CN116698020A

CN116698020A - Posture correction method and device, computer readable medium and electronic equipment

Info

Publication number: CN116698020A
Application number: CN202310434274.0A
Authority: CN
Inventors: 姜畔; 袁义龙; 王洪凯
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2023-04-13
Filing date: 2023-04-13
Publication date: 2023-09-05

Abstract

The embodiment of the application provides a posture correction method, a posture correction device, a computer readable medium and electronic equipment, which can be applied to the fields of map navigation and the like. The posture correction method comprises the following steps: acquiring acceleration information output by an acceleration sensor installed on terminal equipment and angle increment information output by a gyroscope sensor; determining the motion state of the terminal equipment according to the acceleration information; if the terminal equipment is in a target motion state that the acceleration is smaller than or equal to a set value, calculating the misalignment angle of the terminal equipment according to the relation between the acceleration and the misalignment angle through the acceleration information; and correcting the posture of the terminal equipment according to the misalignment angle of the terminal equipment and the angle increment information output by the gyroscope sensor. The technical scheme of the embodiment of the application can improve the accuracy of the positioning position of the terminal equipment and is convenient for providing accurate navigation guidance for the terminal equipment.

Description

Posture correction method and device, computer readable medium and electronic equipment

Technical Field

The present application relates to the field of computers and communication technologies, and in particular, to a method and apparatus for correcting an attitude, a computer readable medium, and an electronic device.

Background

The gesture is an important index in inertial navigation, if the gesture has errors, the analysis of specific force acceleration is directly affected, then a speed error is introduced, and the speed error brings a position error through integration, so that the accuracy of the gesture is essential to obtain accurate position information. When the satellite navigation signal is unavailable due to long-time failure, the posture is not corrected and compensated in the related technology, so that accurate navigation guidance cannot be performed.

Disclosure of Invention

The embodiment of the application provides a posture correction method, a device, a computer readable medium and electronic equipment, so that the accuracy of the positioning position of terminal equipment can be improved, and accurate navigation guidance can be conveniently provided for the terminal equipment.

Other features and advantages of the application will be apparent from the following detailed description, or may be learned by the practice of the application.

According to an aspect of the embodiment of the present application, there is provided an attitude correction method including: acquiring acceleration information output by an acceleration sensor installed on terminal equipment and angle increment information output by a gyroscope sensor; determining the motion state of the terminal equipment according to the acceleration information; if the terminal equipment is in a target motion state that the acceleration is smaller than or equal to a set value, calculating the misalignment angle of the terminal equipment according to the relation between the acceleration and the misalignment angle through the acceleration information; and correcting the posture of the terminal equipment according to the misalignment angle of the terminal equipment and the angle increment information output by the gyroscope sensor.

According to an aspect of an embodiment of the present application, there is provided an attitude correction apparatus including: an acquisition unit configured to acquire acceleration information output by an acceleration sensor mounted on the terminal device and angular increment information output by a gyro sensor; a determining unit configured to determine a motion state of the terminal device according to the acceleration information; the processing unit is configured to calculate the misalignment angle of the terminal equipment according to the relation between the acceleration and the misalignment angle if the terminal equipment is in a target motion state with the acceleration smaller than or equal to a set value; and the correcting unit is configured to correct the posture of the terminal equipment according to the misalignment angle of the terminal equipment and the angle increment information output by the gyroscope sensor.

In some embodiments of the application, based on the foregoing, the determining unit is configured to: according to the acceleration information, calculating a difference value between a module value of the specific force acceleration of the terminal equipment and the gravity acceleration; and if the modulus of the difference is smaller than a first acceleration threshold, determining that the terminal equipment is in the target motion state.

In some embodiments of the application, based on the foregoing, the determining unit is configured to: calculating an average value of specific force acceleration output by an acceleration sensor of the terminal equipment in a set time period according to the acceleration information; a difference between a modulus of the average and the gravitational acceleration is calculated.

In some embodiments of the application, based on the foregoing, the determining unit is configured to: and if the modulus of the difference is smaller than the first acceleration threshold and the modulus of the specific force acceleration of the terminal equipment in the horizontal direction is smaller than the second acceleration threshold, determining that the terminal equipment is in the target motion state.

In some embodiments of the application, based on the foregoing, the determining unit is configured to: and if the duration time that the module value of the specific force acceleration of the terminal equipment in the horizontal direction is greater than or equal to the second acceleration threshold value exceeds a set duration time and the module value of the difference value is smaller than the first acceleration threshold value, determining that the terminal equipment is in the target motion state.

In some embodiments of the application, based on the foregoing, the processing unit is configured to: mapping a basic equation of the inertial navigation system into a motion environment corresponding to the target motion state to obtain an equivalent expression of the inertial navigation system; adjusting the equivalent expression of the inertial navigation system according to the attitude error to obtain a relational expression between a misalignment angle and specific force acceleration containing the error; and adjusting the relational expression based on the relation between the gravity acceleration and the specific force acceleration containing the error in the motion environment, so as to obtain the relation between the acceleration and the misalignment angle.

In some embodiments of the application, based on the foregoing, the processing unit is configured to: adjusting the equivalent expression of the inertial navigation system according to the relation between the theoretical value of the equivalent gesture rotation matrix from the machine body coordinate system to the navigation coordinate system and the equivalent gesture rotation matrix containing the error, the relation between the specific force acceleration containing the error under the navigation coordinate system and the specific force acceleration containing the error under the machine body coordinate system, and the relation between the specific force acceleration containing the error under the navigation coordinate system and the gravity acceleration; the relation expression between the misalignment angle obtained by adjustment and the specific force acceleration containing errors is as follows: wherein ,An antisymmetric matrix representing specific force acceleration including error in the navigational coordinate system; phi represents a misalignment angle; delta represents the error.

In some embodiments of the application, based on the foregoing, the processing unit is configured to: based on the relation between the gravity acceleration and the specific force acceleration containing errors under the navigation coordinate system in the motion environment, adjusting the relational expression according to the representation mode of the misalignment angle in the horizontal direction to obtain the relation between the specific force acceleration containing errors in the horizontal direction and the misalignment angle in the horizontal direction; the relationship between the gravity acceleration and the specific force acceleration containing errors under the navigation coordinate system in the motion environment is as follows: g ⁿ Representing gravitational acceleration in a navigation coordinate system; g represents the value of the gravitational acceleration in the navigation coordinate system; the relationship between the specific force acceleration including the error in the horizontal direction and the misalignment angle in the horizontal direction obtained by the adjustment is:φ ^h Represents the misalignment angle in the horizontal direction;The specific force acceleration including an error in the horizontal direction is indicated.

