CN118067157B - Performance evaluation method, device, equipment and medium for inertial measurement unit - Google Patents
Performance evaluation method, device, equipment and medium for inertial measurement unit Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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Abstract
The application provides a method, a device, equipment and a medium for evaluating the performance of an inertial measurement unit, wherein the method comprises the following steps: acquiring data to be evaluated acquired by the inertial measurement unit to be measured and reference data acquired by the reference equipment in the process of dynamically moving the target measuring body; and performing performance evaluation on the inertial measurement unit to be tested based on the error between the data to be evaluated and the reference data. According to the application, the performance of the inertial measurement unit to be measured in the dynamic movement process of the target measurement body is evaluated through the preset reference equipment, so that a more comprehensive and accurate evaluation result can be obtained.
Description
Technical Field
The application relates to the technical field of performance evaluation, in particular to a method, a device, equipment and a medium for evaluating performance of an inertial measurement unit.
Background
An inertial measurement unit (Inertial measurement unit, abbreviated as IMU) is a device for measuring the three-axis attitude angle and acceleration of an object. The general IMU includes a tri-axis gyroscope and a tri-axis accelerometer, and part of the IMU also includes a tri-axis magnetometer. IMU is widely applied in the fields of mobile phones, VR, aviation and aerospace.
To ensure accuracy of the application data, the performance of the IMU needs to be evaluated. The evaluation mode in the prior art is static evaluation, namely, the measuring body where the IMU is positioned does not move. When the measuring body does not move, some errors of the IMU cannot be reflected, so that the evaluation result is not comprehensive enough.
Disclosure of Invention
Accordingly, an objective of the present application is to provide a method, apparatus, device and medium for evaluating performance of an inertial measurement unit, so as to overcome the problems in the prior art.
In a first aspect, an embodiment of the present application provides a method for evaluating performance of an inertial measurement unit, which acts on a target measurement body, where the target measurement body includes an inertial measurement unit to be measured and a reference device, where both the inertial measurement unit to be measured and the reference device include an accelerometer and a gyroscope; the method comprises the following steps:
Acquiring data to be evaluated acquired by the inertial measurement unit to be measured and reference data acquired by the reference equipment in the process of dynamically moving the target measuring body;
and performing performance evaluation on the inertial measurement unit to be tested based on the error between the data to be evaluated and the reference data.
In some embodiments of the present application, the data to be evaluated includes first GNSS data and first IMU data, and the reference data includes second GNSS data and second IMU data;
the performance evaluation of the inertial measurement unit to be measured based on the error between the data to be evaluated and the reference data includes:
According to the first GNSS data and the second GNSS data, the first IMU data and the second IMU data are aligned in time;
And performing performance evaluation on the inertial measurement unit based on errors between the first IMU data and the second IMU data after time alignment.
In some embodiments of the present application, the performance evaluation of the inertial measurement unit to be measured based on the error between the data to be evaluated and the reference data includes:
Determining a rotation matrix between a first coordinate system where the inertial measurement unit to be measured is located and a second coordinate system where the reference equipment is located;
Constructing a residual sequence of the observation values of the accelerometer and the gyroscope according to the data to be evaluated, the reference data and the rotation matrix;
And determining the performance of the inertial measurement unit to be measured by analyzing the residual sequence.
In some embodiments of the present application, the determining a rotation matrix between a first coordinate system where the inertial measurement unit to be measured is located and a second coordinate system where the reference device is located includes:
Designing a filter according to the first error model; the first error model is an error model between the inertial measurement unit to be measured and the reference equipment;
And solving the filter to obtain a rotation matrix between the first coordinate system and the second coordinate system.
In some embodiments of the present application, the method determines the first error model by:
Establishing a second error model of the gyroscope and a third error model of the accelerometer under the first coordinate system;
establishing a fourth error model between the inertial measurement unit to be measured and the reference equipment;
And obtaining the first error model according to the fourth error model, the second error model and the third error model.
