CN117516592A - Vehicle-mounted IMU installation angle estimation method and device, electronic equipment and storage medium - Google Patents
Vehicle-mounted IMU installation angle estimation method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the application relates to the technical field of vehicle navigation, and provides a vehicle-mounted IMU installation angle estimation method, a device, electronic equipment and a storage medium.
Description
Technical Field
The embodiment of the application relates to the technical field of vehicle navigation, in particular to a vehicle-mounted IMU (inertial measurement Unit) installation angle estimation method, device, electronic equipment and storage medium.
Background
In the vehicle navigation technology, in order to guarantee the accuracy of the vehicle positioning result in various situations to a certain extent, a combination of GNSS (Global Navigation Satellite System, global satellite navigation system) and IMU (Inertial Measurement Unit ) is generally adopted to provide high-precision position and attitude information.
However, when the IMU is mounted on the vehicle body, a mounting deviation angle is formed between the IMU coordinate system and the vehicle body coordinate system due to a mounting position or other operation factors, and the mounting deviation angle causes error accumulation of the IMU measurement result, so that accurate estimation of the vehicle motion state is affected.
Therefore, how to accurately estimate the installation deviation angle of the IMU under the vehicle body coordinate system is important to the vehicle positioning result.
Disclosure of Invention
The embodiment of the application aims to provide a vehicle-mounted IMU installation angle estimation method, device, electronic equipment and storage medium, which can accurately estimate an installation deviation angle between a vehicle-mounted IMU and a vehicle.
In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:
in a first aspect, an embodiment of the present application provides a method for estimating an installation angle of an in-vehicle IMU, where the method includes:
obtaining a first attitude angle of a vehicle-mounted IMU mounted on a vehicle when the vehicle is in a first stationary state;
turning the vehicle around so as to enable the vehicle to be in a second static state, wherein the wheel positions of the vehicle are overlapped and the directions of the vehicle heads are opposite in the first static state and the second static state;
obtaining a second attitude angle of the vehicle-mounted IMU when the vehicle is in the second stationary state;
and obtaining an installation deviation angle between the vehicle-mounted IMU and the vehicle according to the first attitude angle and the second attitude angle.
Optionally, the first attitude angle includes a first roll angle and/or a first pitch angle, and the second attitude angle includes a second roll angle and/or a second pitch angle; the installation deviation angle comprises a roll deviation angle and/or a pitch deviation angle, the roll deviation angle represents an installation deviation angle between the vehicle-mounted IMU and the vehicle in the roll direction, and the pitch deviation angle represents an installation deviation angle between the vehicle-mounted IMU and the vehicle in the pitch direction;
the step of obtaining the installation deviation angle between the vehicle-mounted IMU and the vehicle according to the first attitude angle and the second attitude angle comprises the following steps:
obtaining the roll deflection angle according to the first roll angle and the second roll angle; and/or the number of the groups of groups,
and obtaining the pitching deviation angle according to the first pitching angle and the second pitching angle.
Optionally, the step of obtaining the roll offset angle according to the first roll angle and the second roll angle includes:
and calculating the average value of the first roll angle and the second roll angle to obtain the roll deflection angle.
Optionally, the first roll angle is a sum of a ground roll angle and the roll bias angle, and the second roll angle is a difference between the roll bias angle and the ground roll angle, and the ground roll angle represents a deviation of an actual ground surface from an ideal ground surface in a roll direction.
Optionally, the step of obtaining the pitch deviation angle according to the first pitch angle and the second pitch angle includes:
and calculating the average value of the first pitch angle and the second pitch angle to obtain the pitch deviation angle.
Optionally, the first pitch angle is the sum of the ground pitch angle and the pitch deviation angle, and the second pitch angle is the difference between the pitch deviation angle and the ground pitch angle, and the ground pitch angle represents the deviation of the actual ground and the ideal ground in the pitch direction.
In a second aspect, an embodiment of the present application further provides an apparatus for estimating an installation angle of an in-vehicle IMU, where the apparatus includes:
the vehicle-mounted IMU comprises a first obtaining module, a second obtaining module and a third obtaining module, wherein the first obtaining module is used for obtaining a first attitude angle of a vehicle-mounted IMU (inertial measurement unit) installed on a vehicle when the vehicle is in a first static state;
the first processing module is used for turning the vehicle around so as to enable the vehicle to be in a second static state, wherein four-wheel positions of the vehicle are overlapped and the directions of the vehicle heads are opposite when the vehicle is in the first static state and the second static state;
the second obtaining module is used for obtaining a second attitude angle of the vehicle-mounted IMU when the vehicle is in the second static state;
and the second processing module is used for obtaining an installation deviation angle between the vehicle-mounted IMU and the vehicle according to the first attitude angle and the second attitude angle.
