CN117848387A - Error calibration method and device for positioning system, computer equipment and storage medium - Google Patents

Error calibration method and device for positioning system, computer equipment and storage medium Download PDF

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Publication number
CN117848387A
CN117848387A CN202410054879.1A CN202410054879A CN117848387A CN 117848387 A CN117848387 A CN 117848387A CN 202410054879 A CN202410054879 A CN 202410054879A CN 117848387 A CN117848387 A CN 117848387A
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vehicle
data
calibration
wheel
acquiring
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万怀中
叶恢奕
林焯华
冯业巨
克劳斯·彼得森
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Guangzhou Alubi Electronic Technology Co ltd
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Guangzhou Alubi Electronic Technology Co ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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Abstract

The application relates to an error calibration method, device, equipment and storage medium of a positioning system, which comprise the steps of obtaining a vehicle motion structure, performing kinematic modeling according to the vehicle motion structure, and constructing a vehicle motion model; respectively obtaining actual vehicle body motion data and theoretical vehicle body motion data of a vehicle through actual measurement and solving of a kinematic positive solution of the vehicle motion model; constructing a size calibration model through actual and theoretical values, and outputting corresponding calibration data; and acquiring the offset of the sensor mounting position under the local coordinate system of the vehicle and the course angle estimated by the positioning system, generating offset calibration data, and calibrating the original data of the sensor. The method has the effect of reducing errors of the positioning system.

Description

Error calibration method and device for positioning system, computer equipment and storage medium
Technical Field
The present invention relates to the field of positioning systems, and in particular, to a method, an apparatus, a device, and a storage medium for calibrating errors in a positioning system.
Background
At present, along with the development of social economy, people have diversified demands in travel, and have higher and higher demands on navigation and positioning.
In the prior art, along with the continuous increase of navigation demands of people when going out, in order to facilitate users to determine own real-time positions, various software and systems for positioning appear, and users only need to open position authorities to view own positions from the system, but certain system errors exist due to factors such as defects, insufficient calibration or environmental changes in the manufacturing process of equipment of certain positioning systems.
The prior art solutions described above have the following drawbacks: the systematic error of the positioning system is large, so there is room for improvement.
Disclosure of Invention
In order to reduce errors of a positioning system, the application provides an error calibration method, device and equipment of the positioning system and a storage medium.
The first object of the present invention is achieved by the following technical solutions:
an error calibration method of a positioning system, the error calibration method of the positioning system comprises the following steps of
Acquiring a vehicle motion structure, constructing a vehicle motion model according to the vehicle motion structure, and constructing a size calibration model according to the vehicle motion model;
acquiring wheel size data, generating a vehicle task instruction, acquiring vehicle task data, inputting the wheel size data and the vehicle task data into a size calibration model, and generating corresponding vehicle calibration data;
Acquiring installation deviation data of a sensor, calibrating the installation deviation position, and generating offset calibration data;
and calibrating the sensor raw data according to the vehicle calibration data and the offset calibration data.
By adopting the technical scheme, because the vehicle positioning software or the system has the reasons of untimely map updating, error of hardware equipment precision and the like when in use, the situation of error and even inaccuracy of positioning is caused, so that the use experience of a user is reduced; by inputting the wheel size data into the size calibration model and generating a vehicle task instruction, iterative calculation can be performed according to the data of the vehicle execution task, and errors of the calibration data are continuously reduced, so that the critical size of the vehicle motion structure is calibrated, the calibrated wheel data are used as standard data for calibrating the wheel data in a vehicle system, errors in driving are reduced, and accuracy of calculating the vehicle mileage is improved; by acquiring the installation deviation data between the sensor and the vehicle movement center, the sensor with deviation can be calibrated according to the installation deviation data, so that deviation calibration data is obtained, and the accuracy of vehicle position checking is improved.
The present application may be further configured in a preferred example to: the vehicle motion model is built according to the vehicle motion structure, the wheel encoder data is obtained, corresponding vehicle body motion data is generated, and the dimension calibration model is built according to the vehicle motion model and the vehicle body motion data, and the method specifically comprises the following steps:
acquiring the vehicle motion structure, and performing kinematic modeling by taking the vehicle motion structure as standard data to generate a vehicle motion model;
acquiring wheel encoder data from the vehicle motion model after the vehicle performs corresponding actions, writing an odometer program according to the vehicle motion model, converting the wheel encoder data into rotating speed, and inputting the rotating speed into the odometer program to obtain theoretical vehicle body motion data;
and acquiring actual vehicle body motion data, and carrying out iterative calibration on related vehicle data according to the theoretical vehicle body motion data and the actual vehicle body motion data.
By adopting the technical scheme, the vehicle motion structure can be modeled by acquiring the vehicle motion structure, the vehicle motion model is obtained, the wheel encoder data are converted into the rotating speed data and are input into the odometer program to obtain the motion data of the vehicle body, and the vehicle motion model is continuously and iteratively updated to obtain the size calibration model, so that the following rapid iterative operation of the data by using the odometer program is convenient.
The present application may be further configured in a preferred example to: the generating a vehicle task instruction and acquiring vehicle task data, inputting the wheel size data and the vehicle task data into a size calibration model, and generating corresponding vehicle calibration data, which specifically includes:
inputting the wheel size data into a size calibration model, and generating a vehicle displacement instruction and a vehicle rotation instruction at the same time;
and acquiring corresponding vehicle motion data when the vehicle executes the task, inputting the vehicle motion data into the size calibration model, and iteratively calculating corresponding calibration data.