In some embodiments of the present application, the establishing a fourth error model between the inertial measurement unit to be measured and the reference device includes:
Obtaining a first sub-error model by adding error disturbance to the correlation; wherein the interrelation is between the accelerometer of the inertial measurement unit to be measured and the accelerometer of the reference device;
obtaining a second sub-error model by adding error disturbance to the logarithmic relationship; wherein the mathematical relationship is the relationship between the angular velocity of the inertial measurement unit to be measured and the angular velocity of the reference device;
And combining the first sub-error model with the second sub-error model to obtain the fourth error model.
In some embodiments of the present application, the determining the performance of the inertial measurement unit to be measured by analyzing the residual sequence includes:
determining a target time period when the acceleration and angular velocity changes reach preset requirements according to the residual sequence and the observed value in the reference data, and solving to obtain a statistical index in the target time period;
And determining the performance of the inertial measurement unit to be measured based on the statistical index.
In a second aspect, an embodiment of the present application provides an inertial measurement unit performance evaluation device, acting on a target measurement body, where the target measurement body includes an inertial measurement unit to be measured and a reference device, where both the inertial measurement unit to be measured and the reference device include an accelerometer and a gyroscope; the device comprises:
The acquisition module is used for acquiring the data to be evaluated acquired by the inertial measurement unit to be measured and the reference data acquired by the reference equipment in the process of dynamically moving the target measuring body;
And the evaluation module is used for evaluating the performance of the inertial measurement unit to be tested based on the error between the data to be evaluated and the reference data.
In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the steps of the method for evaluating performance of an inertial measurement unit described above when the processor executes the computer program.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor performs the steps of the inertial measurement unit performance evaluation method described above.
The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:
Acquiring data to be evaluated acquired by the inertial measurement unit to be measured and reference data acquired by the reference equipment in the process of dynamically moving the target measuring body; and performing performance evaluation on the inertial measurement unit to be tested based on the error between the data to be evaluated and the reference data. According to the application, the performance of the inertial measurement unit to be measured in the dynamic movement process of the target measurement body is evaluated through the preset reference equipment, so that a more comprehensive and accurate evaluation result can be obtained.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for evaluating performance of an inertial measurement unit according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of determining a rotation matrix according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an inertial measurement unit performance evaluation device according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for the purpose of illustration and description only and are not intended to limit the scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this disclosure, illustrates operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to or removed from the flow diagrams by those skilled in the art under the direction of the present disclosure.
In addition, the described embodiments are only some, but not all, embodiments of the application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that the term "comprising" will be used in embodiments of the application to indicate the presence of the features stated hereafter, but not to exclude the addition of other features.
An inertial measurement unit (Inertial measurement unit, abbreviated as IMU) is a device for measuring the three-axis attitude angle and acceleration of an object. The general IMU includes a tri-axis gyroscope and a tri-axis accelerometer, and part of the IMU also includes a tri-axis magnetometer. IMU is widely applied in the fields of mobile phones, VR, aviation and aerospace.
To ensure accuracy of the application data, the performance of the IMU needs to be evaluated. The evaluation mode in the prior art is static evaluation, namely, the measuring body where the IMU is positioned does not move. The existing method has the following problems: some imu errors are excited out in a dynamic scene, and static acquisition data cannot accurately analyze imu performance; under the dynamic condition of the imu equipment application scene, parameters marked by the static state are not suitable for the dynamic scene; a more comprehensive way of evaluation is required.
Based on this, the embodiment of the application provides a method, a device, equipment and a medium for evaluating the performance of an inertial measurement unit, and the description is given below by way of embodiments.
Fig. 1 is a schematic flow chart of a method for evaluating performance of an inertial measurement unit according to an embodiment of the present application, where the method acts on a target measurement body, and the target measurement body includes an inertial measurement unit to be measured and a reference device, where the inertial measurement unit to be measured and the reference device both include an accelerometer and a gyroscope; wherein the method comprises steps S101-S102; specific:
S101, acquiring data to be evaluated acquired by the inertial measurement unit to be measured and reference data acquired by the reference equipment in the process of dynamically moving the target measuring body;
s102, performing performance evaluation on the inertial measurement unit to be tested based on the error between the data to be evaluated and the reference data.