Optionally, the first attitude angle includes a first roll angle and/or a first pitch angle, and the second attitude angle includes a second roll angle and/or a second pitch angle; the installation deviation angle comprises a roll deviation angle and/or a pitch deviation angle, the roll deviation angle represents an installation deviation angle between the vehicle-mounted IMU and the vehicle in the roll direction, and the pitch deviation angle represents an installation deviation angle between the vehicle-mounted IMU and the vehicle in the pitch direction;
the second processing module is specifically configured to:
obtaining the roll deflection angle according to the first roll angle and the second roll angle; and/or the number of the groups of groups,
and obtaining the pitching deviation angle according to the first pitching angle and the second pitching angle.
In a third aspect, an embodiment of the present application further provides an electronic device, including a processor and a memory, where the memory is configured to store a program, and the processor is configured to implement the method for estimating an installation angle of an IMU on board in the first aspect when the program is executed.
In a fourth aspect, embodiments of the present application further provide a computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the method for estimating an installation angle of an in-vehicle IMU in the first aspect.
Compared with the prior art, the method, the device, the electronic equipment and the storage medium for estimating the mounting angle of the vehicle-mounted IMU are provided, a first attitude angle of the vehicle-mounted IMU when the vehicle is in a first static state is obtained firstly, then the vehicle is turned around to enable the vehicle to be in a second static state, a second attitude angle of the vehicle-mounted IMU when the vehicle is in the second static state is obtained, and finally the mounting deviation angle between the vehicle-mounted IMU and the vehicle is obtained according to the first attitude angle and the second attitude angle.
Drawings
Fig. 1 shows an architecture diagram provided in an embodiment of the present application.
Fig. 2 is a schematic flow chart of a method for estimating an installation angle of an in-vehicle IMU according to an embodiment of the present application.
Fig. 3 shows an exemplary diagram of a first roll angle provided by an embodiment of the present application.
Fig. 4 shows an example diagram of a first pitch angle provided by an embodiment of the present application.
Fig. 5 shows an example graph one of a second roll angle provided by an embodiment of the present application.
Fig. 6 shows an example diagram two of a second roll angle provided by an embodiment of the present application.
Fig. 7 shows an example diagram one of a second pitch angle provided by an embodiment of the present application.
Fig. 8 shows an example diagram two of a second pitch angle provided by an embodiment of the present application.
Fig. 9 is a schematic block diagram of an in-vehicle IMU installation angle estimation device according to an embodiment of the present application.
Fig. 10 shows a block schematic diagram of an electronic device according to an embodiment of the present application.
Icon: 100-an on-vehicle IMU installation angle estimation device; 101-a first obtaining module; 102-a first processing module; 103-a second obtaining module; 104-a second processing module; 10-an electronic device; 11-a processor; 12-memory; 13-bus.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
An in-vehicle IMU is a device for measuring the motion state of a vehicle, which includes sensors such as accelerometers and gyroscopes. When the IMU is mounted on the vehicle body, a mounting deviation angle is formed between the IMU coordinate system and the vehicle body coordinate system due to a mounting position or other operation factors, the mounting deviation angle can cause error accumulation of an IMU measurement result, further accurate estimation of the vehicle motion state is affected, and the mounting deviation angle needs to be calibrated and compensated for in order to obtain high-precision position and posture information.
The IMU coordinate system may be aligned with the vehicle body coordinate system by estimating an installation deviation angle of the IMU under the vehicle body coordinate system. In this way, in the vehicle movement process, the movement state information under the vehicle coordinate system can be used for compensating and correcting the measurement result of the IMU, so as to obtain more accurate information such as the gesture, the acceleration, the angular speed and the like.
Therefore, the method and the device accurately estimate the installation deviation angle of the IMU under the vehicle body coordinate system, have important significance for vehicle navigation, attitude control, tracking of motion tracks and the like, and can improve the accuracy and reliability of vehicle motion state estimation.
In the prior art, the installation deviation angle estimation of the vehicle-mounted IMU under the vehicle body coordinate system comprises the following two modes:
the micro-inertial strapdown attitude and heading reference system is adopted to process IMU information generated when the IMU is placed obliquely through a multi-coordinate conversion mode rapid estimation and compensation system, however, the system is complex, and the universality is low.
Secondly, the pitch angle and the roll angle are obtained by collecting measurement data of the accelerometer when the vehicle is stationary for a few seconds, and the method is calibrated through a simple geometric relationship, however, the requirement on the flatness of the calibrated ground is high, and in the actual vehicle production process, the production factory and the after-market place are difficult to ensure to provide places meeting the requirement.