By adopting the technical scheme, the vehicle displacement instruction and the vehicle rotation instruction are generated simultaneously by inputting the wheel size data into the size calibration model, and the iteration calculation calibration data is continuously carried out according to the task data acquired during the execution process of the vehicle task and is input into the size calibration model until the iteration ending condition is reached, so that the key size calibration result of the vehicle motion structure can be obtained, the efficiency of error calibration is improved, and the vehicle can more accurately sense and respond to the position information of the vehicle when executing the task.
The present application may be further configured in a preferred example to: the method for obtaining the vehicle motion data corresponding to the vehicle executing the task, inputting the vehicle motion data into the dimension calibration model, and iteratively calculating the corresponding calibration data comprises the following steps:
Acquiring corresponding vehicle displacement data according to the vehicle displacement instruction, and according to a formulaCalculating theoretical displacement data of the vehicle, wherein D is the theoretical displacement distance of the vehicle, w is the angular speed of the wheels, D is the diameter of the wheels, and t is the running time of the vehicle;
according to formula d set in the dimension calibration model 2 ·D 1 ＝d 1 ·D 2 Calculating wheel diameter calibration data, wherein d 2 For the wheel diameter calibration data, D 1 For the theoretical displacement distance d of the vehicle 1 For the diameter of the wheel, D 2 For the actual displacement distance of the vehicle, according to formula e d ＝|D 1 -D 2 Computing error value e d Taking the wheel diameter calibration data as the wheel diameter calculated by the next wheel and performing iterative calculation, and when the error value e is d And outputting the wheel diameter calibration data when the set error threshold value is reached or the current error value is larger than the error value in the previous iteration.
According to the technical scheme, the vehicle is controlled to pass through a straight line with a preset length according to the vehicle displacement instruction, task data such as time and wheel angular speed when the vehicle passes through are obtained, the wheel diameter data are input into a formula, calibrated wheel diameter data are obtained, the calibrated wheel diameter value is calculated continuously in an iterative mode, when the error value is not reduced along with the increase of the iteration times or reaches a preset error threshold value, the iterative calculation is stopped, final wheel diameter calibration data are obtained, the error value of the wheel diameter data is reduced, more accurate data and running distance can be obtained in the running displacement process of the vehicle, and errors in positioning are reduced.
The present application may be further configured in a preferred example to: the method comprises the steps of obtaining vehicle motion data corresponding to the vehicle when the vehicle executes the task, inputting the vehicle motion data into a dimension calibration model, and iteratively calculating corresponding calibration data, and further comprises the steps of:
acquiring vehicle rotation data according to the vehicle rotation instruction, and calculating theoretical rotation data of the vehicle according to a formula, wherein θ is a theoretical rotation angle of wheels, RT is an arc length of a right wheel track when the vehicle turns, LT is an arc length of a left wheel track of the vehicle, and L is a left and right wheel track;
according to the formula L set in the dimension calibration model 2 ·θ 2 ＝L 1 ·θ 1 Calculating wheel track calibration data, wherein L 2 For the wheel trackCalibration data, θ 2 For the actual rotation angle of the vehicle L 1 For the wheel track, θ 1 For a theoretical rotation angle of the vehicle, according to formula e l ＝|θ 1 -θ 2 Computing error value e l Taking the wheel track calibration data as the wheel track calculated by the next wheel and performing iterative calculation, and when the error value e is the following value l And outputting the wheel tread calibration data when the set error threshold value is reached or the current error value is larger than the error value in the previous iteration.
By adopting the technical scheme, the vehicle rotates in situ by the preset angle according to the vehicle rotation instruction to obtain task data such as vehicle rotation angle and the like, the wheel tread data is input into a formula to obtain calibrated wheel tread data, the calibrated wheel tread value is continuously calculated in an iterative mode, when the error value is not reduced along with the increase of the iteration times or reaches the preset error threshold value, the iterative calculation is stopped, the final wheel tread calibration data is obtained, the error value of the wheel tread data is reduced, more accurate driving data is obtained in the turning process of the vehicle driving, and the error in positioning is further reduced.
The present application may be further configured in a preferred example to: the method comprises the steps of obtaining the installation offset data of the sensor, calibrating the installation offset position, and generating offset calibration data, wherein the method specifically comprises the following steps:
constructing a vehicle local coordinate system, and acquiring offset local coordinates of the installation offset data under the vehicle local coordinate system; constructing a rotation coefficient from a global coordinate system to the vehicle local coordinate system, and calculating an offset global coordinate of the offset local coordinate under the global coordinate system according to the rotation coefficient;
and obtaining a sensor global coordinate of the sensor in a global coordinate system, subtracting the offset global coordinate from the sensor global coordinate to obtain a sensor calibration coordinate, and generating offset calibration data.
Through adopting above-mentioned technical scheme, through obtaining the vehicle local coordinate system position of installation deviation, can calculate the position of installation deviation under the world coordinate system according to the formula to obtain the world coordinate system of sensor global coordinate pair sensor according to the longitude and latitude coordinate of sensor and calibrate, thereby obtain the accurate position of sensor, in order to obtain accurate vehicle position information, improved the precision of system when the location.