In some embodiments of the application, based on the foregoing, the relationship between the acceleration and the misalignment angle includes a relational expression between a specific force acceleration including an error in a horizontal direction and the misalignment angle in the horizontal direction; the processing unit is configured to: and solving a relational expression between the specific force acceleration containing the error in the horizontal direction and the misalignment angle in the horizontal direction according to the acceleration information to obtain the misalignment angle of the terminal equipment in the horizontal direction.

In some embodiments of the application, based on the foregoing, the relationship between the acceleration and the misalignment angle includes a relational expression between a specific force acceleration including an error in a horizontal direction and the misalignment angle in the horizontal direction; the processing unit is configured to: establishing a state space model according to the misalignment angle in the horizontal direction, the acceleration containing errors in the horizontal direction and the drift amount output by the gyroscope sensor; and solving the state space model through a Kalman filtering estimation algorithm based on the acceleration information to obtain the misalignment angle of the terminal equipment in the horizontal direction.

In some embodiments of the application, based on the foregoing, the correction unit is configured to: according to the misalignment angle of the terminal equipment, the gyroscope sensor is at [ t ] _m-1 ,t _m ]Internal output angle increment information and terminal equipment at t _m-1 Calculating an equivalent attitude rotation matrix at moment and calculating t of the terminal equipment _m An equivalent gesture rotation matrix at a moment, wherein m is greater than or equal to 1; based on the terminal equipment at t _m And correcting the posture of the terminal equipment at the m moment by using the moment equivalent posture rotation matrix.

In some embodiments of the application, based on the foregoing, the correction orderThe meta-configuration is: according to the gyroscope sensor at [ t ] _m-1 ,t _m ]The internal output angle increment information and the misalignment angle of the terminal equipment calculate the angle increment of the terminal equipment after the misalignment angle correction; according to the angle increment of the terminal equipment subjected to misalignment angle correction, calculating the time from t of the terminal equipment under a machine body coordinate system _m-1 From time to t _m Attitude quaternion of moment; from t according to the terminal equipment in a body coordinate system _m-1 From time to t _m Moment attitude quaternion and t of terminal equipment _m-1 Calculating the attitude quaternion of the terminal equipment from the machine body coordinate system to the navigation coordinate system at time t _m The gesture quaternion from the machine body coordinate system to the navigation coordinate system at any time; based on the terminal equipment at t _m And correcting the posture of the terminal equipment at the m moment by using the posture quaternion from the machine body coordinate system to the navigation coordinate system at the moment.

According to an aspect of the embodiments of the present application, there is provided a computer-readable medium having stored thereon a computer program which, when executed by a processor, implements the posture correction method as described in the above embodiments.

According to an aspect of an embodiment of the present application, there is provided an electronic apparatus including: one or more processors; and storage means for storing one or more computer programs which, when executed by the one or more processors, cause the electronic device to implement the attitude correction method as described in the above embodiments.

According to an aspect of an embodiment of the present application, there is provided a computer program product comprising a computer program stored in a computer readable storage medium. The processor of the electronic device reads and executes the computer program from the computer-readable storage medium, so that the electronic device performs the posture correction method provided in the above-described various alternative embodiments.

According to the technical scheme provided by the embodiments of the application, when the terminal equipment is in a target motion state with the acceleration smaller than or equal to a set value, the misalignment angle of the terminal equipment is calculated according to the relation between the acceleration and the misalignment angle through the acceleration information of the terminal equipment, and then the gesture of the terminal equipment is corrected according to the misalignment angle of the terminal equipment and the angle increment information output by the gyroscope sensor, so that the gesture of the terminal equipment can be corrected according to the acceleration information output by the acceleration sensor and the angle increment information output by the gyroscope sensor when the terminal equipment is in a state of temporary rest, uniform speed or low acceleration motion and the like, the stable and usable gesture of the terminal equipment system is maintained, and the positioning position accuracy of the terminal equipment can be improved, so that accurate navigation guidance is conveniently provided for the terminal equipment.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.

Drawings

FIG. 1 shows a schematic diagram of an exemplary system architecture to which the technical solution of an embodiment of the application may be applied;

FIG. 2 shows a flow chart of a method of gesture correction according to one embodiment of the present application;

FIG. 3 shows a flow chart of a method of gesture correction according to one embodiment of the present application;

FIG. 4 shows a flow chart of a method of gesture correction according to one embodiment of the present application;

FIG. 5 shows a block diagram of an attitude correction device according to one embodiment of the present application;

fig. 6 shows a schematic diagram of a computer system suitable for use in implementing an embodiment of the application.

Detailed Description

Example embodiments are now described in a more complete manner with reference being made to the figures. However, the illustrated embodiments may be embodied in various forms and should not be construed as limited to only these examples; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art.

Furthermore, the described features, structures, or characteristics of the application may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are set forth in order to provide a thorough understanding of embodiments of the application. However, it will be recognized by one skilled in the art that the present inventive arrangements may be practiced without all of the specific details of the embodiments, that one or more specific details may be omitted, or that other methods, elements, devices, steps, etc. may be used.

The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.

The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.

It should be noted that: references herein to "a plurality" means two or more. "and/or" describes an association relationship of an association object, meaning that there may be three relationships, e.g., a and/or B may represent: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.

It will be appreciated that in the specific embodiment of the present application, related data such as information output by the sensors (e.g. acceleration sensor and gyro sensor) of the terminal device is related, and when the above embodiments of the present application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of related data is required to comply with related laws and regulations and standards of related countries and regions.

With the increasing number of automobiles and mobile terminals, the demand for map navigation services is increasing. When a user uses the map navigation service and runs on a road, satellite navigation signals fail for a long time due to shielding and the like, in this case, a large deviation occurs between the positioning position and the real position of the terminal device, so that the map navigation service plans an incorrect route, and the incorrect route planning brings a very bad experience to the user. Therefore, in the inertial navigation system, the accuracy of the position information of the terminal equipment is crucial, while the gesture is an important index in inertial navigation, if the gesture has errors, the analysis of specific force acceleration is directly affected, and then a speed error is introduced, and the speed error brings the position error through integration, so that the accuracy of the gesture is essential for obtaining the accurate position information.

In the related art, if the satellite navigation signal is not available for a long time, the attitude of the terminal device is not corrected and compensated. Based on the above, the embodiment of the application provides a new posture correction scheme, which can acquire acceleration information output by an acceleration sensor and angle increment information output by a gyroscope sensor installed on a terminal device, then calculate the misalignment angle of the terminal device according to the relation between the acceleration and the misalignment angle when the terminal device is determined to be in a motion with the acceleration less than or equal to a set value according to the acceleration information, and correct the posture of the terminal device according to the misalignment angle of the terminal device and the angle increment information output by the gyroscope sensor, so that the stable and usable posture of the terminal device system can be maintained, the positioning position accuracy of the terminal device can be improved, and accurate navigation guidance can be provided for the terminal device conveniently.

