CN116448146A - Inertial navigation system self-calibration method, device, equipment and storage medium - Google Patents

Inertial navigation system self-calibration method, device, equipment and storage medium Download PDF

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Publication number
CN116448146A
CN116448146A CN202310289342.9A CN202310289342A CN116448146A CN 116448146 A CN116448146 A CN 116448146A CN 202310289342 A CN202310289342 A CN 202310289342A CN 116448146 A CN116448146 A CN 116448146A
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China
Prior art keywords
vehicle
forward direction
coordinate system
navigation system
running
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CN202310289342.9A
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Chinese (zh)
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李怡康
闫国行
罗赵彤
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Shanghai AI Innovation Center
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Shanghai AI Innovation Center
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Priority to CN202310289342.9A priority Critical patent/CN116448146A/en
Publication of CN116448146A publication Critical patent/CN116448146A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • 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
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Abstract

The embodiment of the application relates to the technical field of automatic driving, in particular to a self-calibration method, device and equipment of an inertial navigation system and a storage medium, wherein the method comprises the following steps: obtaining and judging the running condition of the vehicle; if the vehicle running condition is straight running, the track tangential direction of the global satellite navigation system is the forward direction of the vehicle coordinate system; if the running condition of the vehicle is random running, based on the position coordinates of the vehicle under the local coordinate system, the forward direction of the vehicle coordinate system is obtained; and obtaining the offset angle to be calibrated based on the forward direction angle output by the inertial measurement unit and the forward direction of the vehicle coordinate system. According to the self-calibration method for the inertial navigation system, the external parameter correction requirement in the use process can be met, a specific scene is not required to be set, the driving route and the road characteristics of a vehicle are not limited in a common road scene, and calibration can be completed in the normal driving process.

Description

Inertial navigation system self-calibration method, device, equipment and storage medium
Technical Field
The embodiment of the application relates to the technical field of automatic driving, in particular to a self-calibration method, device and equipment of an inertial navigation system and a storage medium.
Background
The driving system is a complex multi-module collaboration system, wherein sensors are the basis for the vehicle to complete various tasks, and the use and performance of multiple sensors directly determine the safety and feasibility of the autonomous vehicle. Most sensors require calibration of internal and external parameters before use, the internal parameters describe the mapping relationship inside the sensor, and the external parameters describe the conversion relationship between different sensors and the vehicle, world coordinate system.
Because the internal reference has small change after the sensor is manufactured, the calibration is basically finished before leaving the factory, and a laboratory calibration method based on an artificial target is adopted. The external parameters are affected by the process and operation during installation, and change during the use due to the influence of vehicle vibration and the like, so that the requirements for laboratory calibration and online calibration are met.
The calibration method for the inertial navigation system can be divided into two types of experimental calibration and online calibration. Typically, laboratory calibration uses some range finder to calibrate the displacement of the sensor from the vehicle body, and uses the direction of the GNSS output and the known vehicle direction to measure the angle of the inertial navigation system from the vehicle body. The online calibration method generally uses hand eye calibration, namely, the external parameter constraint between the inertial navigation system coordinate system transformation and the target coordinate system transformation is formed by solving the transformation of the inertial navigation system coordinate system and the transformation of the target coordinate system at a plurality of moments, and the external parameter constraint is solved by using a filter or a nonlinear optimization method. Such methods are mostly used for calibrating external parameters between inertial navigation systems and other sensors, such as lidar, however, there are fewer methods for calibrating external parameters with the vehicle. Other on-line calibration methods have special requirements on road scenes and vehicle driving modes. At present, the online calibration method of the sensor external parameters is mostly focused on calibration among different sensors, and the online calibration method of the external parameters of a single sensor and a vehicle body coordinate system is lacked, namely, the sensor self-calibration method is lacked, and the sensor and the rotating part in the vehicle body external parameters can influence a plurality of subsequent automatic driving tasks.
Disclosure of Invention
The embodiment of the application provides a self-calibration method, device, equipment and storage medium of an inertial navigation system, which can solve the external parameter correction requirement in the use process, and can complete calibration in the normal driving process without setting a specific scene and limiting the driving route and road characteristics of a vehicle in a common road scene.