The second object of the present invention is achieved by the following technical solutions:
an error calibration device of a positioning system, the error calibration device of the positioning system comprising:
the model construction module is used for acquiring a vehicle motion structure, constructing a vehicle motion model according to the vehicle motion structure and constructing a size calibration model according to the vehicle motion model;
the size calibration module is used for acquiring the wheel size data, generating a vehicle task instruction and acquiring vehicle task data, inputting the wheel size data and the vehicle task data into the size calibration model and generating corresponding vehicle calibration data;
the offset calibration module is used for constructing a vehicle local coordinate system, acquiring installation deviation data of a sensor, calibrating the installation deviation position and generating offset calibration data;
and the data calibration module is used for calibrating the sensor original data according to the vehicle calibration data and the offset calibration data.
By adopting the technical scheme, because the vehicle positioning software or the system has the reasons of untimely map updating, error of hardware equipment precision and the like when in use, the situation of error and even inaccuracy of positioning is caused, so that the use experience of a user is reduced; by inputting the wheel size data into the size calibration model and generating a vehicle task instruction, iterative calculation can be performed according to the data of the vehicle execution task, and errors of the calibration data are continuously reduced, so that the critical size of the vehicle motion structure is calibrated, the calibrated wheel data are used as standard data for calibrating the wheel data in a vehicle system, errors in driving are reduced, and accuracy of calculating the vehicle mileage is improved; by acquiring the installation deviation data between the sensor and the vehicle movement center, the sensor with deviation can be calibrated according to the installation deviation data, so that deviation calibration data is obtained, and the accuracy of vehicle position checking is improved.
The third object of the present application is achieved by the following technical solutions:
a computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the error calibration method of the positioning system described above when the computer program is executed.
The fourth object of the present application is achieved by the following technical solutions:
a computer readable storage medium storing a computer program which, when executed by a processor, performs the steps of the error calibration method of a positioning system described above.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the position of the installation deviation under the global coordinate system can be calculated according to a formula by acquiring the position of the vehicle local coordinate system of the installation deviation, and the global coordinate system of the sensor is calibrated by obtaining the global coordinate of the sensor according to the longitude and latitude coordinates of the sensor, so that the accurate position of the sensor is obtained, the accurate vehicle position information is obtained, and the accuracy of the system in positioning is improved; 2. the vehicle is controlled to rotate in situ by a preset angle according to a vehicle rotation instruction, task data such as a vehicle corner are obtained, wheel track data are input into a formula, calibrated wheel track data are obtained, a calibration wheel track value is calculated continuously and iteratively, when the error value is not reduced along with the increase of iteration times or reaches a preset error threshold value, the iterative calculation is stopped, final wheel track calibration data are obtained, the error value of the wheel track data is reduced, a more accurate steering angle is obtained in the steering process of the vehicle, and the error in positioning is reduced;
3. The vehicle is controlled to pass through a straight line with a preset length according to the vehicle displacement instruction, task data such as time and wheel angular speed when the vehicle passes through are obtained, the wheel diameter data are input into a formula, calibrated wheel diameter data are obtained, a calibrated wheel diameter value is calculated continuously and iteratively, when the error value is not reduced along with the increase of the iteration times or reaches a preset error threshold value, the iterative calculation is stopped, final wheel diameter calibration data are obtained, the error value of the wheel diameter data is reduced, a more accurate driving distance is obtained in the straight running process of the vehicle, and the error in positioning is reduced.
Drawings
FIG. 1 is a flow chart of a method for calibrating an error of a positioning system according to an embodiment of the present application;
FIG. 2 is a flowchart of the implementation of step S10 in the error calibration method of the positioning system according to an embodiment of the present application;
FIG. 3 is a flowchart showing an implementation of step S20 in an error calibration method of a positioning system according to an embodiment of the present application;
FIGS. 4 and 5 are flowcharts illustrating implementation of step S22 in an error calibration method of a positioning system according to an embodiment of the present application;
FIG. 6 is a schematic diagram of task data obtained according to a vehicle rotation command in an error calibration method of a positioning system according to an embodiment of the present application;
FIG. 7 is a schematic diagram of iterative calculation data of wheel track in an error calibration method of a positioning system according to an embodiment of the present application;
FIG. 8 is a flowchart of the implementation of step S30 in the error calibration method of the positioning system according to an embodiment of the present application;
FIG. 9 is a schematic diagram of a sensor before and after calibrating a movement track after fusing a positioning system in an error calibration method of the positioning system according to an embodiment of the present application;
FIG. 10 is a schematic block diagram of an error calibration device of the positioning system in one embodiment of the present application;
fig. 11 is a schematic view of an apparatus in an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the accompanying drawings.
In an embodiment, as shown in fig. 1, the application discloses an error calibration method of a positioning system, which specifically includes the following steps:
s10: and acquiring a vehicle motion structure, constructing a vehicle motion model according to the vehicle motion structure, and constructing a size calibration model according to the vehicle motion model.
In the present embodiment, the dimension calibration model refers to a model for dimension calibrating a wheel moving structure.
Specifically, a vehicle motion structure such as a chassis, a transmission system, a steering system, a power system and the like is acquired, a vehicle motion model such as a two-wheel differential model and the like is constructed according to the vehicle motion structure, vehicle data such as pulse count, direction information, speed information and the like are acquired from a wheel encoder installed on a vehicle, and vehicle body motion data such as vehicle body motion speed and vehicle body rotation speed are obtained according to the wheel encoder data, so that a size calibration model is constructed according to the vehicle motion model and the vehicle body motion data.
S20: and acquiring the wheel size data, generating a vehicle task instruction, acquiring the vehicle task data, inputting the wheel size data and the vehicle task data into a size calibration model, and generating corresponding vehicle calibration data.