An application scenario of the technical solution of the embodiment of the present application is described below with reference to fig. 1, and as shown in fig. 1, an electronic map application is installed in a vehicle terminal 101, and the electronic map application may perform driving according to a lane line indication in an electronic map, for example, performing automatic driving or assisted driving. Also disposed in the vehicle terminal 101 is a positioning device that can receive positioning signals, such as GNSS (Global Navigation Satellite System ) positioning signals. The GNSS positioning signals may be, for example, one or more of GPS (Global Positioning System ) positioning signals, BDS (BeiDou Navigation Satellite System, beidou satellite navigation system) positioning signals, GLONASS satellite navigation system positioning signals, GALILEO satellite navigation system positioning signals.

If the positioning device cannot receive the positioning signal for a long time, if the positioning device only relies on a gyroscope sensor, an acceleration sensor and the like to carry out pure inertial calculation, errors are accumulated and dispersed continuously, the difference between the positioning position and the actual position is large, and accurate navigation guidance cannot be carried out for a user. In this case, the vehicle terminal 101 may acquire acceleration information output from an acceleration sensor and angular increment information output from a gyro sensor mounted thereon, and then transmit the acceleration information and the angular increment information to the server 102, and the server 102 may determine a movement state of the vehicle terminal 101 based on the acceleration information and the angular increment information after acquiring the acceleration information and the angular increment information, and if it is determined that the vehicle terminal 101 is in a target movement state in which the acceleration is less than or equal to a set value, the server 102 may calculate a misalignment angle of the vehicle terminal 101 based on a relationship between the acceleration and the misalignment angle, and then correct the posture of the vehicle terminal 101 based on the misalignment angle of the vehicle terminal 101 and the angular increment information output from the gyro sensor, so that the posture of the vehicle terminal 101 may be kept stable and usable, and further, the positioning position accuracy of the vehicle terminal 101 may be improved, so that accurate navigation directions are provided to the vehicle terminal 101.

Optionally, after the vehicle terminal 101 obtains the acceleration information output by the acceleration sensor and the angular increment information output by the gyroscope sensor, the motion state of the vehicle terminal 101 may also be determined by the processor installed on the vehicle terminal 101, for example, the motion state of the vehicle terminal 101 may be determined according to the acceleration information, if the vehicle terminal 101 is determined to be in the target motion state with the acceleration being less than or equal to the set value, the vehicle terminal 101 may calculate the misalignment angle of the vehicle terminal 101 according to the relationship between the acceleration and the misalignment angle, and then correct the posture of the vehicle terminal 101 according to the misalignment angle of the vehicle terminal 101 and the angular increment information output by the gyroscope sensor, so that the posture of the vehicle terminal 101 may be kept stable and available, and the accuracy of the positioning position of the vehicle terminal 101 may be improved, so as to provide accurate navigation guidance for the vehicle terminal 101.

It should be noted that, the server 102 may be an independent physical server, or may be a server cluster or a distributed system formed by at least two physical servers, or may be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, a content distribution network (Content Delivery Network, CDN), and basic cloud computing services such as big data and an artificial intelligence platform. The vehicle terminal 101 may specifically refer to a smart phone, a smart speaker, a screen speaker, a smart watch, a sensor, etc. with vehicle-mounted functions, but is not limited thereto, and for example, the vehicle terminal 101 may be replaced by a mobile terminal such as an aircraft. The respective vehicle terminals 101 and the server 102 may be directly or indirectly connected by wired or wireless communication, and the number of the vehicle terminals 101 and the server 102 may be one or at least two, and the present application is not limited herein.

The implementation details of the technical scheme of the embodiment of the application are described in detail below:

fig. 2 shows a flowchart of a posture correction method according to an embodiment of the present application, which may be performed by a device having a calculation processing function, for example, a terminal device such as a vehicle terminal, a mobile terminal, or the like, or may be performed by a server in communication with the terminal device. Referring to fig. 2, the posture correction method at least includes steps S210 to S240, and is described in detail as follows:

in step S210, acceleration information output from an acceleration sensor mounted on the terminal device and angular increment information output from a gyro sensor are acquired.

In some alternative embodiments, in the inertial navigation system, the acceleration sensor may be a specific force meter, and the acceleration information output by the acceleration sensor may be specific force acceleration. The gyroscope sensor is an angular motion detection device which uses a momentum moment sensitive shell of a high-speed revolving body to rotate around one or two axes orthogonal to a rotation shaft relative to an inertia space, and can detect angular increment information of terminal equipment.

Alternatively, the acceleration sensor and the gyro sensor may be integrated within the terminal device, such as integrated within a smart phone; it is also possible to mount the acceleration sensor and the gyro sensor on a terminal device if necessary, for example on a vehicle terminal.

In step S220, the movement state of the terminal device is determined from the acceleration information.

In some alternative embodiments, the process of determining the motion state of the terminal device according to the acceleration information may be calculating a difference between a module value of the specific force acceleration and the gravitational acceleration of the terminal device according to the acceleration information, and if the module value of the difference between the module value of the specific force acceleration and the gravitational acceleration is smaller than a first acceleration threshold value, determining that the terminal device is in a target motion state, that is, in a state that the acceleration is smaller than or equal to a set value, such as a stationary state, a uniform running state, and the like.

For example, if the specific force acceleration output by the acceleration sensor isThe gravity acceleration is g, the first acceleration threshold value is beta ₁ Then if it meets->It is determined that the terminal device is in a target motion state in which the acceleration is less than or equal to the set value.

In some alternative embodiments, according to the acceleration information, the difference between the module value of the specific force acceleration of the computing terminal device and the gravitational acceleration may be specifically: according to the acceleration information, calculating an average value of specific force acceleration output by an acceleration sensor of the terminal device in a set time period, and then calculating a difference value between a model value of the average value and the gravitational acceleration. According to the technical scheme, the problem that the motion state of the terminal equipment is judged to be wrong due to the fact that the acceleration sensor accidentally outputs an abnormal acceleration value can be avoided, the influence caused by measurement noise of the acceleration sensor is eliminated, and the accuracy of the motion state judgment of the terminal equipment can be further guaranteed.

In some alternative embodiments, the determining the motion state of the terminal device according to the acceleration information may be: and if the module value of the difference value between the module value of the specific force acceleration and the gravity acceleration is smaller than the first acceleration threshold value and the module value of the specific force acceleration of the terminal equipment in the horizontal direction is smaller than the second acceleration threshold value, determining that the terminal equipment is in a target motion state. The technical scheme of the embodiment can ensure the accuracy of judging the motion state of the terminal equipment by introducing the judgment of the modulus value of the specific force acceleration of the terminal equipment in the horizontal direction.