According to the application, the performance of the inertial measurement unit to be measured in the dynamic movement process of the target measurement body is evaluated through the preset reference equipment, so that a more comprehensive and accurate evaluation result can be obtained.
Some embodiments of the application are described in detail below. The following embodiments and features of the embodiments may be combined with each other without conflict.
In order to make up for the defects of static evaluation in the prior art, the embodiment of the application adopts a dynamic evaluation mode. The dynamic evaluation is that the target measuring body where the inertial measuring unit to be measured is located evaluates the inertial measuring unit to be measured in the dynamic moving process. The object measuring body here is a dynamically movable object, such as a vehicle or the like.
In order to enable performance evaluation of the inertial measurement unit to be measured, the embodiment of the application also needs to set a reference device on the target measurement body. The reference device and the inertial measurement unit to be measured both comprise an accelerometer and a gyroscope. In order to ensure accuracy of the evaluation result, the reference device in the embodiment of the present application needs to select a high-precision device, for example, select an evaluated high-precision IMU. In the process of dynamic movement of the target measuring body, the embodiment of the application acquires the data to be evaluated acquired by the inertial measuring unit to be measured, and also acquires the reference data acquired by the reference equipment. And performing performance evaluation on the inertial measurement unit to be tested by determining an error between the data to be evaluated and the reference data.
In an alternative embodiment, the data to be evaluated acquired by the inertial measurement unit to be measured includes first GNSS data (Global Navigation SATELLITE SYSTEM, global satellite navigation system) and first IMU data, and the reference data acquired by the reference device includes second GNSS data and second IMU data. The executing of S102 includes time aligning the first IMU data and the second IMU data according to the first GNSS data and the second GNSS data; and performing performance evaluation on the inertial measurement unit based on errors between the first IMU data and the second IMU data after time alignment. In other words, after time alignment, the embodiment of the present application uses the second IMU data as a true value to perform performance evaluation on the inertial measurement unit to be tested. The time alignment mode can process the data to be evaluated and the reference data by using the PPS signal.
In an alternative implementation manner, in the embodiment of the present application, when the evaluation is specifically performed, an error between the data to be evaluated and the reference data needs to be determined first. When data acquisition is carried out, the data to be evaluated are acquired from a first coordinate system where an inertial measurement unit to be evaluated is located, and the reference data are acquired from a second coordinate system where a reference device is located, so that in order to determine errors, a rotation matrix between the first coordinate system and the second coordinate system needs to be determined first, and then a residual sequence of the observed values of the accelerometer and the gyroscope is constructed based on the data to be evaluated, the reference data and the rotation matrix. The residual sequence here is the error described above. And determining the performance of the inertial measurement unit to be measured by analyzing the residual sequence.
In the above embodiment, the first GNSS data in the data to be evaluated and the second GNSS data in the reference data are used for time alignment, and the error between the data to be evaluated and the reference data is calculated, that is, the error between the first IMU data and the second IMU data after time alignment is calculated. The residual sequence of the accelerometer and the gyroscope observations is constructed based on the data to be evaluated, the reference data and the rotation matrix in the above embodiment, including constructing the residual sequence of the accelerometer and the gyroscope observations based on the first IMU data, the second IMU data and the rotation matrix.
In determining a rotation matrix between a first coordinate system and a second coordinate system, the steps as shown in fig. 2 are included:
S201, designing a filter according to a first error model; the first error model is an error model between the inertial measurement unit to be measured and the reference equipment;
S202, solving the filter to obtain a rotation matrix between the first coordinate system and the second coordinate system.
In the specific calculation, in order to facilitate the identification of the embodiment of the present application, the first coordinate system is denoted as the b-system, and the second coordinate system is denoted as the r-system, that is, the embodiment of the present application needs to determine the rotation matrix between the b-system and the r-system. In the embodiment of the application, the rotation matrix between the b system and the r system is determined based on the first error model between the inertial measurement unit to be measured and the reference equipment, so that the first error model needs to be determined first.