In the present embodiment, the wheel size data refers to data of the diameter, tread, and the like of the wheel. The vehicle task instruction refers to an instruction for controlling the vehicle to execute a task action. The calibration data is data for calibrating the wheel size data.
Specifically, the wheel size data written in the data manual of the vehicle, such as the diameter of the wheel and the wheel tread of the wheel, are obtained from the data manual of the vehicle, the data in the task process are input into the model for iterative calculation according to the vehicle task instructions including the vehicle displacement instructions and the vehicle rotation instructions, and the calibration data are continuously adjusted until the error value reaches the preset error threshold value, and the final size calibration result is output.
S30: and acquiring the mounting deviation data of the sensor, calibrating the mounting deviation position, and generating offset calibration data.
In this embodiment, the offset calibration data refers to the calibrated sensor position data.
Specifically, the installation deviation data of the sensor is obtained, the position of the sensor is calibrated according to the installation deviation data, offset calibration data are obtained, the positioning center of the vehicle is modified, the accurate positioning center position is obtained, and the accuracy in positioning is improved.
S40: and calibrating the sensor raw data according to the vehicle calibration data and the offset calibration data.
Specifically, the calibrated vehicle calibration data and the calibrated offset calibration data are input into a vehicle system as standard data, and the data originally sent from the factory are calibrated and modified, so that the accuracy of the vehicle during running is improved through modification of a data source, and the accurate acquisition of the vehicle position is improved.
In the embodiment, because the map updating is not timely and errors and the like occur in the accuracy of hardware equipment when the vehicle positioning software or system is used, the situation that errors and even inaccuracy occur in positioning are caused, so that the use experience of a user is reduced; by inputting the wheel size data into the size calibration model and generating a vehicle task instruction, iterative calculation can be performed according to the data of the vehicle execution task, and errors of the calibration data are continuously reduced, so that the critical size of the vehicle motion structure is calibrated, the calibrated wheel data are used as standard data for calibrating the wheel data in a vehicle system, errors in driving are reduced, and accuracy of calculating the vehicle mileage is improved; by acquiring the installation deviation data between the sensor and the vehicle movement center, the sensor with deviation can be calibrated according to the installation deviation data, so that deviation calibration data is obtained, and the accuracy of vehicle position checking is improved.
In one embodiment, as shown in fig. 2, in step S10, a dimension calibration model is constructed according to a vehicle motion structure, and meanwhile, wheel encoder data is obtained, converted into rotational speed data, and input into the dimension calibration model, to obtain vehicle motion attributes, and to obtain a mileage calculation program, which specifically includes:
s11: and obtaining a vehicle motion structure, and constructing a model by taking the vehicle motion structure as standard data to generate a vehicle motion model.
Specifically, a vehicle motion structure, such as a chassis, a transmission system, a steering system, a power system and the like, is acquired, a corresponding vehicle model is selected according to the vehicle motion structure, such as a two-wheel differential model is selected, and the vehicle motion structure is input into the model to generate a vehicle motion model.
S12: and acquiring wheel encoder data from the vehicle motion model after the vehicle performs corresponding actions, writing an odometer program according to the vehicle motion model, converting the wheel encoder data into rotating speed, and inputting the rotating speed into the odometer program to obtain theoretical vehicle body motion data.
In the present embodiment, the wheel encoder data refers to data acquired from the wheel encoder.
Specifically, data such as pulse count, direction information, speed information, etc. are acquired from a wheel encoder mounted on a vehicle motion model, and the wheel encoder data is converted into rotational speed data and input into an odometer program to obtain vehicle body motion data, including vehicle body motion speed and vehicle body rotation speed, with reference to a vehicle body rotation center point.
S13: and acquiring actual vehicle body motion data, and carrying out iterative calibration on related vehicle data according to the theoretical vehicle body motion data and the actual vehicle body motion data.
Specifically, actual vehicle body movement data are obtained through measurement, theoretical vehicle body movement data and actual vehicle body movement data are used as bases to calibrate vehicle related data, calibrated data are used as theoretical data in next calculation and are input into a vehicle movement model, corresponding attributes in the vehicle movement model are modified to obtain an updated vehicle movement model, encoder data in the updated vehicle movement model are obtained again to calculate after corresponding movement is carried out according to the updated vehicle movement model, and the calculated encoder data are used as a cycle until the cycle stop condition of corresponding operation is met, and a dimension calibration model is obtained based on the cycle steps.
In one embodiment, as shown in fig. 3, in step S20, a vehicle task command is generated and vehicle task data is acquired, and the wheel dimension data and the vehicle task data are input into a dimension calibration model to generate corresponding vehicle calibration data, which specifically includes:
s21: and inputting the wheel size data into a size calibration model, and simultaneously generating a vehicle displacement command and a vehicle rotation command.
In this embodiment, the vehicle displacement command refers to a command for controlling the vehicle to travel a straight line of a preset length. The vehicle rotation command refers to a command to control one rotation of the vehicle.
Specifically, the wheel size data is input into a size calibration model, and two task instructions, namely a vehicle displacement instruction and a vehicle rotation instruction, are generated simultaneously, wherein the vehicle displacement instruction is used for acquiring motion data during vehicle displacement so as to calculate motion data during vehicle displacement and perform vehicle positioning, and the vehicle rotation instruction is used for acquiring motion data during vehicle rotation so as to calculate motion data during vehicle turning and perform vehicle positioning.