For example, if the specific force acceleration in the horizontal direction output by the acceleration sensor isThen at the point of meeting andWhen it is determined that the terminal device is in a state where the acceleration is less than or equal to the set value.

In some alternative embodiments, if the duration that the module value of the specific force acceleration of the terminal device in the horizontal direction is greater than or equal to the second acceleration threshold exceeds the set duration and the module value of the difference between the module value of the specific force acceleration and the gravitational acceleration is less than the first acceleration threshold, then it is determined that the terminal device is in the target motion state.

For example, if the specific force acceleration in the horizontal direction output by the acceleration sensor is Then at the point of meeting andWhen the set time length is exceeded, the situation is considered to be caused by the fact that the misalignment angle error of the terminal equipment is large, so that the terminal equipment can be determined to be in a state that the acceleration is smaller than or equal to the set value, and the gesture of the terminal equipment is corrected through the technical scheme of the embodiment of the application.

Optionally, the first acceleration threshold and the second acceleration threshold are unequal.

In step S230, if the terminal device is in the target motion state with the acceleration less than or equal to the set value, the misalignment angle of the terminal device is calculated according to the relationship between the acceleration and the misalignment angle through the acceleration information.

In some alternative embodiments, the relationship between the acceleration and the misalignment angle of the terminal device may comprise a relational expression between the specific force acceleration including an error in the horizontal direction and the misalignment angle in the horizontal direction.

For example, if the specific force acceleration including the error in the horizontal direction is(i.e. the specific force acceleration in the horizontal direction output by the acceleration sensor), the misalignment angle in the horizontal direction is phi ^h Then the expression of the relationship between the specific force acceleration containing an error in the horizontal direction and the misalignment angle in the horizontal direction can be expressed as +. > wherein ,gⁿ Represents gravitational acceleration in the navigation coordinate system, and delta represents error.

In some alternative embodiments, the process of calculating the misalignment angle of the terminal device from the acceleration information based on the relational expression described in the foregoing embodiments may be: and solving a relational expression between the specific force acceleration containing the error in the horizontal direction and the misalignment angle in the horizontal direction according to the acceleration information to obtain the misalignment angle of the terminal equipment in the horizontal direction. The technical scheme of the embodiment enables the misalignment angle of the terminal equipment in the horizontal direction to be calculated directly through solving.

In some alternative embodiments, the process of calculating the misalignment angle of the terminal device from the acceleration information based on the relational expression described in the foregoing embodiments may be: and establishing a state space model according to the misalignment angle in the horizontal direction, the acceleration containing errors in the horizontal direction and the drift amount output by the gyroscope sensor, and then solving the state space model through a Kalman filtering estimation algorithm based on acceleration information to obtain the misalignment angle of the terminal equipment in the horizontal direction. The technical scheme of the embodiment can calculate the misalignment angle of the terminal equipment in the horizontal direction based on a Kalman filtering estimation algorithm by establishing a state space model.

With continued reference to fig. 2, in step S240, the attitude of the terminal device is corrected based on the misalignment angle of the terminal device and the angular increment information output from the gyro sensor.

In some alternative embodiments, the correcting the gesture of the terminal device may be to calculate an equivalent gesture rotation matrix of the terminal device, and then correct the gesture based on the equivalent gesture matrix. In particular, the gyro sensor may be set to be at [ t ] according to the misalignment angle of the terminal equipment _m-1 ,t _m ]Internal output angle increment information and terminal equipment at t _m-1 Moment equivalent attitude rotation matrix, calculating terminal equipment at t _m An equivalent gesture rotation matrix of time, wherein m is greater than or equal to 1, and then at t based on the terminal device _m And correcting the posture of the terminal equipment at the m moment by using the equivalent posture rotation matrix at the moment.

In some alternative embodiments, the modification of the gesture of the terminal device may be firstAnd calculating a gesture quaternion of the terminal equipment, and correcting the gesture based on the gesture quaternion. Specifically, it can be determined at [ t ] according to the gyro sensor _m-1 ,t _m ]The internal output angle increment information and the misalignment angle of the terminal equipment calculate the angle increment of the terminal equipment after the misalignment angle correction, and then calculate the angle increment of the terminal equipment after the misalignment angle correction from t under the machine body coordinate system according to the angle increment of the terminal equipment _m-1 From time to t _m Moment attitude quaternion and according to terminal equipment from t in machine body coordinate system _m-1 From time to t _m Moment attitude quaternion and terminal equipment at t _m-1 Calculating the attitude quaternion of the terminal equipment from the machine body coordinate system to the navigation coordinate system at time t _m Attitude quaternion from machine body coordinate system to navigation coordinate system at moment, and further based on terminal equipment at t _m And correcting the posture of the terminal equipment at the m moment by using the posture quaternion from the machine body coordinate system to the navigation coordinate system at the moment.

In some alternative embodiments, the relationship between the acceleration and the misalignment angle mentioned in the foregoing embodiments may be obtained by a flow as shown in fig. 3, specifically, referring to fig. 3, including the following steps:

in step S310, the basic equation of the inertial navigation system is mapped to the motion environment corresponding to the target motion state, so as to obtain the equivalent expression of the inertial navigation system.

In some alternative embodiments, the motion environment corresponding to the target motion state may be a low acceleration motion environment or a stationary motion environment. In such a motion environment, the equivalent expression of the inertial navigation system mapped by the basic equation of the inertial navigation system can be expressed as

wherein ,representing an equivalent gesture rotation matrix from a b system (body coordinate system) to an n system (navigation coordinate system);Representing the specific force acceleration under the b series; g ⁿ The gravitational acceleration in the n series is shown.

In step S320, the equivalent expression of the inertial navigation system is adjusted according to the attitude error, so as to obtain a relational expression between the misalignment angle and the specific force acceleration containing the error.

In some alternative embodiments, the process of adjusting the equivalent expression of the inertial navigation system according to the attitude error to obtain the relational expression between the misalignment angle and the specific force acceleration containing the error may specifically be: and adjusting the equivalent expression of the inertial navigation system according to the relation between the theoretical value of the equivalent gesture rotation matrix from the machine body coordinate system (i.e. the b system) to the navigation coordinate system (i.e. the n system) and the equivalent gesture rotation matrix containing the error, the relation between the specific force acceleration containing the error under the navigation coordinate system and the specific force acceleration containing the error under the machine body coordinate system, and the relation between the specific force acceleration containing the error under the navigation coordinate system and the gravity acceleration.

In particular, if the attitude error term is considered, thenCan be expressed asWherein I represents a 3×3 identity matrix; phi x represents an antisymmetric matrix of misalignment angles; / >Representing an equivalent attitude rotation matrix of b-series to n-series containing errors;A specific force acceleration including an error in the b system;The theoretical value of the equivalent attitude rotation matrix from b series to n series is represented.