The process of determining the first error model is to establish a second error model of the gyroscope and a third error model of the accelerometer under the first coordinate system; establishing a fourth error model between the inertial measurement unit to be measured and the reference equipment; and obtaining the first error model according to the fourth error model, the second error model and the third error model.
Specifically, a second error model of the gyroscope and a third error model of the accelerometer under the system of the inertial measurement unit b to be measured are established. The second error model comprises a gyroscope triaxial zero offset error term, the gyroscope scale factor error term, the third error model comprises an accelerometer triaxial zero offset error term, and the gyroscope scale factor error term is specifically as follows:
the second error model of the gyroscope is the following at b:
①
wherein, the error is included in the data, As a scale factor, the number of the elements is,As a result of the scale factor error,Is a zero offset value, the zero offset value is zero,Is an error of zero offset and is used for the control of the motor,Is a diagonal matrix; The angular velocity is indicated as such, Is the gyroscope angular velocity error.
Similarly, a third error model of the accelerometer is the following at b:
②
wherein, the error is included in the data, As a scale factor, the number of the elements is,As a result of the scale factor error,Is a zero offset value, the zero offset value is zero,Is an error of zero offset and is used for the control of the motor,Is a diagonal matrix; the acceleration is indicated by the fact that, Is the accelerometer acceleration error.
After the second error model and the third error model are obtained, a fourth error model between the inertial measurement unit to be measured and the reference device is also required to be established, and then the first error model is obtained according to the fourth error model, the second error model and the third error model.
The fourth error model established between the inertial measurement unit to be measured and the reference device comprises a first sub-error model and a second sub-error model. The first sub-error model is obtained by adding error disturbance to the mutual relation between the accelerometer of the inertial measurement unit to be measured and the accelerometer of the reference equipment, and the second sub-error model is obtained by adding error disturbance to the mathematical relation between the angular speed of the inertial measurement unit to be measured and the angular speed of the reference equipment.
Specifically, the correlation between the accelerometer of the inertial measurement unit to be measured and the accelerometer of the reference device is:
③
The mathematical relationship between the angular velocity of the inertial measurement unit to be measured and the angular velocity of the reference device is:
④
In formulas ③ and ④ above, The scale observation value is represented by a graph,Expressed as angular acceleration, can be obtained by differentiating the angular velocity of the reference device,The lever arm of the reference device centering on the inertial measurement unit to be measured under the r system is obtained by measuring,A rotation matrix from b series to r series; is the angular velocity.
Adding error disturbance to ③ to obtain a first sub-error model:
⑤
Wherein, Is the misalignment angle of the r-series.
Adding error perturbation to ④ can yield a second sub-error model:
⑥
in the embodiment of the application, the formulas ⑤ and ⑥ are taken together as a fourth error model between the inertial measurement unit to be measured and the reference equipment, and the first error model can be obtained by combining the second error model and the third error model.
The method comprises the following steps: and obtaining a first target sub-error model according to the second error model and the second sub-error model, and obtaining a second target sub-error model according to the third error model and the first sub-error model. The first target sub-error model and the second target sub-error model are combined as a first error model.
Obtaining a first target sub-error model according to the second error model and the second sub-error model is as follows: substituting equation ② into equation ⑤:
⑦
obtaining a second target sub-error model according to the third error model and the first sub-error model is as follows: bringing formula ① to formula ⑥ yields:
⑧
After the first error model is obtained, in order to obtain the rotation matrix, a filter is further required to be designed according to the first error model; and then solving the filter to obtain a rotation matrix between the first coordinate system and the second coordinate system.