In order to solve the technical problem, according to the embodiment of the application, the first attitude angle of the vehicle-mounted IMU when the vehicle is in the first static state and the second attitude angle of the vehicle-mounted IMU when the vehicle is in the second static state are obtained, and the installation deviation angle between the vehicle-mounted IMU and the vehicle is obtained according to the first attitude angle and the second attitude angle.
Referring to fig. 1, the vehicle-mounted IMU is communicatively connected to an electronic device, and the electronic device may receive data sent by the vehicle-mounted IMU, for example, acceleration data, angular velocity data, attitude angle, and the like. The in-vehicle IMU is installed in a vehicle, and may include a gyroscope for acquiring an angular velocity of the vehicle, an acceleration sensor for acquiring an acceleration of the vehicle, and the like. The electronic equipment is used for estimating the installation deviation angle between the vehicle-mounted IMU and the vehicle based on the data sent by the vehicle-mounted IMU.
The electronic device in the embodiment of the application may be a mobile terminal (e.g., a personal computer, a smart phone, a tablet computer, etc.), a server, etc. of a technician; the system can also be a common diagnostic equipment, such as CANoe, zhou Li Gong, an upper computer conforming to the ISO14229 protocol, and the like; but also a control module of the vehicle itself, for example, an ECU (Electronic Control Unit ) or the like. The electronic device may be disposed in the vehicle, and may be an in-vehicle device or an out-of-vehicle device, which is not limited in this embodiment of the present application.
Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Referring to fig. 2, fig. 2 is a flow chart illustrating a method for estimating an installation angle of an in-vehicle IMU according to an embodiment of the present application. The vehicle-mounted IMU installation angle estimation method is applied to electronic equipment and can comprise the following steps:
s101, obtaining a first attitude angle of an on-board IMU mounted on the vehicle when the vehicle is in a first stationary state.
In this embodiment, when the vehicle is in the first stationary state, the vehicle-mounted IMU may collect at least one set of acceleration data, where each set of acceleration data includes a magnitude and a direction of acceleration measured by the vehicle-mounted IMU in directions of different coordinate axes of the IMU coordinate system, and different sets of acceleration data respectively correspond to different collection moments.
After the acquisition of the at least one set of acceleration data, a processing module in the in-vehicle IMU, e.g. an MCU (Microcontroller Unit, micro control unit), determines an attitude angle of the in-vehicle IMU in a first vehicle coordinate system, i.e. a first attitude angle, based on the at least one set of acceleration data. The first attitude angle may be a first roll angle, which may be denoted by att_roll_1, and/or a first pitch angle, which may be denoted by att_pitch_1.
It will be appreciated that with known acceleration data, roll and pitch angles of the in-vehicle IMU in the vehicle body coordinate system can be calculated by the following formula:
wherein roll represents roll angle, pitch represents pitch angle,indicating the acceleration in the x direction in the vehicle body coordinate system,indicating the acceleration in the y-direction in the body coordinate system, < ->The acceleration in the z direction in the vehicle body coordinate system is shown.
In the present embodiment, the first vehicle body coordinate system refers to a vehicle body coordinate system corresponding to a vehicle at an acquisition time corresponding to at least one set of acceleration data for determining the first attitude angle.
The vehicle body coordinate system means: the direction of the transverse axis of the vehicle body coordinate system from left to right, which is observed from the middle point of the connecting line of the two rear wheels of the vehicle to the head of the vehicle, is expressed as X b A shaft; from back to front in the direction of the longitudinal axis of the vehicle body coordinate system, which can be denoted as Y b A shaft; from bottom to top, the vertical direction of the car body coordinate systemThe direction of the axis, which can be expressed as Z b A shaft.
When the vehicle-mounted IMU acquires at least one group of acceleration data for determining the first attitude angle, the coordinate system where the vehicle-mounted IMU is located, namely an IMU coordinate system, is referred to. That is, at least one set of acceleration data collected by the vehicle-mounted IMU for determining the first attitude angle is data in an IMU coordinate system.
When the IMU is mounted to the vehicle body, a mounting deviation angle is formed between the IMU coordinate system and the vehicle body coordinate system due to a mounting position or other operation factors, that is, a rotation relationship exists between the IMU coordinate system where the vehicle-mounted IMU is located and the vehicle body coordinate system. In order to ensure the accuracy of the subsequent positioning result, the conversion relation between the IMU coordinate system and the vehicle body coordinate system, that is, the installation deviation angle of the IMU under the vehicle body coordinate system, needs to be determined in advance.
The installation deviation angle of the IMU under the vehicle body coordinate system comprises a roll deviation angle and/or a pitch deviation angle, wherein the roll deviation angle refers to the installation deviation angle between the vehicle-mounted IMU and the vehicle in the roll direction, and the pitch deviation angle table refers to the installation deviation angle between the vehicle-mounted IMU and the vehicle in the pitch direction.