At the same time according toCan deduce +.>If the measurement error of the acceleration sensor is ignored +.>Thus, let->Is->Then->Can be expressed as +.>The relation is a relation expression between the misalignment angle obtained by adjustment and the specific force acceleration containing errors.

wherein ,a theoretical value of specific force acceleration under the b system is represented;A specific force acceleration including an error in the navigation coordinate system is represented;An antisymmetric matrix representing specific force acceleration including error in the navigational coordinate system; phi represents a misalignment angle; delta represents the error.

In step S330, based on the relationship between the gravitational acceleration and the specific force acceleration including the error in the motion environment, the relational expression between the misalignment angle and the specific force acceleration including the error is adjusted, and the relationship between the acceleration and the misalignment angle is obtained.

In some alternative embodiments, the process of adjusting the relational expression based on the relationship between the gravitational acceleration and the specific force acceleration including the error in the motion environment may be: based on the relation between the gravity acceleration and the specific force acceleration containing errors in the navigation coordinate system in the motion environment, adjusting the relational expression according to the representation mode of the misalignment angle in the horizontal direction to obtain the relation between the specific force acceleration containing errors in the horizontal direction and the misalignment angle in the horizontal direction;

The relationship between the gravity acceleration and the specific force acceleration containing errors under the navigation coordinate system in the motion environment is as follows:g ⁿ representing gravitational acceleration in a navigation coordinate system; g represents the value of the gravitational acceleration in the navigation coordinate system; the relationship between the specific force acceleration including the error in the horizontal direction and the misalignment angle in the horizontal direction obtained by adjustment is:φ ^h Represents the misalignment angle in the horizontal direction;The specific force acceleration including an error in the horizontal direction is indicated.

Therefore, in the technical scheme of the embodiment of the application, when the terminal equipment is in a low acceleration motion state (such as equal traffic light, uniform speed and the like), the gesture of the terminal equipment can be corrected according to the acceleration information output by the acceleration sensor and the angular increment information output by the gyroscope sensor, so that the system gesture of the terminal equipment can be stably and effectively used for a long time, the positioning position accuracy and the position accuracy of the terminal equipment can be improved, and accurate navigation guidance can be conveniently provided for the terminal equipment.

The implementation details of the technical solution of the embodiment of the present application are described in detail below with reference to fig. 4:

referring to fig. 4, the posture correction method according to an embodiment of the present application includes the steps of:

Step S401, acquiring a gyro sensor signal and an accelerometer signal.

In some alternative embodiments, in an inertial navigation system, the accelerometer may be a specific force meter and the accelerometer signal may be a specific force acceleration. The gyroscope sensor is an angular motion detection device which uses a momentum moment sensitive shell of a high-speed revolving body to rotate around one or two axes orthogonal to a rotation shaft relative to an inertia space, and can detect angular increment information of terminal equipment.

Step S402, judging the motion state of the terminal equipment; if the high acceleration motion state is present, step S401 is performed; if it is in a stationary or low acceleration motion state, step S403 is performed.

In the embodiment of the application, the gesture is corrected in the static or low-acceleration motion state, if misjudgment of the motion state occurs, the gesture cannot be corrected, but rather a larger error is introduced, so that the motion state of the terminal equipment needs to be accurately judged.

In one embodiment of the application, the specific force acceleration may be output by an accelerometerPreliminary judgment of the state of motion is made, in particular if +.>It is determined that the terminal device has no acceleration maneuver, i.e., is in a motion state where the acceleration is less than or equal to the set point.

Alternatively, in the case of smooth movement of the terminal device, that is, in the case of small change of attitude angle, the average value of the accelerometer in a short period of time is used to replace the instantaneous value for judgment, so that the influence of the measurement noise of the accelerometer is reduced.

However, depending on the conditions aloneTo make a decision too loose, e.g. when taking beta ₁ At 0.5, then there is 3m/s in the horizontal direction ² This judgment condition is also approximately satisfied at the time of acceleration of (a), which is obviously unsuitable. Therefore, in the embodiment of the present application, the specific force acceleration +_in the horizontal direction containing the error can be given on the basis of the above conditions>Further judgment is made.

For example, in satisfying andWhen the method is used, it can be determined that the terminal equipment has no acceleration maneuver, namely, the terminal equipment is in a state that the acceleration is smaller than or equal to a set value, and then the posture of the terminal equipment can be corrected by adopting the posture correction method provided by the embodiment of the application.

Is satisfied that andWhen, there may also be the following two cases: first, the calculated horizontal misalignment angle phi in the attitude rotation array ^h And the second is that the terminal equipment does have larger horizontal acceleration maneuver. Thus, if the condition- >Only in a short time, a short time of large acceleration maneuver is considered to exist; if the condition isThe continuous occurrence of the long-term time period,the source of the method is considered to be that the misalignment angle error is large, so that the posture of the terminal equipment can be corrected by using the horizontal acceleration through the posture correction method provided by the embodiment of the application.

Step S403, horizontal posture correction is performed using the acceleration information.

The following describes the posture correction method in the embodiment of the present application in detail:

under a low acceleration motion environment, the inertial navigation system basic equation can be approximately expressed as the following equation 1:

Considering the attitude error term, equation 1 can be expressed as the following equation 2:

wherein I represents a 3×3 identity matrix; phi x represents an antisymmetric matrix of misalignment angles;representing an equivalent attitude rotation matrix of b-series to n-series containing errors;The specific force acceleration including the error in the b-series is shown.

According toCan deduce +.>If the measurement error of the acceleration sensor is ignored +. >Thus, let->Is->Then equation 2 can be expressed as equation 3 below:

Although the left side of equation 3 is an antisymmetric arrayIs irreversible, which in turn results in a signal consisting of +.> andThe misalignment angle phi cannot be completely solved. However, equation +.>Since the approximation holds, substituting the same into the above equation 3 results in the following equation 4:

wherein ,φ_E Representing the east misalignment angle of the platform; phi (phi) _N Representing a north misalignment angle of the platform; phi (phi) _U Representing the platform misalignment angle;the specific force acceleration in the x direction under the n system is represented;The specific force acceleration in the y direction in the n-series is shown. The "×" in equation 4 represents elements of the matrix that do not require attention, and these terms can be made 0, then the horizontal misalignment angle Φ ^h Can be expressed as: phi (phi) ^h ＝[φ _E φ _N 0] ^T The method comprises the steps of carrying out a first treatment on the surface of the The calculated horizontal acceleration (i.e. including errors) can be expressed as +.>Then equation 4 may be further expressed as equation 5 below:

wherein ,the specific force acceleration including an error in the horizontal direction is indicated.