When designing the filter, the filter state selection, state prediction, measurement observation values and measurement matrixes are included; considering the performance difference of the inertial measurement unit to be measured, the zero offset error and the scale factor error of the inertial measurement unit to be measured need to be considered so as to avoid the influence of the errors on the convergence of the installation angles of the b system and the r system, and the error quantity of the filtering state is selected as follows:
⑨
The state error amount is the misalignment angle of the r system, the accelerometer scale factor error, the gyroscope scale factor error, the addition zero offset error and the gyroscope zero offset error in sequence.
The corresponding state quantity is:
⑩
the relationship between the state quantity and the state error quantity is as follows:
The state error amount prediction uses a first order markov process;
The measurement observations are constructed as:
The measurement matrix H is:
After the filter is designed, a Kalman filtering method is selected for solving, and the real result is obtained The matrix is rotated. Bringing the rotation matrix into a state in whichAnd (3) withAnd constructing a residual sequence of the accelerometer and gyroscope observation values by using the observation values output by the inertia measurement unit to be measured.
After the residual sequence of accelerometer and gyroscope observations is obtained, the residual sequence is taken as the error between the data to be evaluated and the reference data. And analyzing the residual sequence to evaluate the performance of the inertial measurement unit to be measured.
In the process of carrying out residual sequence analysis, as the zero offset stability, random walk noise and scale factor noise of the reference equipment are far smaller than those of an inertial measurement unit to be measured, the observed values in the residual sequence and the reference data are used for determining a target time period when the acceleration and angular velocity change reach preset requirements, and solving to obtain statistical indexes in the target time period; and determining the performance of the inertial measurement unit to be measured based on the statistical index.
In specific implementation, allan can be used for analyzing the residual sequence to obtain zero offset instability and random walk noise of the accelerometer and the gyroscope under vehicle-mounted dynamic. And screening out time periods with obvious acceleration change and severe angular velocity change by using the observed value of the reference equipment, solving statistical indexes such as RMS (root mean square error), CEP68,95,997 and the like according to the data of the time periods, and analyzing the high dynamic performance of the accelerometer and the gyroscope according to the indexes. After the performance of the inertial measurement unit to be measured is determined, the performance can be used as the basis for selecting equipment types and filtering parameters.
Fig. 3 shows a schematic structural diagram of an apparatus for evaluating performance of an inertial measurement unit according to an embodiment of the present application, acting on a target measurement body, where the target measurement body includes an inertial measurement unit to be measured and a reference device, where the inertial measurement unit to be measured and the reference device both include an accelerometer and a gyroscope; the device comprises:
The acquisition module is used for acquiring the data to be evaluated acquired by the inertial measurement unit to be measured and the reference data acquired by the reference equipment in the process of dynamically moving the target measuring body;
And the evaluation module is used for evaluating the performance of the inertial measurement unit to be tested based on the error between the data to be evaluated and the reference data.
The data to be evaluated comprises first GNSS data and first IMU data, and the reference data comprises second GNSS data and second IMU data;
the performance evaluation of the inertial measurement unit to be measured based on the error between the data to be evaluated and the reference data includes:
According to the first GNSS data and the second GNSS data, the first IMU data and the second IMU data are aligned in time;
And performing performance evaluation on the inertial measurement unit based on errors between the first IMU data and the second IMU data after time alignment.
The performance evaluation of the inertial measurement unit to be measured based on the error between the data to be evaluated and the reference data includes:
Determining a rotation matrix between a first coordinate system where the inertial measurement unit to be measured is located and a second coordinate system where the reference equipment is located;
Constructing a residual sequence of the observation values of the accelerometer and the gyroscope according to the data to be evaluated, the reference data and the rotation matrix;
And determining the performance of the inertial measurement unit to be measured by analyzing the residual sequence.
The determining a rotation matrix between a first coordinate system where the inertial measurement unit to be measured is located and a second coordinate system where the reference device is located includes:
Designing a filter according to the first error model; the first error model is an error model between the inertial measurement unit to be measured and the reference equipment;
And solving the filter to obtain a rotation matrix between the first coordinate system and the second coordinate system.
