
k is the order of the filter;
a (1) x y (n) is an output value of the filter at the nth time, and is used as current input data.
x (n), x (n-1), x (n-k) are input values at the nth time, the nth-1 time, and the nth-k time of the filter, and are used as history input data. For example, when n is 6 and the order k of the filter is 3, x (n), x (n-1), and x (n-k) are x (6), x (5), and x (3), respectively, which indicate the input values of the filter at the 6 th, 5 th, and 3 rd seconds.
y (n-1) and y (n-k) are output values of the filter at the n-1 th and n-k th moments, and the output values are used as historical output data.
In this embodiment, the filtering output of IIR depends on the current input data, the historical input data and the historical output data, and the current input data is adjusted according to the difference between the historical input data and the historical output data, so that the current input data is closer to the historical output data, noise interference signals in the current input data can be removed, more accurate current output data can be obtained, namely, more accurate angular velocity after filtering and acceleration after filtering can be obtained, and the analysis of the zero-speed static state based on the current input data is more accurate.
In some embodiments, the analyzing the filtered angular velocity and the filtered acceleration based on the preset rest angular velocity information and the preset rest acceleration information to obtain an analysis result includes:
performing discrete degree calculation processing on the filtered angular velocity and the filtered acceleration in a specified time window respectively to obtain filtered angular velocity discrete information and filtered acceleration discrete information;
and obtaining an analysis result according to the magnitude relation between the filtered angular velocity discrete information and the preset static angular velocity information and the magnitude relation between the filtered acceleration discrete information and the preset static acceleration information.
Wherein the specified time window may be set in connection with the actual need, in some embodiments, the specified time window may be set to 1 second.
The discrete degree calculation processing may be performed on the filtered angular velocity and the filtered acceleration within a specified time window, for example, variance processing may be performed on the filtered angular velocity and the filtered acceleration within the specified time window, so as to obtain filtered angular velocity discrete information, where the filtered angular velocity discrete information may also be referred to as filtered angular velocity variance. For another example, the variance of the filtered acceleration within a specified time window is calculated to obtain the filtered acceleration dispersion information, in which case the filtered acceleration dispersion information may also be referred to as the filtered acceleration variance.
In some embodiments, the obtaining the analysis result according to the magnitude relation between the filtered angular velocity discrete information and the preset rest state angular velocity information and the magnitude relation between the filtered acceleration discrete information and the preset rest state acceleration information includes:
and determining whether the filtered angular velocity discrete information is smaller than the preset rest state angular velocity information of a preset multiple, and whether the filtered acceleration discrete information is smaller than the preset rest state acceleration information of the preset multiple, so as to obtain the analysis result.
Accordingly, in some embodiments, the determining whether the device is in a zero-speed rest state according to the analysis result includes:
the analysis results were: and under the condition that the filtered angular velocity discrete information is smaller than the preset rest state angular velocity information of the preset multiple and the filtered acceleration discrete information is smaller than the preset rest state acceleration information of the preset multiple, determining that the equipment is in a zero-speed rest state.
The preset multiple may be set in conjunction with the actual technical requirement, for example, in some embodiments, the preset multiple may be set to 3. At this time, when the filtered angular velocity discrete information does not exceed 3 times of the preset rest state angular velocity information and the filtered acceleration discrete information does not exceed 3 times of the preset rest state acceleration information, it may be determined that the apparatus is in a zero-speed rest state at the current time.
The expression formula may be Ca <3Ca0 and Cg <3Cg0, where Ca is the filtered acceleration discrete information, ca0 is the preset rest state acceleration information, cg is the filtered angular velocity discrete information, and Cg0 is the preset rest state angular velocity information.
In some embodiments, the performing zero-speed correction on the device when the device is in a zero-speed static state may specifically include:
Under the condition that the equipment is in a zero-speed static state, estimating the zero offset of the angular velocity of an inertial navigation device to obtain the zero offset estimated angular velocity;
and correcting the angular velocity output by the inertial navigation device based on the zero offset estimated angular velocity.
Wherein, when estimating the angular velocity zero offset of the inertial navigation device, the angular velocity zero offset estimation of the inertial navigation device can be performed in combination with the rotation angular velocity of the earth, and in some embodiments, the formula can be expressed as:
Figure BDA0004037954300000121
wherein w is bias Estimating an angular velocity for the zero offset, i.e. an estimated angular velocity zero offset value; w (w) imu,k The angular velocity of the original output of the inertial navigation device IMU at the moment k; c (C) k Representing the gesture matrix of IMU at k moment, w earth A value representing the rotational angular velocity of the earth; c (C) k * earth Representing the value of the earth rotation angular velocity at the moment k in the coordinate system of the IMU.