It should be noted that, in the embodiment of the present application, the installation offset angle between the in-vehicle IMU and the vehicle is determined by obtaining the first attitude angle of the in-vehicle IMU when the vehicle is in the first stationary state and the second attitude angle of the in-vehicle IMU when the vehicle is in the second stationary state, so that there is no yaw offset angle, that is, the installation offset angle between the in-vehicle IMU and the vehicle in the yaw direction.
When the vehicle is in a stationary state, besides the change of the attitude angle of the vehicle-mounted IMU caused by the installation error, the change of the attitude angle of the vehicle-mounted IMU is caused due to the non-absolute plane of the ground when the vehicle is placed on the ground.
The first attitude angle of the in-vehicle IMU when the vehicle is in the first stationary state is analyzed in detail below.
As shown in fig. 3, the in-vehicle IMU is mounted on the vehicle, and when the vehicle is in the first stationary state, the IMU coordinate system in fig. 3 is: the center of the IMU is taken as an origin, the direction facing the paper surface is the positive X-axis direction, the direction from the left wheel to the right wheel is the positive Y-axis direction, the direction from top to bottom is the positive Z-axis direction, and the directions of the three axes X, Y, Z are respectively parallel to the corresponding axial direction of the IMU.
Due to the influence of the installation error, a fixed included angle is formed between the IMU and the horizontal plane of the vehicle when the IMU is seen towards the tail direction of the vehicle, and the fixed included angle is the roll deviation angle and can be expressed by roll_installation. At the same time, when the vehicle is placed on the ground, the actual ground and the ideal horizontal plane will also have an angle in the roll direction, which may be referred to as the roll angle to the ground, which may be denoted by roll_group.
From the foregoing, it can be known that the vehicle-mounted IMU may determine, by collecting at least one set of acceleration data, an included angle between the Y axis and an ideal horizontal plane in the IMU coordinate system where the vehicle-mounted IMU is located, where the included angle is the first roll angle att_roll_1.
As is evident from fig. 3, if the ground is an ideal horizontal plane, the first roll angle is equal to the roll offset angle, i.e., att_roll_1=roll_installation. However, in practice, since the ground is not an absolute plane, while the vehicle level is parallel to the actual ground, the first roll angle is the sum of the ground roll angle and the roll offset angle, i.e., att_roll_1=roll_installation+roll_group.
As shown in fig. 4, the in-vehicle IMU is mounted on the vehicle, and when the vehicle is in the first stationary state, the IMU coordinate system in fig. 4 is: the center of the IMU is taken as an origin, the direction from the rear wheel to the front wheel is the positive X-axis direction, the direction facing the outside of the paper surface is the positive Y-axis direction, the direction from top to bottom is the positive Z-axis direction, and the directions of the X, Y, Z axes are respectively parallel to the corresponding axial direction of the IMU.
Due to the influence of the installation error, a fixed included angle is formed between the IMU and the horizontal plane of the vehicle when the IMU is seen towards the side direction of the vehicle, and the fixed included angle is a pitching deviation angle and can be expressed by pitch_installation. At the same time, when the vehicle is placed on the ground, the actual ground and the ideal horizontal plane will also have an angle in the pitch direction, which may be referred to as the pitch angle, which may be denoted as pitch_ground.
From the foregoing, it can be known that the vehicle-mounted IMU may determine, by collecting at least one set of acceleration data, an included angle between the X axis and an ideal horizontal plane in the IMU coordinate system where the vehicle-mounted IMU is located, where the included angle is the first pitch angle att_pitch_1.
As is evident from fig. 4, if the ground is an ideal level, the first pitch angle is equal to the pitch offset angle, i.e., att_pitch_1=pitch_installation. However, in practice, since the ground is not an absolute plane, while the vehicle level is parallel to the actual ground, the first pitch angle is the sum of the ground pitch angle and the pitch offset angle, i.e., att_pitch_1=pitch_installation+pitch_group.
S102, turning the vehicle around so that the vehicle is in a second stationary state, wherein the positions of wheels of the vehicle are overlapped and the directions of the vehicle heads are opposite when the vehicle is in the first stationary state and the second stationary state.
In this embodiment, in order to eliminate the influence of the ground roll angle and the ground pitch angle other than 0, the vehicle is turned around and is stationary on the original ground. Turning the vehicle means turning the vehicle head 180 degrees, and simultaneously, after the vehicle turns around, four wheels of the vehicle are placed and basically coincide with the four wheels before turning around. That is, the wheel positions of the vehicle coincide and the head directions are opposite in the first stationary state and the second stationary state.
S103, obtaining a second attitude angle of the vehicle-mounted IMU when the vehicle is in a second stationary state.