The embodiment of the application is established through a formula 5The relationship between the horizontal acceleration and the misalignment angle is obtained, and the horizontal misalignment angle phi is solved by the formula 5 ^h There are a number of ways in which the present application may be practiced, and two specific examples are set forth below:

example 1: direct solution

The following equation 6 can be obtained by calculation according to the above equation 5:

wherein ,e₃ Represents a unit vector, and e ₃ ＝[0 0 1] ^T 。

Multiplying both the left and right sides of equation 6 simultaneouslyAnd let->The following equation 7 can be sorted out:

wherein ,representing equivalent gesture rotation matrix +.>A third row vector in (a); phi (phi) ^b The misalignment angle under line b is indicated. As can be seen from equation 7, two unit vectors +.>And->The vector included angle between the two is the horizontal misalignment angle required to be obtained.

Example 2: kalman filter estimation algorithm

Since the state variables of the system are 5-dimensional in total, they are: horizontal misalignment angle phi _E and φ_N The method comprises the steps of carrying out a first treatment on the surface of the Drift amount of gyroscopeThe measurement information is as follows: horizontal acceleration-> andThus, a system state space model can be constructed therefrom, as specifically shown in equation 8 below:

wherein ,

and C ₁ Representation ofIs a first row vector of (a); c (C) ₂ Representation->Is a second row vector of (a); w (w) _ε Representing equivalent gyroscope noise; w (w) _rG Representing equivalent accelerometer noise; beta _G ＝diag(1/τ _Gx 1/τ _Gy 1/τ _Gz )，τ _Gx 、τ _Gy 、τ _Gz Respectively representing time correlation constants of gyroscope noise; v represents acceleration measurement noise.

The horizontal misalignment angle can be obtained by solving the above model. Compared with a direct solution, the Kalman filtering estimation method also carries out detailed modeling on the gyroscope drift, so that the error characteristic of the system can be reflected better, and the system has better performance.

At the time of calculating the misalignment angle phi ^b Thereafter, the output of the gyroscope may be combinedFor the calculated gesture rotation matrixUpdates and corrections are made as shown in equation 9 below: />

wherein ,indicating that the gyroscope is in a time period t _m-1 ,t _m ]Angular increment information of the internal output;Representing an equivalent attitude rotation matrix from m-1 time to m time under an n system;Representing an equivalent attitude rotation matrix from m-1 time to m time under the b system;Representing an equivalent attitude rotation matrix from m time b to n;The calculated equivalent attitude rotation matrix (including errors) from m-1 time b to n is shown.

After updating and correcting the equivalent attitude torque, the attitude of the terminal device may be corrected based on the equivalent attitude matrix.

Further, the attitude update algorithm with weighted misalignment angle correction expressed in terms of attitude quaternion can be expressed by the following equation 10:

wherein , and Δθ′_m The following equation 11 is satisfied:

in the above description of the present application,representing the Hadamard product, i.e., hadamard product;Representing the attitude quaternion from the b system to the n system at m time;B represents the posture quaternion from the b system at m-1 time to the b system at m time; alpha E [0,1 ]]Representing a misalignment angle correction factor; Δθ' _m Indicating the angular increment after the misalignment angle correction and having delta theta' _m ＝|Δθ′ _m |。

After the gesture quaternion of the terminal device is calculated, the gesture can be corrected based on the gesture quaternion.

Therefore, the technical scheme of the embodiment of the application can respond to the angular movement change of the terminal equipment rapidly, and can continuously correct the horizontal misalignment angle, so that the error is continuously reduced, and then the higher-precision horizontal posture navigation is realized, and more accurate navigation guidance is provided for the user.

The following describes an embodiment of the apparatus of the present application, which can be used to perform the posture correction method in the above-described embodiment of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the posture correction method of the present application.

Fig. 5 shows a block diagram of a posture correction apparatus according to an embodiment of the present application, which may be provided in a device having a calculation processing function, such as a terminal device of a vehicle terminal, a mobile terminal, or the like, or may be provided in a server in communication with the terminal device.

Referring to fig. 5, an attitude correction apparatus 500 according to an embodiment of the present application includes: an acquisition unit 502, a determination unit 504, a processing unit 506, and a correction unit 508.

The acquiring unit 502 is configured to acquire acceleration information output by an acceleration sensor installed on the terminal device and angular increment information output by a gyroscope sensor; the determining unit 504 is configured to determine a motion state of the terminal device according to the acceleration information; the processing unit 506 is configured to calculate, according to the relationship between the acceleration and the misalignment angle, the misalignment angle of the terminal device according to the acceleration information if the terminal device is in a target motion state in which the acceleration is less than or equal to a set value; the correction unit 508 is configured to correct the posture of the terminal device according to the misalignment angle of the terminal device and the angle increment information output by the gyro sensor.

In some embodiments of the present application, based on the foregoing scheme, the determining unit 504 is configured to: according to the acceleration information, calculating a difference value between a module value of the specific force acceleration of the terminal equipment and the gravity acceleration; and if the modulus of the difference is smaller than a first acceleration threshold, determining that the terminal equipment is in the target motion state.

In some embodiments of the present application, based on the foregoing scheme, the determining unit 504 is configured to: calculating an average value of specific force acceleration output by an acceleration sensor of the terminal equipment in a set time period according to the acceleration information; a difference between a modulus of the average and the gravitational acceleration is calculated.

In some embodiments of the present application, based on the foregoing scheme, the determining unit 504 is configured to: and if the modulus of the difference is smaller than the first acceleration threshold and the modulus of the specific force acceleration of the terminal equipment in the horizontal direction is smaller than the second acceleration threshold, determining that the terminal equipment is in the target motion state.

In some embodiments of the present application, based on the foregoing scheme, the determining unit 504 is configured to: and if the duration time that the module value of the specific force acceleration of the terminal equipment in the horizontal direction is greater than or equal to the second acceleration threshold value exceeds a set duration time and the module value of the difference value is smaller than the first acceleration threshold value, determining that the terminal equipment is in the target motion state.

In some embodiments of the present application, based on the foregoing scheme, the processing unit 506 is configured to: mapping a basic equation of the inertial navigation system into a motion environment corresponding to the target motion state to obtain an equivalent expression of the inertial navigation system; adjusting the equivalent expression of the inertial navigation system according to the attitude error to obtain a relational expression between a misalignment angle and specific force acceleration containing the error; and adjusting the relational expression based on the relation between the gravity acceleration and the specific force acceleration containing the error in the motion environment, so as to obtain the relation between the acceleration and the misalignment angle.