In some embodiments, after obtaining the zero offset estimated angular velocity, when correcting the angular velocity output by the inertial navigation device based on the zero offset estimated angular velocity, the following may be combined:
w correct,k ＝w imu,k -C k *w earth -w bias
wherein w is correct,k And (3) carrying out the correction of the angular velocity zero offset and the earth rotation for the moment k and outputting the angular velocity by the IMU.
In some embodiments, after correcting the angular velocity of the inertial navigation device output based on the zero offset estimated angular velocity, the method further comprises:
Low-pass filtering is carried out on the corrected angular velocity, and the filtered corrected angular velocity is obtained;
and respectively updating the preset static state angular velocity information and the preset static state acceleration information by combining the filtered corrected angular velocity and the filtered acceleration information.
Therefore, under the condition that the equipment is in a zero-speed static state, the angular speed output by the inertial navigation device is corrected, and the preset static state angular speed information and the preset static state acceleration information are respectively updated, so that the accuracy of detection in the subsequent process is facilitated.
Based on the embodiments described above, the following is exemplified in connection with one of the application examples. In this embodiment, the device is a vehicle, the filtered angular velocity discrete information is a filtered angular velocity variance, and the filtered acceleration discrete information is a filtered acceleration variance.
First, a wheel speed parameter detected by a wheel speed meter of a vehicle at a current time is acquired, and whether the wheel speed parameter is greater than 1m/s is judged. If the wheel speed parameter is greater than 1m/s, the current movement of the vehicle is indicated, and the wheel speed parameter corresponding to the next moment at the current moment is acquired again.
If the wheel speed parameter is smaller than 1m/s, the wheel speed parameter indicates that the vehicle is possibly in a static state, the satellite measurement speed parameter obtained through the measurement and calculation of the GNSS receiver board card of the vehicle is further obtained, when the satellite measurement speed parameter is larger than 0.1m/s, the current movement of the vehicle is indicated, and the wheel speed parameter corresponding to the next moment at the current moment is obtained again.
And when the satellite measurement speed parameter is smaller than 0.1m/s, acquiring the transverse angular speed and the longitudinal acceleration measured by the inertial navigation device corresponding to the vehicle at the current moment, and respectively performing low-pass filtering operation on the transverse angular speed and the longitudinal acceleration to obtain the transverse filtered angular speed and the longitudinal filtered acceleration.
The method comprises the steps of obtaining a transverse filtering angular velocity and a longitudinal filtering acceleration of a vehicle in a front 1s of a current moment, wherein the transverse filtering angular velocity comprises the current transverse filtering angular velocity and a historical transverse filtering angular velocity in the front 1s of the current moment, the longitudinal filtering angular velocity comprises the current longitudinal filtering angular velocity and a historical longitudinal filtering angular velocity in the front 1s of the current moment, and then carrying out variance calculation on the transverse filtering angular velocity and the longitudinal filtering acceleration respectively to obtain a filtered transverse angular velocity variance and a filtered longitudinal acceleration variance.
When the filtered transverse angular velocity variance is larger than the preset static state angular velocity variance of the preset multiple and the filtered longitudinal acceleration variance is larger than the preset static state acceleration variance of the preset multiple, the vehicle is in a motion state currently, and the step of acquiring the wheel speed parameter corresponding to the next moment at the current moment is returned.
When the filtered transverse angular velocity variance is smaller than the preset resting state angular velocity variance of the preset multiple and the filtered longitudinal acceleration variance value is smaller than the preset resting state acceleration variance of the preset multiple, the vehicle can be judged to be in a zero-speed resting state at the current moment.
And carrying out zero-speed correction on the equipment under the condition that the equipment is determined to be in a zero-speed static state.
When zero-speed correction is carried out on the equipment, different corrections can be carried out according to actual needs.
For example, in some embodiments, formulas may be combined
Figure BDA0004037954300000141
Figure BDA0004037954300000142
Zero offset estimation is carried out on the angular velocity of the inertial navigation device to obtain zero offset estimated angular velocity w bias Then estimate the angular velocity w based on zero offset bias Combining formula w correct, ＝ imu,k -C k * earth -w bias And correcting the angular velocity output by the inertial navigation device.
After the angular velocity output by the inertial navigation device is corrected, the corrected angular velocity can be subjected to low-pass filtering, and the preset rest state angular velocity information and the preset rest state acceleration information are respectively updated, so that the accuracy of detection in the subsequent process is facilitated.