S22: corresponding vehicle task data are obtained and input into the size calibration model, and corresponding calibration data are calculated in an iterative mode.
In the present embodiment, the vehicle task data refers to work data of the vehicle when executing the task instruction.
Specifically, when executing the corresponding task according to the vehicle task instruction, acquiring vehicle task data, such as time, speed and the like of the vehicle executing the task, inputting the vehicle task data into the dimension calibration model, performing iterative computation by using a mileage computation program, continuously adjusting data to be calibrated until the error reaches the iteration end condition, and outputting the corresponding calibration data.
In one embodiment, as shown in fig. 4, in step S22, corresponding vehicle task data is acquired and input into a dimension calibration model, and corresponding calibration data is iteratively calculated, which specifically includes:
s221: acquiring corresponding vehicle displacement data according to the vehicle displacement instruction, and according to a formulaAnd calculating theoretical displacement data of the vehicle, wherein D is the theoretical displacement distance of the vehicle, w is the angular speed of the wheels, D is the diameter of the wheels, and t is the running time of the vehicle.
In the present embodiment, the vehicle displacement task data refers to motion data of the vehicle when the displacement task is performed.
Specifically, the vehicle is controlled to travel straight for a set distance according to the vehicle displacement instruction, and the movement data of the vehicle during straight travel, such as the angular velocity of the wheel and the travel time, are acquired as calculation data to participate in the calculation, and the wheel diameter d and the angular velocity w of the wheel and the travel time t of the vehicle in the vehicle displacement task data acquired from the vehicle data manual are input into the formulaAnd calculating the theoretical distance of straight line running in a preset time period under the fixed vehicle attribute, and taking the calculated running straight line distance as data for participating in calculating the wheel diameter calibration.
S222: according to formula d set in the dimension calibration model 2 ·D 1 ＝d 1 ·D 2 Calculating wheel diameter calibration data, wherein d 2 For the wheel diameter calibration data, D 1 For the theoretical displacement distance d of the vehicle 1 For the diameter of the wheel, D 2 For the actual displacement distance of the vehicle, according to formula e d ＝|D 1 -D 2 Calculation errorDifference e d Taking the wheel diameter calibration data as the wheel diameter calculated by the next wheel and performing iterative calculation, and when the error value e is d And outputting the wheel diameter calibration data when the set error threshold value is reached or the current error value is larger than the error value in the previous iteration.
In the present embodiment, the wheel diameter calibration command refers to a command for calibrating the wheel diameter size.
Specifically, the vehicle displacement task data is input to formula d 2 ·D 1 ＝d 1 ·D 2 Calculating to obtain a calibrated wheel diameter value d 2 And pass through formula e d ＝|D 1 -D 2 Computing error value e d Continuously issuing displacement tasks to the vehicle, and calibrating the diameter d of the actual wheel after the previous wheel 2 Calculated theoretical diameter d as the present wheel 1 And in this way, iterative calculations are performed continuously, while new error values e are calculated d Up to the error value e d Less than a predetermined error threshold, e.g. an error threshold of 0.01m or a calculated error value greater than the last calculated error value, stopping the iteration and determining the final wheel diameter value d 2 And outputting to obtain the wheel diameter calibration data.
In one embodiment, as shown in fig. 5, in step S22, corresponding vehicle task data is acquired and input into the dimension calibration model, and corresponding calibration data is calculated iteratively, which further includes:
s223: acquiring vehicle rotation data according to a vehicle rotation instruction and according to a formulaAnd calculating theoretical rotation data of the vehicle, wherein θ is the theoretical rotation angle of the wheels, RT is the arc length of the right wheel track when the vehicle turns, LT is the arc length of the left wheel track of the vehicle, and L is the left and right wheel track.
In the present embodiment, the vehicle rotation task data refers to vehicle motion data of the vehicle at the time of performing the rotation task.
Specifically, the vehicle is controlled to be self-located in situ according to the vehicle rotation instructionTurning a preset angle, acquiring motion data of the vehicle during rotation, such as the arc length LT of a left wheel track and the arc length RT of a right wheel track of the vehicle rotating in situ, and inputting the wheel track L acquired from a vehicle information manual into a formulaAnd calculating a theoretical angle of in-situ rotation under the fixed vehicle attribute, and taking the calculated theoretical rotation angle as data for participating in calculating the wheel diameter calibration, wherein the task data is acquired according to the vehicle rotation instruction as shown in fig. 6.
S224: according to the formula L set in the dimension calibration model 2 ·θ 2 ＝L 1 ·θ 1 Calculating wheel track calibration data, wherein L 2 For the wheel track calibration data, θ 2 For the actual rotation angle of the vehicle L 1 For the wheel track, θ 1 For a theoretical rotation angle of the vehicle, according to formula e l ＝|θ 1 -θ 2 Computing error value e l Taking the wheel track calibration data as the wheel track calculated by the next wheel and performing iterative calculation, and when the error value e is the following value l And outputting wheel tread calibration data when the set error threshold value is reached or the current error value is larger than the error value in the previous iteration.
In this embodiment, the wheel tread calibration command refers to a command for calibrating the wheel tread size.