Determining the first error model by:
Establishing a second error model of the gyroscope and a third error model of the accelerometer under the first coordinate system;
establishing a fourth error model between the inertial measurement unit to be measured and the reference equipment;
And obtaining the first error model according to the fourth error model, the second error model and the third error model.
The establishing a fourth error model between the inertial measurement unit to be measured and the reference device comprises:
Obtaining a first sub-error model by adding error disturbance to the correlation; wherein the interrelation is between the accelerometer of the inertial measurement unit to be measured and the accelerometer of the reference device;
obtaining a second sub-error model by adding error disturbance to the logarithmic relationship; wherein the mathematical relationship is the relationship between the angular velocity of the inertial measurement unit to be measured and the angular velocity of the reference device;
And combining the first sub-error model with the second sub-error model to obtain the fourth error model.
The determining the performance of the inertial measurement unit to be measured by analyzing the residual sequence comprises the following steps:
determining a target time period when the acceleration and angular velocity changes reach preset requirements according to the residual sequence and the observed value in the reference data, and solving to obtain a statistical index in the target time period;
And determining the performance of the inertial measurement unit to be measured based on the statistical index.
As shown in fig. 4, an embodiment of the present application provides an electronic device for performing the performance evaluation method of the inertial measurement unit in the present application, where the device includes a memory, a processor, a bus, and a computer program stored in the memory and capable of running on the processor, where the processor implements the steps of the performance evaluation method of the inertial measurement unit when executing the computer program.
In particular, the above-mentioned memory and processor may be general-purpose memory and processor, and are not particularly limited herein, and the above-mentioned inertial measurement unit performance evaluation method can be executed when the processor runs a computer program stored in the memory.
Corresponding to the method for evaluating the performance of the inertial measurement unit according to the present application, the embodiment of the present application further provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, performs the steps of the method for evaluating the performance of the inertial measurement unit.
Specifically, the storage medium can be a general-purpose storage medium, such as a removable disk, a hard disk, or the like, on which a computer program is executed that can perform the above-described inertial measurement unit performance evaluation method.
In the embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other manners. The system embodiments described above are merely illustrative, e.g., the division of the elements is merely a logical functional division, and there may be additional divisions in actual implementation, and e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, system or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments provided in the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that: like reference numerals and letters in the following figures denote like items, and thus once an item is defined in one figure, no further definition or explanation of it is required in the following figures, and furthermore, the terms "first," "second," "third," etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above examples are only specific embodiments of the present application, and are not intended to limit the scope of the present application, but it should be understood by those skilled in the art that the present application is not limited thereto, and that the present application is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the corresponding technical solutions. Are intended to be encompassed within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. The performance evaluation method of the inertial measurement unit is characterized by acting on a target measurement body, wherein the target measurement body comprises an inertial measurement unit to be measured and reference equipment, and the inertial measurement unit to be measured and the reference equipment both comprise an accelerometer and a gyroscope; the method comprises the following steps:
Acquiring data to be evaluated acquired by the inertial measurement unit to be measured and reference data acquired by the reference equipment in the process of dynamically moving the target measuring body;
Performing performance evaluation on the inertial measurement unit to be tested based on the error between the data to be evaluated and the reference data;
the data to be evaluated comprises first GNSS data and first IMU data, and the reference data comprises second GNSS data and second IMU data;
the performance evaluation of the inertial measurement unit to be measured based on the error between the data to be evaluated and the reference data includes:
According to the first GNSS data and the second GNSS data, the first IMU data and the second IMU data are aligned in time;
performing performance evaluation on the inertial measurement unit based on an error between the first IMU data and the second IMU data after time alignment;
the performance evaluation of the inertial measurement unit to be measured based on the error between the data to be evaluated and the reference data includes:
Performing performance evaluation on the inertial measurement unit to be measured based on a fourth error model between the inertial measurement unit to be measured and the reference device; wherein the fourth error model is obtained by: obtaining a first sub-error model by adding error disturbance to the correlation; wherein the interrelation is between the accelerometer of the inertial measurement unit to be measured and the accelerometer of the reference device; obtaining a second sub-error model by adding error disturbance to the logarithmic relationship; wherein the mathematical relationship is the relationship between the angular velocity of the inertial measurement unit to be measured and the angular velocity of the reference device; and combining the first sub-error model with the second sub-error model to obtain the fourth error model.