In order to solve the above technical problems, in a first aspect, an embodiment of the present application provides a self-calibration method of an inertial navigation system, including the following steps: obtaining vehicle running conditions, wherein the vehicle running conditions comprise straight running and random running; judging the running condition of the vehicle, and obtaining the forward direction of a vehicle coordinate system based on the running condition of the vehicle; if the vehicle running condition is straight running, fitting coordinates of the vehicle position into a straight line; the direction of the straight line is the forward direction of the vehicle, and the tangential direction of the track of the global satellite navigation system is the forward direction of the vehicle coordinate system; if the running condition of the vehicle is random running, obtaining the derivative of the vehicle position relative to time based on the position coordinates of the vehicle under a local coordinate system; and based on the derivative of the vehicle position with respect to time, obtaining a forward direction of the vehicle coordinate system; and obtaining the offset angle to be calibrated based on the forward direction angle output by the inertial measurement unit and the forward direction of the vehicle coordinate system.
In some exemplary embodiments, the inertial navigation system includes a global satellite navigation system and an inertial measurement unit; coordinates of the vehicle position are output by a global satellite navigation system; the forward direction angle is the forward direction of the inertial navigation system, and is output by the inertial measurement unit.
In some exemplary embodiments, if the vehicle driving condition is straight driving, the offset angle to be calibrated is expressed as:
wherein, psi is i A forward direction angle measured for the inertial measurement unit;is the tangential direction of the track of the global satellite navigation system; s is the set of data points for all straight runs.
In some exemplary embodiments, if the vehicle driving condition is any driving, the derivative of the vehicle position with respect to time is obtained based on the position coordinates of the vehicle in the local coordinate system; and deriving a forward direction of the vehicle coordinate system based on the derivative of the vehicle position with respect to time, comprising: converting the output of the global satellite navigation system into position coordinates of the vehicle in a local coordinate system, said position coordinates being expressed as { x } i ，y i ，z i -a }; fitting the discrete x, y positions by adopting an interpolation method to obtain a continuous function of x, y relative to time, and obtaining derivatives of x, y relative to time; based on the derivatives of x, y with respect to time, the forward direction of the vehicle coordinate system is obtained.
In some exemplary embodiments, the continuous functions of x, y with respect to time are expressed as:
x(t)＝Bspline({x i }，{t i })
y(t)＝Bspline({y i }，{t i })
wherein x (t), y (t) are continuous functions of x, y and time t respectively, and Bspline is a B spline interpolation method;
the derivative of x, y with respect to time is expressed as:
wherein x' i ，y′ i The derivatives of x, y with respect to time t, x' i ，y′ i Respectively representing the speed dividing directions of the vehicle in the x and y directions;
the forward direction of the vehicle coordinate system is expressed as:
wherein, the liquid crystal display device comprises a liquid crystal display device,the forward direction of the vehicle coordinate system indicates the speed direction of the vehicle.
In some exemplary embodiments, if the vehicle driving situation is any driving, the offset angle to be calibrated is expressed as:
wherein, psi is i A forward direction angle measured for the inertial measurement unit;an average value of differences between the angle of the forward direction of the vehicle coordinate system and the forward direction angle measured by the inertial measurement unit at each time; s is a filtered set of data points for arbitrary travel.
In some exemplary embodiments, the filtered set of data points for arbitrary travel is obtained by removing data for vehicle movement speeds less than a preset speed and data for vehicle cornering angles greater than a preset angle during travel.
In a second aspect, an embodiment of the present application further provides a self-calibration device of an inertial navigation system, including a driving situation acquisition module, a judgment module, and a calculation module that are connected in sequence; the running condition acquisition module is used for acquiring the running condition of the vehicle, wherein the running condition of the vehicle comprises straight running and random running; the judging module is used for judging the running condition of the vehicle; the calculation module is used for obtaining the forward direction of the vehicle coordinate system according to the running condition of the vehicle, and obtaining the offset angle to be calibrated according to the forward direction angle output by the inertia measurement unit and the forward direction of the vehicle coordinate system; when calculating the forward direction of the vehicle coordinate system, if the vehicle running condition is straight running, fitting the coordinates of the vehicle position into a straight line; the direction of the straight line is the forward direction of the vehicle, and the tangential direction of the track of the global satellite navigation system is the forward direction of the vehicle coordinate system; if the running condition of the vehicle is random running, obtaining the derivative of the vehicle position relative to time based on the position coordinates of the vehicle under a local coordinate system; and based on the derivative of the vehicle position with respect to time, a forward direction of the vehicle coordinate system is obtained.