In some embodiments of the present application, based on the foregoing scheme, the processing unit 506 is configured to: adjusting the equivalent expression of the inertial navigation system according to the relation between the theoretical value of the equivalent gesture rotation matrix from the machine body coordinate system to the navigation coordinate system and the equivalent gesture rotation matrix containing the error, the relation between the specific force acceleration containing the error under the navigation coordinate system and the specific force acceleration containing the error under the machine body coordinate system, and the relation between the specific force acceleration containing the error under the navigation coordinate system and the gravity acceleration; the relation expression between the misalignment angle obtained by adjustment and the specific force acceleration containing errors is as follows: wherein ,An antisymmetric matrix representing specific force acceleration including error in the navigational coordinate system; phi represents a misalignment angle; delta represents the error.

In some embodiments of the present application, based on the foregoing scheme, the processing unit 506 is configured to: based on the relation between the gravity acceleration and the specific force acceleration containing errors under the navigation coordinate system in the motion environment, adjusting the relational expression according to the representation mode of the misalignment angle in the horizontal direction to obtain the relation between the specific force acceleration containing errors in the horizontal direction and the misalignment angle in the horizontal direction; the relationship between the gravity acceleration and the specific force acceleration containing errors under the navigation coordinate system in the motion environment is as follows: g ⁿ Representing gravitational acceleration in a navigation coordinate system; g represents the value of the gravitational acceleration in the navigation coordinate system; the relationship between the specific force acceleration including the error in the horizontal direction and the misalignment angle in the horizontal direction obtained by the adjustment is:φ ^h Represents the misalignment angle in the horizontal direction;The specific force acceleration including an error in the horizontal direction is indicated.

In some embodiments of the application, based on the foregoing, the relationship between the acceleration and the misalignment angle includes a relational expression between a specific force acceleration including an error in a horizontal direction and the misalignment angle in the horizontal direction; the processing unit 506 is configured to: and solving a relational expression between the specific force acceleration containing the error in the horizontal direction and the misalignment angle in the horizontal direction according to the acceleration information to obtain the misalignment angle of the terminal equipment in the horizontal direction.

In some embodiments of the application, based on the foregoing, the relationship between the acceleration and the misalignment angle includes a relational expression between a specific force acceleration including an error in a horizontal direction and the misalignment angle in the horizontal direction; the processing unit 506 is configured to: establishing a state space model according to the misalignment angle in the horizontal direction, the acceleration containing errors in the horizontal direction and the drift amount output by the gyroscope sensor; and solving the state space model through a Kalman filtering estimation algorithm based on the acceleration information to obtain the misalignment angle of the terminal equipment in the horizontal direction.

In some embodiments of the present application, based on the foregoing scheme, the correction unit 508 is configured to: according to the misalignment angle of the terminal equipment, the gyroscope sensor is at [ t ] _m-1 ,t _m ]Internal output angle increment information and terminal equipment at t _m-1 Calculating an equivalent attitude rotation matrix at moment and calculating t of the terminal equipment _m An equivalent gesture rotation matrix at a moment, wherein m is greater than or equal to 1; based on the terminal equipment at t _m And correcting the posture of the terminal equipment at the m moment by using the moment equivalent posture rotation matrix.

In some embodiments of the present application, based on the foregoing scheme, the correction unit 508 is configured to: according to the gyroscope sensor at [ t ] _m-1 ,t _m ]The internal output angle increment information and the misalignment angle of the terminal equipment calculate the angle increment of the terminal equipment after the misalignment angle correction; according to the angle increment of the terminal equipment subjected to misalignment angle correction, calculating the time from t of the terminal equipment under a machine body coordinate system _m-1 From time to t _m Attitude quaternion of moment; from t according to the terminal equipment in a body coordinate system _m-1 From time to t _m Moment attitude quaternion and t of terminal equipment _m-1 Calculating the attitude quaternion of the terminal equipment from the machine body coordinate system to the navigation coordinate system at time t _m The gesture quaternion from the machine body coordinate system to the navigation coordinate system at any time; based on the terminal equipment at t _m From the body coordinate system to the navigation coordinate systemAnd correcting the posture of the terminal equipment at the m moment by using the posture quaternion.

It should be noted that, the computer system 600 of the electronic device shown in fig. 6 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.

As shown in fig. 6, the computer system 600 includes a central processing unit (Central Processing Unit, CPU) 601, which can perform various appropriate actions and processes according to a program stored in a Read-Only Memory (ROM) 602 or a program loaded from a storage section 608 into a random access Memory (Random Access Memory, RAM) 603, for example, performing the method described in the above embodiment. In the RAM 603, various programs and data required for system operation are also stored. The CPU 601, ROM 602, and RAM 603 are connected to each other through a bus 604. An Input/Output (I/O) interface 605 is also connected to bus 604.

The following components are connected to the I/O interface 605: an input portion 606 including a keyboard, mouse, etc.; an output portion 607 including a Cathode Ray Tube (CRT), a liquid crystal display (Liquid Crystal Display, LCD), and a speaker, etc.; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN (Local Area Network ) card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The drive 610 is also connected to the I/O interface 605 as needed. Removable media 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed as needed on drive 610 so that a computer program read therefrom is installed as needed into storage section 608.

In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication portion 609, and/or installed from the removable medium 611. When executed by a Central Processing Unit (CPU) 601, performs the various functions defined in the system of the present application.

It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with a computer-readable computer program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Where each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer programs.

The units involved in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.

As another aspect, the present application also provides a computer-readable medium that may be contained in the electronic device described in the above embodiment; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more computer programs which, when executed by the electronic device, cause the electronic device to implement the methods described in the above embodiments.

It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.

From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, and includes several instructions to cause a computing device (may be a personal computer, a server, a touch terminal, or a network device, etc.) to perform the method according to the embodiments of the present application.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A posture correction method, characterized by comprising:

acquiring acceleration information output by an acceleration sensor installed on terminal equipment and angle increment information output by a gyroscope sensor;

determining the motion state of the terminal equipment according to the acceleration information;

if the terminal equipment is in a target motion state that the acceleration is smaller than or equal to a set value, calculating the misalignment angle of the terminal equipment according to the relation between the acceleration and the misalignment angle through the acceleration information;

And correcting the posture of the terminal equipment according to the misalignment angle of the terminal equipment and the angle increment information output by the gyroscope sensor.

2. The posture correction method according to claim 1, characterized in that determining the motion state of the terminal device from the acceleration information includes:

according to the acceleration information, calculating a difference value between a module value of the specific force acceleration of the terminal equipment and the gravity acceleration;

and if the modulus of the difference is smaller than a first acceleration threshold, determining that the terminal equipment is in the target motion state.

3. The posture correction method according to claim 2, characterized in that calculating a difference between a model value of a specific force acceleration and a gravitational acceleration of the terminal device based on the acceleration information, comprises:

calculating an average value of specific force acceleration output by an acceleration sensor of the terminal equipment in a set time period according to the acceleration information;

a difference between a modulus of the average and the gravitational acceleration is calculated.