Based on the scheme of the embodiment of the application, when the equipment based on inertial navigation is controlled, besides the inertial navigation device IMU, detection data of non-inertial devices such as GNSS, wheel speed meters and the like are considered, so that the detection effect is improved, and the interference influence of external high-frequency noise is effectively filtered through low-pass filtering processing on the inertial navigation data of the inertial navigation device IMU, and the detection precision is improved. And by selecting the transverse angular velocity and the longitudinal acceleration of the inertial navigation device to carry out subsequent zero-speed static judgment, the unnecessary addition of acceleration and/or angular velocity in other directions is avoided, the data quantity participating in processing is reduced, the processing efficiency is improved, and the precision is improved.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides an inertial navigation-based device control device for implementing the inertial navigation-based device control method. The implementation of the solution provided by the apparatus is similar to the implementation described in the above method, so the specific limitation in the embodiment of one or more inertial navigation-based device control apparatuses provided below may be referred to the limitation of the inertial navigation-based device control method hereinabove, and will not be repeated herein.
In one embodiment, as shown in fig. 3, there is provided an inertial navigation-based device control apparatus, comprising:
a detection parameter obtaining module 301, configured to obtain a detection parameter detected by a non-inertial device of the apparatus;
an inertial data acquisition module 302, configured to acquire inertial navigation data of an inertial navigation device of the apparatus, where the inertial navigation data includes angular velocity and acceleration, in a case where the apparatus is determined to be in a stationary state based on the detection parameter;
the filtering module 303 performs low-pass filtering processing on the inertial navigation data to obtain a filtered angular velocity and a filtered acceleration;
the zero-speed analysis module 304 is configured to analyze the filtered angular velocity and the filtered acceleration based on preset resting angular velocity information and preset resting acceleration information, obtain an analysis result, and determine whether the device is in a zero-speed resting state according to the analysis result;
and the correction module 305 is used for carrying out zero-speed correction on the equipment under the condition that the equipment is in a zero-speed static state.
In some embodiments, the detection parameter obtaining module 301 is configured to obtain a wheel speed parameter obtained by measurement of a wheel speed meter, and a satellite measurement speed parameter obtained by measurement and calculation of a board card of a GNSS receiver, where the detection parameters include the detection parameters and the satellite measurement speed parameter.
In some of these embodiments: the angular velocity comprises a lateral angular velocity of the inertial navigation device and the acceleration comprises a longitudinal acceleration of the inertial navigation device.
In some embodiments, the zero-speed analysis module 304 is further configured to perform discrete degree calculation processing on the filtered angular velocity and the filtered acceleration within a specified time window, to obtain filtered angular velocity discrete information and filtered acceleration discrete information; and obtaining an analysis result according to the magnitude relation between the filtered angular velocity discrete information and the preset static angular velocity information and the magnitude relation between the filtered acceleration discrete information and the preset static acceleration information.
In some embodiments, the zero-speed analysis module 304 is further configured to determine whether the filtered angular velocity discrete information is less than the preset rest state angular velocity information by a preset multiple, and whether the filtered acceleration discrete information is less than the preset rest state acceleration information by the preset multiple, so as to obtain the analysis result.
In some embodiments, the zero-speed analysis module 304 is further configured to, when the analysis result is: and under the condition that the filtered angular velocity discrete information is smaller than the preset rest state angular velocity information of the preset multiple and the filtered acceleration discrete information is smaller than the preset rest state acceleration information of the preset multiple, determining that the equipment is in a zero-speed rest state.
In some of these embodiments, the filtered angular velocity dispersion information includes the filtered angular velocity variance and the filtered acceleration dispersion information includes a filtered acceleration variance.
In some embodiments, the correction module 305 is further configured to, in a case where the apparatus is in a zero-speed stationary state, perform zero-offset estimation on the angular velocity of the inertial navigation device, and obtain an estimated angular velocity of zero-offset; and correcting the angular velocity output by the inertial navigation device based on the zero offset estimated angular velocity.
In some of these embodiments, further comprising:
the updating module is used for obtaining a filtered corrected angular velocity obtained by low-pass filtering the corrected angular velocity; and respectively updating the preset static state angular velocity information and the preset static state acceleration information by combining the filtered corrected angular velocity and the filtered acceleration information.
The above-described respective modules in the inertial navigation-based device control apparatus may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 4. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device 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 includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program, when executed by a processor, implements a device control method based on inertial navigation. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the structures shown in FIG. 4 are block diagrams only and do not constitute a limitation of the computer device on which the present aspects apply, and that a particular computer device may include more or less components than those shown, or may combine some of the components, or have a different arrangement of components.
In an embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method of any of the embodiments described above when the computer program is executed.
In one embodiment, a computer readable storage medium is provided, on which a computer program is stored which, when executed by a processor, implements the steps of the method of any of the embodiments described above.