In addition, the application also provides electronic equipment, which comprises: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the inertial navigation system self-calibration method.
In addition, the application also provides a computer readable storage medium which stores a computer program, and the computer program realizes the self-calibration method of the inertial navigation system when being executed by a processor.
The technical scheme provided by the embodiment of the application has at least the following advantages:
the embodiment of the application provides a self-calibration method, a self-calibration device, self-calibration equipment and a storage medium of an inertial navigation system, wherein the self-calibration method comprises the following steps: obtaining vehicle running conditions, wherein the vehicle running conditions comprise straight running and random running; judging the running condition of the vehicle, and obtaining the forward direction of a vehicle coordinate system based on the running condition of the vehicle; if the vehicle running condition is straight running, fitting coordinates of the vehicle position into a straight line; the direction of the straight line is the forward direction of the vehicle, and the tangential direction of the track of the global satellite navigation system is the forward direction of the vehicle coordinate system; if the running condition of the vehicle is random running, obtaining the derivative of the vehicle position relative to time based on the position coordinates of the vehicle under a local coordinate system; and based on the derivative of the vehicle position with respect to time, obtaining a forward direction of the vehicle coordinate system; and obtaining the offset angle to be calibrated based on the forward direction angle output by the inertial measurement unit and the forward direction of the vehicle coordinate system.
The self-calibration method of the inertial navigation system avoids accurate installation requirements, can correct errors caused by improper installation, does not depend on specific environments and markers, and can complete self-calibration only by normally running on a road. The inertial navigation system self-calibration method provided by the application is designed aiming at two driving conditions: fitting a straight line calibration using a random sample consensus (Random Sample Consensus, RANSAC) algorithm for straight line driving conditions; and (3) fitting the track by using a B spline (B-spline) interpolation method under any running condition for calibration, and finally calculating to obtain a difference value between the forward direction (track tangential direction) of the vehicle coordinate system and the forward direction angle output by the inertia measurement unit, thereby obtaining a final calibration result. The self-calibration method of the inertial navigation system provided by the application is an online calibration method, can solve the external parameter correction requirement in the use process, does not need to set a specific scene, does not limit the driving route and road characteristics of a vehicle in a common road scene, and can finish calibration in the normal driving process.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, which are not to be construed as limiting the embodiments unless specifically indicated otherwise.
FIG. 1 is a schematic flow chart of a self-calibration method of an inertial navigation system according to an embodiment of the present application;
FIG. 2 is a graph showing offset angles of an inertial measurement unit and a vehicle in a world coordinate system before and after B-spline interpolation according to an embodiment of the present application;
FIG. 3 is a schematic block diagram of a self-calibration device of an inertial navigation system according to an embodiment of the present disclosure;
FIG. 4 is a schematic illustration of an embodiment of the present application A schematic structural diagram of an electronic device.
Detailed Description
As known from the background art, the existing online calibration method has the problems that the inertial navigation system and the external parameter calibration method of the vehicle are fewer, and other online calibration methods have special requirements on road scenes and vehicle running modes.
Currently, autopilot is one of the focus of attention in industry and academia. The automatic driving system depends on the perception of various sensors to the environment to realize downstream decision-making, planning, control and other tasks. Before the sensor is used, the internal parameters and the external parameters of the sensor are calibrated, so that a solid foundation is laid for subsequent drawing, positioning, sensing and control. The calibration is the core part and the precondition of the stable operation of the automatic driving system. The precision of calibration can influence the upper limit precision of the sensor, and finally influence the realization effect of each function of automatic driving.