In this embodiment, when the vehicle is in the second stationary state, the vehicle-mounted IMU may collect at least one set of acceleration data, where each set of acceleration data includes a magnitude and a direction of acceleration measured by the vehicle-mounted IMU in directions of different coordinate axes of the IMU coordinate system, and different sets of acceleration data respectively correspond to different collection moments.
After the at least one set of acceleration data is acquired, a processing module in the in-vehicle IMU, e.g., an MCU, determines a pose angle of the in-vehicle IMU in a second body coordinate system, i.e., a second pose angle, based on the at least one set of acceleration data. The second attitude angle may be a second roll angle, which may be denoted att_roll_2, and/or a second pitch angle, which may be denoted att_pitch_2.
In the present embodiment, the second body coordinate system refers to a body coordinate system corresponding to the vehicle at the acquisition time corresponding to at least one set of acceleration data for determining the second attitude angle.
The second attitude angle of the in-vehicle IMU when the vehicle is in the second stationary state is analyzed in detail below.
As shown in fig. 5, the in-vehicle IMU is mounted on the vehicle, and when the vehicle is in the second stationary state, the IMU coordinate system in fig. 5 is: the center of the IMU is taken as an origin, the direction facing the paper surface is the positive X-axis direction, the direction from the left wheel to the right wheel is the positive Y-axis direction, the direction from top to bottom is the positive Z-axis direction, and the directions of the three axes X, Y, Z are respectively parallel to the corresponding axial direction of the IMU.
Similar to when the vehicle is in the first stationary state, there is a roll offset angle roll_indication between the IMU and the vehicle horizontal plane, as seen in the direction of the vehicle's rear. Meanwhile, the vehicle is placed on the ground, and the ground roll angle roll_group exists between the actual ground and the ideal horizontal plane in the roll direction.
From the foregoing, it can be known that the vehicle-mounted IMU may determine, by collecting at least one set of acceleration data, an included angle between the Y axis and an ideal horizontal plane in the IMU coordinate system where the vehicle-mounted IMU is located, where the included angle is the second roll angle att_roll_2.
To more clearly show the relationship between roll offset angle roll_installation, ground roll angle roll_group, and second roll angle att_roll_2, the angular relationship in fig. 5 is re-plotted as shown in fig. 6, and it is apparent from fig. 6 that the second roll angle is the difference between roll offset angle and ground roll angle, i.e., att_roll_2 = roll_installation-roll_group.
As shown in fig. 7, the in-vehicle IMU is mounted on the vehicle, and when the vehicle is in the second stationary state, the IMU coordinate system in fig. 7 is: the center of the IMU is taken as an origin, the direction from the rear wheel to the front wheel is the positive X-axis direction, the direction facing the outside of the paper surface is the positive Y-axis direction, the direction from top to bottom is the positive Z-axis direction, and the directions of the X, Y, Z axes are respectively parallel to the corresponding axial direction of the IMU.
Due to installation errors, there is a pitch offset angle pitch_installation between the IMU and the vehicle horizontal plane, seen in the lateral direction of the vehicle. Meanwhile, the vehicle is placed on the ground, and the actual ground and the ideal horizontal plane have a pitch-over-the-ground angle pitch_ground in the pitch direction.
From the foregoing, it can be known that the vehicle-mounted IMU may determine, by collecting at least one set of acceleration data, an included angle between the X axis and an ideal horizontal plane in the IMU coordinate system where the vehicle-mounted IMU is located, where the included angle is the second pitch angle att_pitch_2.
To more clearly show the relationship between pitch offset angle pitch_installation, pitch_ground and second pitch angle att_pitch_2, the angular relationship in fig. 7 is re-plotted as shown in fig. 8, and it is apparent from fig. 8 that the second pitch angle is the difference between pitch offset angle and ground pitch angle, i.e., att_pitch_2=pitch_installation-pitch_ground.
S104, obtaining an installation deviation angle between the vehicle-mounted IMU and the vehicle according to the first attitude angle and the second attitude angle.
In this embodiment, the first attitude angle and the second attitude angle are respectively obtained when the vehicle is in the first stationary state and the second stationary state, and since the wheel positions of the vehicle are coincident and the directions of the vehicle heads are opposite in the first stationary state and the second stationary state, the static calibration error caused by uneven ground can be offset through the first attitude angle and the second attitude angle, so that the installation deviation angle between the vehicle-mounted IMU and the vehicle can be accurately estimated.
In one possible implementation manner, the installation deviation angle includes a roll deviation angle and/or a pitch deviation angle, and the process of obtaining the installation deviation angle between the vehicle-mounted IMU and the vehicle according to the first attitude angle and the second attitude angle in step S104 may include:
obtaining a roll deflection angle according to the first roll angle and the second roll angle; and/or the number of the groups of groups,
and obtaining a pitching deviation angle according to the first pitching angle and the second pitching angle.