4. The posture correction method according to claim 2, characterized in that determining the motion state of the terminal device from the acceleration information further comprises:

And if the modulus of the difference is smaller than the first acceleration threshold and the modulus of the specific force acceleration of the terminal equipment in the horizontal direction is smaller than the second acceleration threshold, determining that the terminal equipment is in the target motion state.

5. The posture correction method of claim 4, characterized in that determining the motion state of the terminal device from the acceleration information further comprises:

and if the duration time that the module value of the specific force acceleration of the terminal equipment in the horizontal direction is greater than or equal to the second acceleration threshold value exceeds a set duration time and the module value of the difference value is smaller than the first acceleration threshold value, determining that the terminal equipment is in the target motion state.

6. The posture correction method according to claim 1, characterized in that the posture correction method further comprises:

mapping a basic equation of the inertial navigation system into a motion environment corresponding to the target motion state to obtain an equivalent expression of the inertial navigation system;

adjusting the equivalent expression of the inertial navigation system according to the attitude error to obtain a relational expression between a misalignment angle and specific force acceleration containing the error;

and adjusting the relational expression based on the relation between the gravity acceleration and the specific force acceleration containing the error in the motion environment, so as to obtain the relation between the acceleration and the misalignment angle.

7. The attitude correction method according to claim 6, wherein adjusting the inertial navigation system equivalent expression according to an attitude error, to obtain a relational expression between a misalignment angle and a specific force acceleration including the error, comprises:

adjusting the equivalent expression of the inertial navigation system according to the relation between the theoretical value of the equivalent gesture rotation matrix from the machine body coordinate system to the navigation coordinate system and the equivalent gesture rotation matrix containing the error, the relation between the specific force acceleration containing the error under the navigation coordinate system and the specific force acceleration containing the error under the machine body coordinate system, and the relation between the specific force acceleration containing the error under the navigation coordinate system and the gravity acceleration;

the relation expression between the misalignment angle obtained by adjustment and the specific force acceleration containing errors is as follows:

wherein ,an antisymmetric matrix representing specific force acceleration including error in the navigational coordinate system; phi represents a misalignment angle; delta represents the error.

8. The posture correction method according to claim 7, characterized in that adjusting the relational expression based on a relation between gravitational acceleration and the specific force acceleration including an error in the motion environment, includes:

Based on the relation between the gravity acceleration and the specific force acceleration containing errors under the navigation coordinate system in the motion environment, adjusting the relational expression according to the representation mode of the misalignment angle in the horizontal direction to obtain the relation between the specific force acceleration containing errors in the horizontal direction and the misalignment angle in the horizontal direction;

the relationship between the gravity acceleration and the specific force acceleration containing errors under the navigation coordinate system in the motion environment is as follows:g ⁿ representing gravitational acceleration in a navigation coordinate system; g represents the value of the gravitational acceleration in the navigation coordinate system;

the relationship between the specific force acceleration including the error in the horizontal direction and the misalignment angle in the horizontal direction obtained by the adjustment is:φ ^h represents the misalignment angle in the horizontal direction;The specific force acceleration including an error in the horizontal direction is indicated.

9. The attitude correction method according to claim 1, wherein the relationship between the acceleration and the misalignment angle includes a relational expression between a specific force acceleration including an error in a horizontal direction and the misalignment angle in the horizontal direction;

calculating the misalignment angle of the terminal equipment according to the relation between the acceleration and the misalignment angle through the acceleration information, wherein the method comprises the following steps:

And solving a relational expression between the specific force acceleration containing the error in the horizontal direction and the misalignment angle in the horizontal direction according to the acceleration information to obtain the misalignment angle of the terminal equipment in the horizontal direction.

10. The attitude correction method according to claim 1, wherein the relationship between the acceleration and the misalignment angle includes a relational expression between a specific force acceleration including an error in a horizontal direction and the misalignment angle in the horizontal direction;

establishing a state space model according to the misalignment angle in the horizontal direction, the acceleration containing errors in the horizontal direction and the drift amount output by the gyroscope sensor;

and solving the state space model through a Kalman filtering estimation algorithm based on the acceleration information to obtain the misalignment angle of the terminal equipment in the horizontal direction.

11. The posture correction method according to any one of claims 1 to 10, characterized in that correcting the posture of the terminal device based on the misalignment angle of the terminal device and the angular increment information output by the gyro sensor, includes:

According to the misalignment angle of the terminal equipment, the gyroscope sensor is at [ t ] _m-1 ,t _m ]Internal output angle increment information and terminal equipment at t _m-1 Calculating an equivalent attitude rotation matrix at moment and calculating t of the terminal equipment _m Time of day equivalentA gesture rotation matrix, wherein m is greater than or equal to 1;

based on the terminal equipment at t _m And correcting the posture of the terminal equipment at the m moment by using the moment equivalent posture rotation matrix.

12. The posture correction method according to any one of claims 1 to 10, characterized in that correcting the posture of the terminal device based on the misalignment angle of the terminal device and the angular increment information output by the gyro sensor, includes:

according to the gyroscope sensor at [ t ] _m-1 ,t _m ]The internal output angle increment information and the misalignment angle of the terminal equipment calculate the angle increment of the terminal equipment after the misalignment angle correction;

according to the angle increment of the terminal equipment subjected to misalignment angle correction, calculating the time from t of the terminal equipment under a machine body coordinate system _m-1 From time to t _m Attitude quaternion of moment;

from t according to the terminal equipment in a body coordinate system _m-1 From time to t _m Moment attitude quaternion and t of terminal equipment _m-1 Calculating the attitude quaternion of the terminal equipment from the machine body coordinate system to the navigation coordinate system at time t _m The gesture quaternion from the machine body coordinate system to the navigation coordinate system at any time;

based on the terminal equipment at t _m And correcting the posture of the terminal equipment at the m moment by using the posture quaternion from the machine body coordinate system to the navigation coordinate system at the moment.

13. An attitude correction device, comprising:

an acquisition unit configured to acquire acceleration information output by an acceleration sensor mounted on the terminal device and angular increment information output by a gyro sensor;

a determining unit configured to determine a motion state of the terminal device according to the acceleration information;

the processing unit is configured to calculate the misalignment angle of the terminal equipment according to the relation between the acceleration and the misalignment angle if the terminal equipment is in a target motion state with the acceleration smaller than or equal to a set value;

and the correcting unit is configured to correct the posture of the terminal equipment according to the misalignment angle of the terminal equipment and the angle increment information output by the gyroscope sensor.

14. A computer readable medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the posture correction method according to any one of claims 1 to 12.

15. An electronic device, comprising:

one or more processors;

a memory for storing one or more computer programs that, when executed by the one or more processors, cause the electronic device to implement the pose correction method of any of claims 1-12.