The prior calibration technology generally comprises two types, namely laboratory calibration and online calibration. The laboratory calibration is performed by utilizing a specific environment, is suitable for initial calibration when the sensor is installed, and cannot solve errors of external parameters due to collision, vibration and other factors in the long-time use process. However, in the on-line calibration method for the inertial navigation system, the hand-eye calibration is generally used for calibrating external parameters of other sensors, and external parameter calibration with a vehicle body coordinate system is absent. Other on-line calibration methods have special requirements on road scenes and vehicle driving modes.
The sensor external parameters are easy to change due to collision, vibration and the like in use due to initial installation errors, so that an online calibration algorithm is required. The background technology can be known that: at present, the online calibration method of the sensor external parameters is mostly focused on calibration among different sensors, and the online calibration method of the external parameters of a single sensor and a vehicle body coordinate system is lacked, namely, the sensor self-calibration method, and the sensor and the rotating part in the vehicle body external parameters can influence a plurality of subsequent automatic driving tasks. At present, the method for calibrating the inertial navigation system and the external parameters of the vehicle is less, the relative method is used for measuring the specific force through multiple brakes and calculating the advancing direction of the vehicle according to the direction of the specific force so as to estimate the forward installation angle of the inertial navigation system and the vehicle coordinate system, and the method requires the vehicle to run on flat and non-angle ground in a straight line and has more severe requirements.
In order to solve the above technical problems, an embodiment of the present application provides a self-calibration method of an inertial navigation system, including the following steps: obtaining vehicle running conditions, wherein the vehicle running conditions comprise straight running and random running; judging the running condition of the vehicle, and obtaining the forward direction of a vehicle coordinate system based on the running condition of the vehicle; if the vehicle running condition is straight running, fitting coordinates of the vehicle position into a straight line; the direction of the straight line is the forward direction of the vehicle, and the tangential direction of the track of the global satellite navigation system is the forward direction of the vehicle coordinate system; if the running condition of the vehicle is random running, obtaining the derivative of the vehicle position relative to time based on the position coordinates of the vehicle under a local coordinate system; and based on the derivative of the vehicle position with respect to time, obtaining a forward direction of the vehicle coordinate system; and obtaining the offset angle to be calibrated based on the forward direction angle output by the inertial measurement unit and the forward direction of the vehicle coordinate system. The self-calibration method of the inertial navigation system can solve the external parameter correction requirement in the use process, does not need to set a specific scene, does not limit the running route and road characteristics of a vehicle in a common road scene, and can finish calibration in the normal driving process.
Embodiments of the present application will be described in detail below with reference to the accompanying drawings. However, as will be appreciated by those of ordinary skill in the art, in the various embodiments of the present application, numerous technical details have been set forth in order to provide a better understanding of the present application. However, the technical solutions claimed in the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments.
Referring to fig. 1, an embodiment of the present application provides a self-calibration method of an inertial navigation system, including the following steps:
step S1, obtaining vehicle running conditions, wherein the vehicle running conditions comprise straight running and arbitrary running.
And S2, judging the running condition of the vehicle, and obtaining the forward direction of the vehicle coordinate system based on the running condition of the vehicle.
Step S201, if the vehicle running condition is straight running, fitting coordinates of the vehicle position into a straight line; the direction of the straight line is the forward direction of the vehicle, and the tangential direction of the track of the global satellite navigation system is the forward direction of the vehicle coordinate system.
Step S202, if the running condition of the vehicle is random running, obtaining the derivative of the vehicle position relative to time based on the position coordinates of the vehicle under a local coordinate system; and based on the derivative of the vehicle position with respect to time, a forward direction of the vehicle coordinate system is obtained.
And step S3, obtaining the offset angle to be calibrated based on the forward direction angle output by the inertia measurement unit and the forward direction of the vehicle coordinate system.