As can be seen from the foregoing, the first roll angle is the sum of the roll angle to ground and the roll angle, that is att_roll_1=roll_installation+roll_group, and the second roll angle is the difference between the roll angle and the roll angle to ground, that is att_roll_2=roll_installation-roll_group. It is apparent from these two equations that the roll deviation angle is the average of the first roll angle and the second roll angle, i.e., roll_installation= (att_roll_1+att_roll_2)/2.
The first pitch angle is the sum of the ground pitch angle and the pitch offset angle, namely att_pitch_1=pitch_installation+pitch_group, and the second pitch angle is the difference between the pitch offset angle and the ground pitch angle, namely att_pitch_2=pitch_installation-pitch_group. Also, as is apparent from these two equations, the pitch deviation angle is the average of the first pitch angle and the second pitch angle, i.e., pitch_installation= (att_pitch_1+att_pitch_2)/2.
Obviously, by using the vehicle-mounted IMU installation angle estimation method provided by the embodiment of the application, the estimation of the roll deviation angle and the pitch deviation angle can be completed only by turning around once, namely, the estimation of the installation deviation angle between the vehicle-mounted IMU and the vehicle is completed.
The following provides one application of the vehicle-mounted IMU installation angle estimation method provided in the embodiment of the present application in practice.
In practice, the mounting angle of an in-vehicle IMU may be diagnosed based on UDS (Unified Diagnostic Services, in-vehicle diagnostic protocol), provided that: the ECU where the in-vehicle IMU is located needs to have a diagnostic function. The diagnostic protocol may operate with reference to the ISO14229 protocol, and the commonly used diagnostic apparatus may be CANoe, qigong, or a host computer compliant with the ISO14229 protocol, etc.
The diagnostic apparatus device may display an interface for UDS diagnosis, which may include a request PDU area for inputting diagnostic information.
The UDS diagnostic procedure may comprise the steps of:
1. inputting a 10 03 instruction in a request PDU region, and sending the 10 03 instruction to the ECU by the diagnostic apparatus device so that the ECU enters an extended session and the ECU needs to keep an extended session mode all the time;
2. inputting a 10 03 instruction again in the request PDU area, and sending the 10 03 instruction to the ECU by the diagnostic equipment so that the ECU enters secure access;
3. inputting a calibration mode 0x01 in a request PDU region, and executing first calibration;
4. the method comprises the steps that a first position is placed on a vehicle, namely the vehicle is in a first static state, the wheel positions of the vehicle are recorded, diagnostic equipment executes the vehicle-mounted IMU installation angle estimation method provided by the embodiment of the application, and a first set of static calibration data, namely a first attitude angle of the vehicle-mounted IMU is recorded;
5. if the calibration is unsuccessful, repeating the step 4 until the calibration is successful; if the calibration is successful, continuing to execute the subsequent steps;
6. the vehicle turns around 180 degrees, the wheel positions coincide with the wheel positions in the 4 th step, the diagnostic equipment executes the vehicle-mounted IMU installation angle estimation method provided by the embodiment of the application, and a second set of static calibration data, namely a second attitude angle of the vehicle-mounted IMU, is recorded;
7. if the calibration is unsuccessful, repeating the step 6 until the calibration is successful; if the calibration is successful, continuing to execute the subsequent steps;
8. confirming whether static calibration fault codes exist or not; if no static calibration fault code exists, the calibration process is finished, and the diagnostic equipment executes the vehicle-mounted IMU installation angle estimation method provided by the embodiment of the application, and outputs a calibration result, namely an installation deviation angle between the vehicle-mounted IMU and the vehicle; and if the static calibration fault code exists, the calibration process is re-executed until the static calibration fault code does not exist.
Compared with the prior art, the embodiment of the application has the following beneficial effects:
firstly, a first attitude angle of the vehicle-mounted IMU when the vehicle is in a first static state and a second attitude angle of the vehicle-mounted IMU when the vehicle is in a second static state are obtained, and an installation deviation angle between the vehicle-mounted IMU and the vehicle is obtained according to the first attitude angle and the second attitude angle.
Secondly, the estimation of the roll deflection angle and the pitch deflection angle can be completed only by turning around once, namely the estimation of the installation deflection angle between the vehicle-mounted IMU and the vehicle is completed, and the operation feasibility is high, so that the method is beneficial to actual popularization.
Thirdly, the vehicle-mounted IMU installation angle estimation method provided by the embodiment of the application is high in estimation precision, and through actual tests, the error estimation which can reach less than 0.3 degrees is determined.
In order to perform the corresponding steps in the above method embodiments and various possible implementations, an implementation manner of the in-vehicle IMU installation angle estimation device is given below.