In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method in any of the embodiments described above.
It should be noted that, user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.

Claims (11)

1. A method of inertial navigation-based device control, the method comprising:
acquiring detection parameters of non-inertial device detection of equipment;
acquiring inertial navigation data of an inertial navigation device of the equipment under the condition that the equipment is in a static state based on the detection parameters, wherein the inertial navigation data comprises angular speed and acceleration;
Performing low-pass filtering processing on the inertial navigation data to obtain a filtered angular velocity and a filtered acceleration;
analyzing the filtered angular velocity and the filtered acceleration based on preset resting state angular velocity information and preset resting state acceleration information to obtain an analysis result, and determining whether the equipment is in a zero-speed resting state according to the analysis result;
and carrying out zero-speed correction on the equipment under the condition that the equipment is in a zero-speed static state.
2. The method of claim 1, wherein the obtaining the detection parameters of the non-inertial device detection of the apparatus comprises:
the method comprises the steps of obtaining wheel speed parameters obtained through wheel speed meter measurement and satellite measurement speed parameters obtained through GNSS receiver board card measurement, wherein the detection parameters comprise the detection parameters and the satellite measurement speed parameters.
3. The method of claim 1, wherein the angular velocity comprises a lateral angular velocity of the inertial navigation device and the acceleration comprises a longitudinal acceleration of the inertial navigation device.
4. A method according to any one of claims 1 to 3, wherein analyzing the filtered angular velocity and the filtered acceleration based on the preset resting angular velocity information and the preset resting acceleration information to obtain an analysis result comprises:
Performing discrete degree calculation processing on the filtered angular velocity and the filtered acceleration in a specified time window respectively to obtain filtered angular velocity discrete information and filtered acceleration discrete information;
and obtaining an analysis result according to the magnitude relation between the filtered angular velocity discrete information and the preset static angular velocity information and the magnitude relation between the filtered acceleration discrete information and the preset static acceleration information.
5. The method according to claim 4, wherein the obtaining an analysis result according to the magnitude relation between the filtered angular velocity discrete information and the preset rest state angular velocity information and the magnitude relation between the filtered acceleration discrete information and the preset rest state acceleration information includes:
and determining whether the filtered angular velocity discrete information is smaller than the preset rest state angular velocity information of a preset multiple, and whether the filtered acceleration discrete information is smaller than the preset rest state acceleration information of the preset multiple, so as to obtain the analysis result.
6. The method of claim 5, wherein said determining whether the device is in a zero-speed rest state based on the analysis result comprises:
The analysis results were: and under the condition that the filtered angular velocity discrete information is smaller than the preset rest state angular velocity information of the preset multiple and the filtered acceleration discrete information is smaller than the preset rest state acceleration information of the preset multiple, determining that the equipment is in a zero-speed rest state.
7. The method of claim 5, wherein the filtered angular velocity dispersion information comprises the filtered angular velocity variance and the filtered acceleration dispersion information comprises a filtered acceleration variance.
8. The method of claim 4, wherein zero-speed modifying the device with the device in a zero-speed rest state comprises:
under the condition that the equipment is in a zero-speed static state, estimating the zero offset of the angular velocity of an inertial navigation device to obtain the zero offset estimated angular velocity;
and correcting the angular velocity output by the inertial navigation device based on the zero offset estimated angular velocity.
9. The method of claim 8, wherein the method further comprises:
low-pass filtering is carried out on the corrected angular velocity, and the filtered corrected angular velocity is obtained;
And respectively updating the preset static state angular velocity information and the preset static state acceleration information by combining the filtered corrected angular velocity and the filtered acceleration information.
10. An inertial navigation-based device control apparatus, the apparatus comprising:
the detection parameter acquisition module is used for acquiring detection parameters detected by the non-inertial device of the equipment;
the inertial data acquisition module is used for acquiring inertial navigation data of an inertial navigation device of the equipment under the condition that the equipment is in a static state based on the detection parameters, wherein the inertial navigation data comprises angular speed and acceleration;
the filtering module is used for carrying out low-pass filtering processing on the inertial navigation data to obtain a filtered angular velocity and a filtered acceleration;
the zero-speed analysis module is used for analyzing the filtered angular velocity and the filtered acceleration based on preset resting state angular velocity information and preset resting state acceleration information to obtain an analysis result, and determining whether the equipment is in a zero-speed resting state according to the analysis result;
and the correction module is used for carrying out zero-speed correction on the equipment under the condition that the equipment is in a zero-speed static state.
11. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 9 when the computer program is executed.
CN202310009823.XA 2023-01-05 2023-01-05 Equipment control method and device based on inertial navigation and computer equipment Pending CN116243631A (en)

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