The method adopts the concept that the offset angle (yaw angle) is calculated by adopting the difference value between the forward direction angle (the tangential angle of the vehicle track) of the vehicle coordinate system and the IMU angle of the inertial measurement unit. First, step S1 needs to obtain a vehicle running condition, and then step S2 is performed to obtain a forward direction of a vehicle coordinate system according to the vehicle running condition. Specifically, step S2 includes two cases, and if the vehicle running condition is straight running, step S201 is executed; if the vehicle running condition is arbitrary running, step S202 is executed. After the forward direction of the vehicle coordinate system is obtained, step S3 is executed, and the forward direction angle obtained through measurement of the inertial measurement unit is combined, and finally the offset angle to be calibrated is calculated.
The application provides a brand-new self-calibration algorithm of an inertial navigation system, which can automatically calibrate a forward mounting angle yaw from the inertial navigation system to a vehicle in the running process of the vehicle. The algorithm can finish the calibration of the forward installation angle yaw of the inertial navigation system and the vehicle body coordinate system under the condition of no dependence on an artificial environment and no need of specific vehicle running requirements. Meanwhile, the algorithm avoids accurate installation requirements, can correct errors caused by improper installation, does not depend on specific environments and markers, and can complete self-calibration only by normally running on a road.
In some embodiments, the inertial navigation system includes a global satellite navigation system and an inertial measurement unit; coordinates of the vehicle position are output by a global satellite navigation system; the forward direction angle is the forward direction of the inertial navigation system, and is output by the inertial measurement unit.
In particular, inertial navigation systems are one type of sensor currently in common use in autopilot systems, including global satellite navigation systems (Global Navigation Satellite System, GNSS) and inertial measurement units (Inertial Measurement Unit, IMU). The application designs an external parameter self-calibration scheme for the inertial navigation system to calibrate the forward installation angle of the inertial navigation system on line, namely the offset angle (yaw angle) of the inertial navigation coordinate system and the vehicle body coordinate system.
The inertial navigation system self-calibration method provided by the application is divided into two cases: fitting a trajectory using a random sample consensus (Random Sample Consensus, RANSAC) algorithm for straight-line driving conditions; and (3) for the curve running condition, a B spline (B-spline) is used for interpolating and fitting the track, and finally, the difference value between the tangential direction of the track and the direction obtained by the IMU is calculated to obtain a final calibration result.
The self-calibration method of the inertial navigation system under the condition of straight running is described in detail below.
In some embodiments, if the vehicle driving condition is straight driving, the offset angle to be calibrated is expressed as:
wherein, psi is i A forward direction angle measured for the inertial measurement unit;is the tangential direction of the track of the global satellite navigation system; s is the set of data points for all straight runs.
When the vehicle is known to travel straight, the RANSAC algorithm is used to fit the vehicle position (x, y) output by the global satellite navigation system GNSS to a straight line, and the direction of the straight line is the forward direction of the vehicle. The forward direction angle (around the z-axis) measured by the inertial measurement unit IMU is measured by using psi i The GNSS track tangential direction is shownAnd the difference value of the two directions is the offset angle to be calibrated.
The self-calibration method of the inertial navigation system under any driving condition is described in detail below.
In some embodiments, if the vehicle driving condition is any driving, obtaining a derivative of the vehicle position relative to time based on the position coordinates of the vehicle in the local coordinate system; and deriving a forward direction of the vehicle coordinate system based on the derivative of the vehicle position with respect to time, comprising: converting the output of the global satellite navigation system into position coordinates of the vehicle in a local coordinate system, said position coordinates being expressed as { x } i ，y i ，z i -a }; fitting the discrete x, y positions by adopting an interpolation method to obtain a continuous function of x, y relative to time, and obtaining derivatives of x, y relative to time; based on the derivatives of x, y with respect to time, the forward direction of the vehicle coordinate system is obtained.
In some embodiments, the continuous function of x, y with respect to time is expressed as:
x(t)＝Bspline({x i }，{t i })
y(t)＝Bspline({y i }，{t i })
wherein x (t), y (t) are continuous functions of x, y and time t respectively, and Bspline is a B spline interpolation method;
the derivative of x, y with respect to time is expressed as:
wherein x' i ，y′ i The derivatives of x, y with respect to time t, x' i ，y′ i Respectively representing the speed dividing directions of the vehicle in the x and y directions;
x′ i ，y′ i the speed direction of the vehicle in the x, y direction corresponds to the speed dividing direction of the vehicle, and thus the speed direction of the vehicle in the forward direction can be calculated.