Referring to fig. 9, fig. 9 is a block schematic diagram of an in-vehicle IMU installation angle estimation apparatus 100 according to an embodiment of the present application. The in-vehicle IMU installation angle estimation apparatus 100 is applied to an electronic device, and includes: a first obtaining module 101, a first processing module 102, a second obtaining module 103 and a second processing module 104.
The first obtaining module 101 is configured to obtain a first attitude angle of an in-vehicle IMU mounted to the vehicle when the vehicle is in a first stationary state.
The first processing module 102 is configured to turn the vehicle around so that the vehicle is in a second stationary state, where the wheel positions of the vehicle overlap and the direction of the vehicle head is opposite when the vehicle is in the first stationary state and the second stationary state.
A second obtaining module 103, configured to obtain a second attitude angle of the in-vehicle IMU when the vehicle is in a second stationary state.
And the second processing module 104 is configured to obtain an installation deviation angle between the vehicle-mounted IMU and the vehicle according to the first attitude angle and the second attitude angle.
Optionally, the first attitude angle includes a first roll angle and/or a first pitch angle, and the second attitude angle includes a second roll angle and/or a second pitch angle; the installation deviation angle comprises a roll deviation angle and/or a pitch deviation angle, the roll deviation angle represents an installation deviation angle between the vehicle-mounted IMU and the vehicle in the roll direction, and the pitch deviation angle represents an installation deviation angle between the vehicle-mounted IMU and the vehicle in the pitch direction;
the second processing module 104 is specifically configured to:
obtaining a roll deflection angle according to the first roll angle and the second roll angle; and/or the number of the groups of groups,
and obtaining a pitching deviation angle according to the first pitching angle and the second pitching angle.
Optionally, the second processing module 104 performs a manner of deriving a roll offset angle from the first roll angle and the second roll angle, including:
and calculating the average value of the first roll angle and the second roll angle to obtain a roll deviation angle.
Optionally, the first roll angle is a sum of a roll angle to ground and a roll offset angle, and the second roll angle is a difference between the roll offset angle and the roll angle to ground, and the roll angle to ground characterizes a deviation of an actual ground from an ideal ground in a roll direction.
Optionally, the second processing module 104 performs a manner of obtaining a pitch deviation angle according to the first pitch angle and the second pitch angle, including:
and calculating the average value of the first pitch angle and the second pitch angle to obtain a pitch deviation angle.
Optionally, the first pitch angle is the sum of the ground pitch angle and the pitch deviation angle, the second pitch angle is the difference between the pitch deviation angle and the ground pitch angle, and the ground pitch angle represents the deviation of the actual ground and the ideal ground in the pitch direction.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the above-described vehicle-mounted IMU installation angle estimation apparatus 100 may refer to the corresponding process in the foregoing method embodiment, and will not be described herein again.
Referring to fig. 10, fig. 10 is a block diagram of an electronic device 10 according to an embodiment of the present disclosure. The electronic device 10 includes a processor 11, a memory 12, and a bus 13, and the processor 11 is connected to the memory 12 through the bus 13.
The memory 12 is used for storing a program, such as the in-vehicle IMU installation angle estimation apparatus 100 shown in fig. 9, and the in-vehicle IMU installation angle estimation apparatus 100 includes at least one software function module that may be stored in the memory 12 in the form of software or firmware (firmware), and the processor 11 executes the program after receiving an execution instruction to implement the foregoing in-vehicle IMU installation angle estimation method.
The memory 12 may include high-speed random access memory (Random Access Memory, RAM) and may also include non-volatile memory (NVM).
The processor 11 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 11 or by instructions in the form of software. The processor 11 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a micro control unit (Microcontroller Unit, MCU), a complex programmable logic device (Complex Programmable Logic Device, CPLD), a field programmable gate array (Field Programmable Gate Array, FPGA), an embedded ARM, and the like.
The present embodiment also provides a computer readable storage medium having stored thereon a computer program which, when executed by the processor 11, implements the vehicle-mounted IMU installation angle estimation method disclosed in the foregoing embodiment.
In summary, according to the method, the device, the electronic equipment and the storage medium for estimating the installation angle of the vehicle-mounted IMU provided by the embodiment of the application, the first attitude angle of the vehicle-mounted IMU when the vehicle is in the first stationary state is obtained, the vehicle is turned around to enable the vehicle to be in the second stationary state, the second attitude angle of the vehicle-mounted IMU when the vehicle is in the second stationary state is obtained, and finally the installation deviation angle between the vehicle-mounted IMU and the vehicle is obtained according to the first attitude angle and the second attitude angle.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (10)
1. An on-board IMU installation angle estimation method, comprising:
obtaining a first attitude angle of a vehicle-mounted IMU mounted on a vehicle when the vehicle is in a first stationary state;
turning the vehicle around so as to enable the vehicle to be in a second static state, wherein the wheel positions of the vehicle are overlapped and the directions of the vehicle heads are opposite in the first static state and the second static state;
obtaining a second attitude angle of the vehicle-mounted IMU when the vehicle is in the second stationary state;
and obtaining an installation deviation angle between the vehicle-mounted IMU and the vehicle according to the first attitude angle and the second attitude angle.