2. The method of claim 1, wherein the performance evaluation of the inertial measurement unit under test based on the error between the data under evaluation and the reference data comprises:
Determining a rotation matrix between a first coordinate system where the inertial measurement unit to be measured is located and a second coordinate system where the reference equipment is located;
Constructing a residual sequence of the observation values of the accelerometer and the gyroscope according to the data to be evaluated, the reference data and the rotation matrix;
And determining the performance of the inertial measurement unit to be measured by analyzing the residual sequence.
3. The method according to claim 2, wherein determining a rotation matrix between a first coordinate system in which the inertial measurement unit to be measured is located and a second coordinate system in which the reference device is located comprises:
Designing a filter according to the first error model; the first error model is an error model between the inertial measurement unit to be measured and the reference equipment;
And solving the filter to obtain a rotation matrix between the first coordinate system and the second coordinate system.
4. A method according to claim 3, characterized in that the method determines the first error model by:
Establishing a second error model of the gyroscope and a third error model of the accelerometer under the first coordinate system;
establishing a fourth error model between the inertial measurement unit to be measured and the reference equipment;
And obtaining the first error model according to the fourth error model, the second error model and the third error model.
5. The method according to claim 2, wherein said determining the performance of the inertial measurement unit under test by analyzing the residual sequence comprises:
determining a target time period when the acceleration and angular velocity changes reach preset requirements according to the residual sequence and the observed value in the reference data, and solving to obtain a statistical index in the target time period;
And determining the performance of the inertial measurement unit to be measured based on the statistical index.
6. The performance evaluation device of the inertial measurement unit is characterized by acting on a target measurement body, wherein the target measurement body comprises an inertial measurement unit to be measured and reference equipment, and the inertial measurement unit to be measured and the reference equipment both comprise an accelerometer and a gyroscope; the device comprises:
The acquisition module is used for acquiring the data to be evaluated acquired by the inertial measurement unit to be measured and the reference data acquired by the reference equipment in the process of dynamically moving the target measuring body;
The evaluation module is used for evaluating the performance of the inertial measurement unit to be tested based on the error between the data to be evaluated and the reference data;
the data to be evaluated comprises first GNSS data and first IMU data, and the reference data comprises second GNSS data and second IMU data;
the performance evaluation of the inertial measurement unit to be measured based on the error between the data to be evaluated and the reference data includes:
According to the first GNSS data and the second GNSS data, the first IMU data and the second IMU data are aligned in time;
performing performance evaluation on the inertial measurement unit based on an error between the first IMU data and the second IMU data after time alignment;
the performance evaluation of the inertial measurement unit to be measured based on the error between the data to be evaluated and the reference data includes:
Performing performance evaluation on the inertial measurement unit to be measured based on a fourth error model between the inertial measurement unit to be measured and the reference device; wherein the fourth error model is obtained by: obtaining a first sub-error model by adding error disturbance to the correlation; wherein the interrelation is between the accelerometer of the inertial measurement unit to be measured and the accelerometer of the reference device; obtaining a second sub-error model by adding error disturbance to the logarithmic relationship; wherein the mathematical relationship is the relationship between the angular velocity of the inertial measurement unit to be measured and the angular velocity of the reference device; and combining the first sub-error model with the second sub-error model to obtain the fourth error model.
7. An electronic device, comprising: a processor, a memory and a bus, said memory storing machine readable instructions executable by said processor, said processor and said memory communicating over the bus when the electronic device is running, said machine readable instructions when executed by said processor performing the steps of the inertial measurement unit performance assessment method according to any one of claims 1 to 5.
8. A computer-readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, performs the steps of the inertial measurement unit performance evaluation method according to any one of claims 1 to 5.
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