The forward direction of the vehicle coordinate system is expressed as:
wherein, the liquid crystal display device comprises a liquid crystal display device,the forward direction of the vehicle coordinate system indicates the speed direction of the vehicle.
The speed direction of the vehicle can be considered as the forward direction of the vehicle coordinate system, and the angle output by the inertial measurement unit is the forward direction of the inertial navigation system, so the difference between the two directions is the yaw angle between the vehicle and the inertial navigation system that we need to calibrate:
overall, the method takes all momentsAnd psi is equal to i As the average of the differences of the final estimated yaw angle.
Specifically, in some embodiments, if the running condition of the vehicle is any running, the offset angle to be calibrated is expressed as:
wherein, psi is i A forward direction angle measured for the inertial measurement unit;an average value of differences between the angle of the forward direction of the vehicle coordinate system and the forward direction angle measured by the inertial measurement unit at each time; s is a filtered set of data points for arbitrary travel.
In some embodiments, the data of the vehicle movement speed less than the preset speed and the data of the vehicle turning angle greater than the preset angle are removed to obtain a filtered data point set of any running, and then the offset angle to be calibrated is calculated according to a formula of the offset angle to be calibrated under any running of the vehicle.
It should be noted that, to obtain better effect, some data points with inaccurate angle calculation need to be filtered out, firstly, the point with too small movement speed is removed, namely (x 'is ensured' i ) 2 +(y′ i ) 2 ＞v th The method comprises the steps of carrying out a first treatment on the surface of the And secondly, deleting the point with overlarge turning angle in the running process of the vehicle. According to the method, the data of the vehicle movement speed smaller than the preset speed are removed by presetting the vehicle movement speed value and presetting the vehicle driving process turning angle value, the data of the vehicle driving process turning angle larger than the preset angle are removed, and finally the filtered data point set S of random driving is obtained.
The operation effect of the algorithm is shown in fig. 2: the fluctuation amplitude of the yaw angle is larger before B-spline fitting, and the curve is smoother after fitting. And the yaw angle of the vehicle is kept at a certain offset with the yaw angle of the IMU, so that the analysis condition of the application is met.
Referring to fig. 3, the embodiment of the present application further provides a self-calibration device of an inertial navigation system, which includes a driving situation acquisition module 101, a judgment module 102, and a calculation module 103 that are sequentially connected; the driving condition acquisition module 101 is configured to acquire driving conditions of a vehicle, including straight driving and arbitrary driving; the judging module 102 is used for judging the running condition of the vehicle; the calculating module 103 is used for obtaining the forward direction of the vehicle coordinate system according to the running condition of the vehicle, and obtaining the offset angle to be calibrated according to the forward direction angle output by the inertia measuring unit and the forward direction of the vehicle coordinate system; the calculation module 103 includes a straight-line running calculation module 1031 and any running calculation module 1032, where the straight-line running calculation module 1031 is configured to calculate a forward direction of a vehicle coordinate system when the vehicle running condition is straight-line running; specifically, coordinates of the vehicle position are fitted to a straight line; the direction of the straight line is the forward direction of the vehicle, and the tangential direction of the track of the global satellite navigation system is the forward direction of the vehicle coordinate system; the arbitrary travel calculation module 1032 is configured to calculate a forward direction of the vehicle coordinate system when the vehicle travel condition is arbitrary travel; if the running condition of the vehicle is random running, obtaining the derivative of the vehicle position relative to time based on the position coordinates of the vehicle under a local coordinate system; and based on the derivative of the vehicle position with respect to time, a forward direction of the vehicle coordinate system is obtained.
Referring to fig. 4, another embodiment of the present application provides an electronic device, including: at least one processor 110; and a memory 111 communicatively coupled to the at least one processor; the memory 111 stores instructions executable by the at least one processor 110, the instructions being executable by the at least one processor 110 to enable the at least one processor 110 to perform any one of the method embodiments described above.