2. The method of claim 1, wherein the first attitude angle comprises a first roll angle and/or a first pitch angle, and the second attitude angle comprises a second roll angle and/or a second pitch angle; the installation deviation angle comprises a roll deviation angle and/or a pitch deviation angle, the roll deviation angle represents an installation deviation angle between the vehicle-mounted IMU and the vehicle in the roll direction, and the pitch deviation angle represents an installation deviation angle between the vehicle-mounted IMU and the vehicle in the pitch direction;
the step of obtaining the installation deviation angle between the vehicle-mounted IMU and the vehicle according to the first attitude angle and the second attitude angle comprises the following steps:
obtaining the roll deflection angle according to the first roll angle and the second roll angle; and/or the number of the groups of groups,
and obtaining the pitching deviation angle according to the first pitching angle and the second pitching angle.
3. The method of claim 2, wherein the step of deriving the roll bias angle from the first roll angle and the second roll angle comprises:
and calculating the average value of the first roll angle and the second roll angle to obtain the roll deflection angle.
4. The method of claim 3, wherein the first roll angle is a sum of a ground roll angle and the roll bias angle, and the second roll angle is a difference between the roll bias angle and the ground roll angle, the ground roll angle being indicative of a deviation of an actual ground from an ideal ground in a roll direction.
5. The method of claim 2, wherein the step of deriving the pitch offset angle from the first pitch angle and the second pitch angle comprises:
and calculating the average value of the first pitch angle and the second pitch angle to obtain the pitch deviation angle.
6. The method of claim 5, wherein the first pitch angle is a sum of a ground pitch angle and the pitch offset angle, and the second pitch angle is a difference between the pitch offset angle and the ground pitch angle, the ground pitch angle being indicative of a deviation of an actual ground from an ideal ground in a pitch direction.
7. An in-vehicle IMU installation angle estimation apparatus, the apparatus comprising:
the vehicle-mounted IMU comprises a first obtaining module, a second obtaining module and a third obtaining module, wherein the first obtaining module is used for obtaining a first attitude angle of a vehicle-mounted IMU (inertial measurement unit) installed on a vehicle when the vehicle is in a first static state;
the first processing module is used for turning the vehicle around so as to enable the vehicle to be in a second static state, wherein four-wheel positions of the vehicle are overlapped and the directions of the vehicle heads are opposite when the vehicle is in the first static state and the second static state;
the second obtaining module is used for obtaining a second attitude angle of the vehicle-mounted IMU when the vehicle is in the second static state;
and the second processing module is used for obtaining an installation deviation angle between the vehicle-mounted IMU and the vehicle according to the first attitude angle and the second attitude angle.
8. The apparatus of claim 7, wherein the first attitude angle comprises a first roll angle and/or a first pitch angle, and the second attitude angle comprises a second roll angle and/or a second pitch angle; the installation deviation angle comprises a roll deviation angle and/or a pitch deviation angle, the roll deviation angle represents an installation deviation angle between the vehicle-mounted IMU and the vehicle in the roll direction, and the pitch deviation angle represents an installation deviation angle between the vehicle-mounted IMU and the vehicle in the pitch direction;
the second processing module is specifically configured to:
obtaining the roll deflection angle according to the first roll angle and the second roll angle; and/or the number of the groups of groups,
and obtaining the pitching deviation angle according to the first pitching angle and the second pitching angle.
9. An electronic device comprising a processor and a memory, the memory for storing a program, the processor for implementing the in-vehicle IMU mounting angle estimation method of any of claims 1-6 when the program is executed.
10. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, implements the in-vehicle IMU installation angle estimation method according to any of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311473174.5A CN117516592A (en) | 2023-11-07 | 2023-11-07 | Vehicle-mounted IMU installation angle estimation method and device, electronic equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311473174.5A CN117516592A (en) | 2023-11-07 | 2023-11-07 | Vehicle-mounted IMU installation angle estimation method and device, electronic equipment and storage medium |
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| CN117516592A true CN117516592A (en) | 2024-02-06 |
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| CN202311473174.5A Pending CN117516592A (en) | 2023-11-07 | 2023-11-07 | Vehicle-mounted IMU installation angle estimation method and device, electronic equipment and storage medium |
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| Country | Link |
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| CN (1) | CN117516592A (en) |
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