Specifically, the wheel tread value obtained from the vehicle materials manual and the rotation angle data obtained from the vehicle rotation task data are input to the formula L 2 ·θ 2 ＝L 1 ·θ 1 Calculating to obtain a calibrated wheel tread value L 2 And pass through formula e l ＝|θ 1 -θ 2 Computing error value e l The rotation task is continuously issued to the vehicle, and the actual wheel track L after the last wheel is calibrated 2 Theoretical wheel distance L calculated as the present wheel 1 And in this way, iterative calculations are performed continuously and new error values e are calculated l Up to the error value e l Is less than the set error threshold value, For example, the error threshold is 0.001rad or the calculated error value e l Stopping iteration when the error value calculated last time is larger than the error value calculated last time, generating a wheel tread calibration instruction, and obtaining a wheel tread value L finally 2 Calibration is carried out, and the wheel track is calculated iteratively as shown in fig. 7.
In one embodiment, as shown in fig. 8, in step S30, installation offset data of a sensor is acquired, and an installation offset position is calibrated to generate offset calibration data, which specifically includes:
s31: and constructing a vehicle local coordinate system, and acquiring offset local coordinates of the installation offset data under the vehicle local coordinate system.
In the present embodiment, the vehicle local coordinate system refers to a coordinate system constructed with the center of motion of the vehicle as the origin. The installation deviation data refers to an installation deviation between the sensor and the center of motion of the vehicle.
Specifically, the system firstly builds a vehicle local coordinate system by taking the vehicle motion center as an origin, and then obtains offset local coordinates of the installation offset data under the vehicle local coordinate system.
S32: and constructing a rotation coefficient from the global coordinate system to the local coordinate system of the vehicle, and calculating an offset global coordinate of the offset local coordinate under the global coordinate system according to the rotation coefficient.
In this embodiment, the global coordinate system refers to the UTM coordinate system, which is a universal transverse axis mercator projection. The rotation coefficient refers to data that rotationally changes the global coordinate system and the vehicle local coordinate system. Offset global coordinates refer to coordinates of sensor coordinates in a map global coordinate system.
Specifically, a rotation coefficient from a global coordinate system to the local coordinate system of the vehicle is constructed, for example, the rotation matrix is constructed, the rotation matrix of the local coordinate system of the vehicle and the rotation matrix of the global coordinate system are constructed according to the yaw difference value of the vehicle coordinate system and the global coordinate system, wherein the yaw difference value is the measured course angle deviation of the vehicle under the two coordinate systems, the conversion of the coordinate positions in the two coordinate systems can be realized through the rotation matrix, and the rotation coefficient can also be constructed through a quaternion mode.
Further toAccording to formula C 1 ＝R 12 *C 2 Calculating the position of the installation deviation in the global coordinate system, wherein C 1 Global coordinate system position for installation bias, R 12 For rotating matrix, C 2 Vehicle local coordinate system position for installation bias.
S33: and obtaining the global coordinates of the sensor under the global coordinate system, subtracting the offset global coordinates from the global coordinates of the sensor to obtain sensor calibration coordinates, and generating offset calibration data.
In this embodiment, the offset calibration data refers to the calibrated sensor position data.
Specifically, longitude and latitude coordinates of the sensor in the world coordinate system are obtained, the longitude and latitude coordinates are converted into coordinates in the global coordinate system, the coordinates in the global coordinate system are subtracted by utilizing the coordinates in the global coordinate system of the sensor, the installation deviation is subtracted from the coordinates in the global coordinate system, accurate data after the installation deviation is removed can be obtained and used as deviation calibration data, the data can be used as a basis for real-time positioning of a vehicle, and a comparison diagram of the sensor before and after the calibration of a moving track after the fusion positioning system is shown in fig. 9.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
In an embodiment, an error calibration device of a positioning system is provided, where the error calibration device of the positioning system corresponds to the error calibration method of the positioning system in the foregoing embodiment one by one. As shown in fig. 10, the error calibration device of the positioning system comprises a model building module, a dimension calibration module, an offset calibration module and a data calibration module. The functional modules are described in detail as follows:
The model construction module is used for acquiring a vehicle motion structure, constructing a vehicle motion model according to the vehicle motion structure and constructing a size calibration model according to the vehicle motion model;
the size calibration module is used for acquiring the wheel size data, generating a vehicle task instruction and acquiring vehicle task data, inputting the wheel size data and the vehicle task data into the size calibration model and generating corresponding vehicle calibration data;
the offset calibration module is used for constructing a vehicle body coordinate system, acquiring installation deviation data of the sensor, calibrating the installation deviation position and generating offset calibration data;
and the data calibration module is used for calibrating the sensor raw data according to the vehicle calibration data and the offset calibration data.
Optionally, the model building module specifically includes:
the vehicle motion model construction submodule is used for acquiring a vehicle motion structure, performing kinematic modeling by taking the vehicle motion structure as standard data and generating a vehicle motion model;
the vehicle body motion data calculation sub-module is used for acquiring wheel encoder data from the vehicle motion model after the vehicle performs corresponding actions, writing an odometer program according to the vehicle motion model, converting the wheel encoder data into rotating speed, and inputting the rotating speed into the odometer program to obtain theoretical vehicle body motion data;
And the vehicle motion model iteration submodule is used for acquiring actual vehicle body motion data and carrying out iteration calibration on related vehicle data according to the theoretical vehicle body motion data and the actual vehicle body motion data.
Optionally, the dimension calibration module specifically includes:
the task instruction generation submodule is used for inputting the wheel size data into the size calibration model and simultaneously generating a vehicle displacement instruction and a vehicle rotation instruction;
and the dimension calibration sub-module is used for acquiring corresponding vehicle motion data when the vehicle executes the task, inputting the vehicle motion data into the dimension calibration model and iteratively calculating the corresponding calibration data.