Where the memory 111 and the processor 110 are connected by a bus, the bus may comprise any number of interconnected buses and bridges, the buses connecting the various circuits of the one or more processors 110 and the memory 111 together. The bus may also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or may be a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 110 is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor 110.
The processor 110 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 111 may be used to store data used by processor 110 in performing operations.
Another embodiment of the present application relates to a computer-readable storage medium storing a computer program. The computer program implements the above-described method embodiments when executed by a processor.
That is, it will be understood by those skilled in the art that all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program stored in a storage medium, where the program includes several instructions for causing a device (which may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform all or part of the steps in the methods of the embodiments described above. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
By the above technical solution, the embodiments of the present application provide a self-calibration method, device, equipment and storage medium for an inertial navigation system, where the method includes the following steps: obtaining vehicle running conditions, wherein the vehicle running conditions comprise straight running and random running; judging the running condition of the vehicle, and obtaining the forward direction of a vehicle coordinate system based on the running condition of the vehicle; if the vehicle running condition is straight running, fitting coordinates of the vehicle position into a straight line; the direction of the straight line is the forward direction of the vehicle, and the tangential direction of the track of the global satellite navigation system is the forward direction of the vehicle coordinate system; if the running condition of the vehicle is random running, obtaining the derivative of the vehicle position relative to time based on the position coordinates of the vehicle under a local coordinate system; and based on the derivative of the vehicle position with respect to time, obtaining a forward direction of the vehicle coordinate system; and obtaining the offset angle to be calibrated based on the forward direction angle output by the inertial measurement unit and the forward direction of the vehicle coordinate system.
The self-calibration method of the inertial navigation system avoids accurate installation requirements, can correct errors caused by improper installation, does not depend on specific environments and markers, and can complete self-calibration only by normally running on a road. The inertial navigation system self-calibration method provided by the application is designed aiming at two driving conditions: for the straight running condition, fitting straight line calibration by using a RANSAC algorithm; and (3) fitting the track for calibration by using a B spline interpolation method under any running condition, and finally calculating to obtain a difference value between the forward direction (track tangential direction) of the vehicle coordinate system and the forward direction angle output by the inertial measurement unit IMU, thereby obtaining a final calibration result. The self-calibration method of the inertial navigation system provided by the application is an online calibration method, can solve the external parameter correction requirement in the use process, does not need to set a specific scene, does not limit the driving route and road characteristics of a vehicle in a common road scene, and can finish calibration in the normal driving process.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of implementing the present application and that various changes in form and details may be made therein without departing from the spirit and scope of the present application. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention shall be defined by the appended claims.

Claims (10)

1. The self-calibration method of the inertial navigation system is characterized by comprising the following steps of:
obtaining vehicle running conditions, wherein the vehicle running conditions comprise straight running and random running;
judging the running condition of the vehicle, and obtaining the forward direction of a vehicle coordinate system based on the running condition of the vehicle;
if the vehicle running condition is straight running, fitting coordinates of the vehicle position into a straight line; the direction of the straight line is the forward direction of the vehicle, and the tangential direction of the track of the global satellite navigation system is the forward direction of the vehicle coordinate system;
if the running condition of the vehicle is random running, obtaining the derivative of the vehicle position relative to time based on the position coordinates of the vehicle under a local coordinate system; and based on the derivative of the vehicle position with respect to time, obtaining a forward direction of a vehicle coordinate system;
and obtaining the offset angle to be calibrated based on the forward direction angle output by the inertia measurement unit and the forward direction of the vehicle coordinate system.
2. The inertial navigation system self-calibration method according to claim 1, wherein the inertial navigation system comprises a global satellite navigation system and an inertial measurement unit;
coordinates of the vehicle position are output by the global satellite navigation system;
the forward direction angle is the forward direction of the inertial navigation system, and is output by the inertial measurement unit.
3. The inertial navigation system self-calibration method according to claim 1, wherein if the vehicle driving situation is straight driving, the offset angle to be calibrated is expressed as:
wherein, psi is i A forward direction angle measured for the inertial measurement unit;is the tangential direction of the track of the global satellite navigation system; s is the set of data points for all straight runs.
4. The inertial navigation system self-calibration method according to claim 1, wherein if the vehicle driving condition is arbitrary driving, a derivative of the vehicle position with respect to time is obtained based on the position coordinates of the vehicle in the local coordinate system;
and deriving a forward direction of a vehicle coordinate system based on a derivative of the vehicle position with respect to time, comprising:
converting the output of the global satellite navigation system into position coordinates of the vehicle in a local coordinate system, said position coordinates being expressed as { x } i ，y i ，z i }；
Fitting the discrete x, y positions by adopting an interpolation method to obtain a continuous function of x, y relative to time, and obtaining derivatives of x, y relative to time;
based on the derivatives of x, y with respect to time, the forward direction of the vehicle coordinate system is obtained.
5. The inertial navigation system self-calibration method according to claim 4, wherein successive functions of x, y with respect to time are expressed as:
x(t)＝Bspline({x i }，{t i })
y(t)＝Bspline({y i }，{t i })
wherein x (t), y (t) are continuous functions of x, y and time t respectively, and Bspline is a B spline interpolation method;
the derivative of x, y with respect to time is expressed as:
wherein x' i ，y′ i The derivatives of x, y with respect to time t, x' i ，y′ i Respectively representing the speed dividing directions of the vehicle in the x and y directions;
the forward direction of the vehicle coordinate system is expressed as:
wherein, the liquid crystal display device comprises a liquid crystal display device,the forward direction of the vehicle coordinate system indicates the speed direction of the vehicle.
6. The inertial navigation system self-calibration method according to claim 1, wherein if the vehicle driving condition is arbitrary driving, the offset angle to be calibrated is expressed as:
wherein, psi is i A forward direction angle measured for the inertial measurement unit;an average value of differences between the angle of the forward direction of the vehicle coordinate system and the forward direction angle measured by the inertial measurement unit at each time; s is a filtered set of data points for arbitrary travel.
7. The inertial navigation system self-calibration method according to claim 6, wherein the filtered set of data points for arbitrary travel is obtained by removing data of a vehicle moving speed less than a preset speed and data of a vehicle turning angle greater than a preset angle during travel.
8. The self-calibration device of the inertial navigation system is characterized by comprising a driving condition acquisition module, a judgment module and a calculation module which are connected in sequence;
the running condition acquisition module is used for acquiring the running condition of the vehicle, wherein the running condition of the vehicle comprises straight running and random running;
the judging module is used for judging the running condition of the vehicle;
the calculation module is used for obtaining the forward direction of the vehicle coordinate system according to the running condition of the vehicle, and obtaining the offset angle to be calibrated according to the forward direction angle output by the inertia measurement unit and the forward direction of the vehicle coordinate system;
when calculating the forward direction of a vehicle coordinate system, if the vehicle running condition is straight running, fitting the coordinates of the vehicle position into a straight line; the direction of the straight line is the forward direction of the vehicle, and the tangential direction of the track of the global satellite navigation system is the forward direction of the vehicle coordinate system; if the running condition of the vehicle is random running, obtaining the derivative of the vehicle position relative to time based on the position coordinates of the vehicle under a local coordinate system; and deriving a forward direction of the vehicle coordinate system based on a derivative of the vehicle position with respect to time.
9. An electronic device, comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the inertial navigation system self-calibration method according to any one of claims 1 to 7.
10. A computer readable storage medium storing a computer program, wherein the computer program when executed by a processor implements the inertial navigation system self-calibration method of any one of claims 1 to 7.
CN202310289342.9A 2023-03-22 2023-03-22 Inertial navigation system self-calibration method, device, equipment and storage medium Pending CN116448146A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116663329A (en) * 2023-07-26 2023-08-29 西安深信科创信息技术有限公司 Automatic driving simulation test scene generation method, device, equipment and storage medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116663329A (en) * 2023-07-26 2023-08-29 西安深信科创信息技术有限公司 Automatic driving simulation test scene generation method, device, equipment and storage medium
CN116663329B (en) * 2023-07-26 2024-03-29 安徽深信科创信息技术有限公司 Automatic driving simulation test scene generation method, device, equipment and storage medium

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