Optionally, the dimension calibration submodule specifically includes:
the vehicle straight-moving unit is used for acquiring corresponding vehicle displacement data according to the vehicle displacement instruction and according to a formulaCalculation ofOutputting theoretical displacement data of the vehicle, wherein D is the theoretical displacement distance of the vehicle, w is the angular velocity of the wheels, D is the diameter of the wheels, and t is the running time of the vehicle;
a vehicle diameter calibration unit for calibrating the formula d set in the model according to the size 2 ·D 1 ＝d 1 ·D 2 Calculating wheel diameter calibration data, wherein d 2 For the wheel diameter calibration data, D 1 For the theoretical displacement distance d of the vehicle 1 For the diameter of the wheel, D 2 For the actual displacement distance of the vehicle, according to formula e d ＝|D 1 -D 2 Computing error value e d Taking the wheel diameter calibration data as the wheel diameter calculated by the next wheel and performing iterative calculation, and when the error value e is d And outputting the wheel diameter calibration data when the set error threshold value is reached or the current error value is larger than the error value in the previous iteration.
Optionally, the size-defining sub-module further comprises:
the vehicle rotating unit is used for acquiring vehicle rotating data according to the vehicle rotating instruction and calculating wheel tread calibration data according to the vehicle rotating task data;
the vehicle track calibration unit is used for calibrating a formula L set in the model according to the size 2 ·θ 2 ＝L 1 ·θ 1 Calculating wheel track calibration data, wherein theta is vehicle corner data and L 1 For the wheel track value, L 2 For the wheel track calibration data, according to formula e l Error value e is calculated by= |θ -2pi| l Taking the wheel track calibration data as the wheel track calculated by the next wheel and performing iterative calculation, and when the error value e is the following value l And outputting wheel tread calibration data when the set error threshold value is reached or the current error value is larger than the error value in the previous iteration.
Optionally, the offset calibration module specifically includes:
the coordinate construction submodule is used for constructing a vehicle local coordinate system and acquiring offset local coordinates of the installation offset data under the vehicle local coordinate system;
The coordinate generation sub-module is used for constructing a rotation coefficient from the global coordinate system to the local coordinate system of the vehicle and calculating an offset global coordinate of the offset local coordinate under the global coordinate system according to the rotation coefficient;
and the offset calibration sub-module is used for acquiring the global coordinates of the sensor under the global coordinate system, subtracting the global coordinates of the offset from the global coordinates of the sensor to obtain calibration coordinates of the sensor, and generating offset calibration data.
For specific limitations of the error calibration device of the positioning system, reference may be made to the above limitation of the error calibration method of the positioning system, which is not repeated here. The modules in the error calibration device of the positioning system can be realized in whole or in part by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, and the internal structure of which may be as shown in fig. 11. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by a processor, implements a method for error calibration of a positioning system.
In one embodiment, a computer device is provided comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of when executing the computer program:
acquiring wheel encoder data, and constructing a size calibration model according to the wheel encoder data;
acquiring wheel size data, inputting the wheel size data into a size calibration model, generating a vehicle task instruction, iteratively calculating corresponding calibration data according to the vehicle task instruction, and generating a size calibration message when the calculation of the calibration data is completed;
constructing a local coordinate system of a vehicle, acquiring installation deviation data between a sensor and a vehicle motion center, calculating the world coordinate system position of the installation deviation, calibrating the world coordinate system position of the installation deviation, and generating offset calibration data;
and generating vehicle correction position information according to the size calibration message and the offset calibration data.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
Acquiring wheel encoder data, and constructing a size calibration model according to the wheel encoder data;
acquiring wheel size data, inputting the wheel size data into a size calibration model, generating a vehicle task instruction, iteratively calculating corresponding calibration data according to the vehicle task instruction, and generating a size calibration message when the calculation of the calibration data is completed;
constructing a local coordinate system of a vehicle, acquiring installation deviation data between a sensor and a vehicle motion center, calculating the world coordinate system position of the installation deviation, calibrating the world coordinate system position of the installation deviation, and generating offset calibration data;
and generating vehicle correction position information according to the size calibration message and the offset calibration data.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (10)

1. The error calibration method of the positioning system is characterized by comprising the following steps of:
acquiring a vehicle motion structure, constructing a vehicle motion model according to the vehicle motion structure, and constructing a size calibration model according to the vehicle motion model;
Acquiring wheel size data, generating a vehicle task instruction, acquiring vehicle task data, inputting the wheel size data and the vehicle task data into a size calibration model, and generating corresponding vehicle calibration data;
acquiring installation deviation data of a sensor, calibrating the installation deviation position, and generating offset calibration data;
and calibrating the sensor raw data according to the vehicle calibration data and the offset calibration data.
2. The error calibration method of a positioning system according to claim 1, wherein the constructing a vehicle motion model according to the vehicle motion structure and constructing a dimension calibration model according to the vehicle motion model specifically comprises:
acquiring the vehicle motion structure, and performing kinematic modeling by taking the vehicle motion structure as standard data to generate a vehicle motion model;
acquiring wheel encoder data from the vehicle motion model after the vehicle performs corresponding actions, writing an odometer program according to the vehicle motion model, converting the wheel encoder data into rotating speed, and inputting the rotating speed into the odometer program to obtain theoretical vehicle body motion data;
and acquiring actual vehicle body motion data, and carrying out iterative calibration on related vehicle data according to the theoretical vehicle body motion data and the actual vehicle body motion data.
3. The error calibration method of the positioning system according to claim 1, wherein the generating a vehicle task command and acquiring vehicle task data, inputting the wheel dimension data and the vehicle task data into a dimension calibration model, and generating corresponding vehicle calibration data, specifically comprises:
inputting the wheel size data into a size calibration model, and generating a vehicle displacement instruction and a vehicle rotation instruction at the same time;
and acquiring corresponding vehicle motion data when the vehicle executes the task, inputting the vehicle motion data into the size calibration model, and iteratively calculating corresponding calibration data.
4. The error calibration method of the positioning system according to claim 3, wherein the steps of obtaining vehicle motion data corresponding to the vehicle when the vehicle performs the task, inputting the vehicle motion data into the dimension calibration model, and iteratively calculating the corresponding calibration data comprise:
acquiring corresponding vehicle displacement data according to the vehicle displacement instruction, and according to a formulaCalculating theoretical displacement data of the vehicle, wherein D is the theoretical displacement distance of the vehicle, w is the angular speed of the wheels, D is the diameter of the wheels, and t is the running time of the vehicle;
according to formula d set in the dimension calibration model 2 ·D 1 ＝d 1 ·D 2 Calculating wheel diameter calibration data, wherein d 2 For the wheel diameter calibration data, D 1 For the theoretical displacement distance d of the vehicle 1 For the diameter of the wheel, D 2 For the actual displacement distance of the vehicle, according to formula e d ＝|D 1 -D 2 Computing error value e d Taking the wheel diameter calibration data as the wheel diameter calculated by the next wheel and performing iterative calculation, and when the error value e is d And outputting the wheel diameter calibration data when the set error threshold value is reached or the current error value is larger than the error value in the previous iteration.
5. The error calibration method of a positioning system according to claim 3, wherein the acquiring vehicle motion data corresponding to the vehicle when the vehicle performs the task and inputting the vehicle motion data into the dimension calibration model, and iteratively calculating corresponding calibration data, further comprises:
acquiring vehicle rotation data according to the vehicle rotation instruction and according to a formulaCalculating theoretical spin of vehicleTurning data, wherein θ is the theoretical rotation angle of wheels, RT is the arc length of the track of the right wheel when the vehicle turns, LT is the arc length of the track of the left wheel of the vehicle, and L is the track of the left and right wheels;
according to the formula L set in the dimension calibration model 2 ·θ 2 ＝L 1 ·θ 1 Calculating wheel track calibration data, wherein L 2 For the wheel track calibration data, θ 2 For the actual rotation angle of the vehicle L 1 For the wheel track, θ 1 For a theoretical rotation angle of the vehicle, according to formula e l ＝|θ 1 -θ 2 Computing error value e l Taking the wheel track calibration data as the wheel track calculated by the next wheel and performing iterative calculation, and when the error value e is the following value l And outputting the wheel tread calibration data when the set error threshold value is reached or the current error value is larger than the error value in the previous iteration.
6. The method for calibrating an error of a positioning system according to claim 1, wherein the acquiring the installation offset data of the sensor, calibrating the installation offset position, and generating offset calibration data specifically includes:
constructing a vehicle local coordinate system, and acquiring offset local coordinates of the installation offset data under the vehicle local coordinate system;
constructing a rotation coefficient from a global coordinate system to the vehicle local coordinate system, and calculating an offset global coordinate of the offset local coordinate under the global coordinate system according to the rotation coefficient;
and obtaining a sensor global coordinate of the sensor in a global coordinate system, subtracting the offset global coordinate from the sensor global coordinate to obtain a sensor calibration coordinate, and generating offset calibration data.
7. An error calibration device of a positioning system, characterized in that the error calibration device of the positioning system comprises:
the model construction module is used for acquiring a vehicle motion structure, constructing a vehicle motion model according to the vehicle motion structure and constructing a size calibration model according to the vehicle motion model;
the size calibration module is used for acquiring the wheel size data, generating a vehicle task instruction and acquiring vehicle task data, inputting the wheel size data and the vehicle task data into the size calibration model and generating corresponding vehicle calibration data;
the offset calibration module is used for constructing a vehicle local coordinate system, acquiring installation deviation data of a sensor, calibrating the installation deviation position and generating offset calibration data;
and the data calibration module is used for calibrating the sensor original data according to the vehicle calibration data and the offset calibration data.
8. The error calibration device of the positioning system is characterized in that the model construction module specifically comprises: the vehicle motion model construction submodule is used for acquiring the vehicle motion structure, performing kinematic modeling by taking the vehicle motion structure as standard data, and generating a vehicle motion model;
The vehicle body motion data calculation sub-module is used for acquiring wheel encoder data from the vehicle motion model after the vehicle performs corresponding actions, writing an odometer program according to the vehicle motion model, converting the wheel encoder data into rotating speed, and inputting the rotating speed into the odometer program to obtain theoretical vehicle body motion data;
and the vehicle motion model iteration submodule is used for acquiring actual vehicle body motion data and carrying out iteration calibration on related vehicle data according to the theoretical vehicle body motion data and the actual vehicle body motion data.
9. Computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the error calibration method of the positioning system according to any of claims 1 to 6 when the computer program is executed.
10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the error calibration method of a positioning system according to any one of claims 1 to 6.
CN202410054879.1A 2024-01-12 2024-01-12 Error calibration method and device for positioning system, computer equipment and storage medium Pending CN117848387A (en)

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