EP2643661A1 - Procédé et dispositif de détermination de paramètres de déplacement d'objets en mouvement - Google Patents

Procédé et dispositif de détermination de paramètres de déplacement d'objets en mouvement

Info

Publication number
EP2643661A1
EP2643661A1 EP11788097.1A EP11788097A EP2643661A1 EP 2643661 A1 EP2643661 A1 EP 2643661A1 EP 11788097 A EP11788097 A EP 11788097A EP 2643661 A1 EP2643661 A1 EP 2643661A1
Authority
EP
European Patent Office
Prior art keywords
acceleration
mems
gyroy
spatial
accx
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP11788097.1A
Other languages
German (de)
English (en)
Inventor
Guido Arnold
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP2643661A1 publication Critical patent/EP2643661A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/02—Details
    • G01C9/08—Means for compensating acceleration forces due to movement of instrument

Definitions

  • the invention relates to a method for determining movement parameters of moving objects, in particular for rail vehicles, as well as a device relating thereto.
  • Movement parameters such as acceleration and inclination of the object relative to at least one of the three spatial axes are used, for example, for locating or navigating the object.
  • the use of gyro compasses is known, but they are extremely expensive and expensive, so that they can not be used in many areas.
  • MEMS micro-electro-mechanical system
  • the problem is their use as gyro sensors for determining the inclination of the object about an axis, since the inclination can only be determined cumulatively by the discrete measurement of rotation angles designated as rotation rates. The measured rotation rates are added continuously and must therefore be determined extremely accurately.
  • functional reasons have MEMS considerable Off ⁇ set- and drift errors.
  • the invention has for its object to provide a method and apparatus for determining motion parameters, which allow high accuracy with little effort.
  • the object is achieved in that along at least one of the three spatial axes by means of MEMS (Micro-Electro-Mechanical System) acceleration sensors acceleration and / or the rotational rates of the object are measured by at least one of the three spatial axes by means of MEMS gyro sensors, with trailing and / or leading average values for each digital or digitized rotational measured value with respect to a spatial axis rotated by 90 ° as a function of the associated, standard deviation used for offset correction of the rotation rate measured value.
  • MEMS Micro-Electro-Mechanical System
  • the object is also achieved with a device for carrying out the method, wherein at least one MEMS acceleration sensor for determining the acceleration along at least one of the three spatial axes and / or at least one MEMS gyro sensor is provided for determining the rotation rates about at least one of the three spatial axes are /, whose digital or digitized measured values are supplied via a storage medium to a control device for calculating the movement parameters, wherein means for offset correction of the rotation rate measured by means of a rotated by 90 ° spatial axis trailing and leading average values and to ⁇ associated with a threshold to be compared Standard deviations are provided.
  • While an object to be viewed is in motion befin ⁇ det are represented by the MEMS acceleration sensors, the acceleration, which is exposed to the object detected along one, two or all three spatial axes.
  • all the rotations of the object are likewise detected by one, two or all three spatial axes by the MEMS gyro sensors.
  • MEMS gyro sensors For the measurement of accelerations and Rotary rates can be used both individual MEMS sensors and multi-axis MEMS sensors.
  • MEMS Senso ⁇ ren that monitor all six degrees of freedom can be used.
  • the simultaneity of data collection is indispensable to some extent. If the MEMS sensors have analog output signals, these are converted into digital output signals by means of A / D converters.
  • the digital or digitized measured values of the accelerations and the rotation rates are stored, whereby it is always possible not to have to monitor all the axes.
  • trailing and vorlau ⁇ Fende standard deviations are compared with a threshold value for digital or digitized acceleration measurement values, wherein the acceleration measuring values are used to Ne Trentsbe ⁇ bill, if at least one of the two standard deviations below the threshold value, and ge ⁇ optionally one of a maximum permissible inclination corre ⁇ sponding maximum acceleration of the accelerometer falls below.
  • the cumulative rotation rate measurement in which a propagation of offset and drift influences according to claim 1, although minimized but can not be excluded, quasi bypassed. It used only acceleration measurements that are not cumulative ermit ⁇ telt. However, this preferable algorithm assumes that in the main movement direction no acceleration, but a constant speed movement takes place.
  • FIG. 1 shows the essential components of a device according to the invention
  • Figure 2 shows a first variant for the determination of
  • FIG. 4 shows an algorithm for offset correction in the inclination calculation
  • FIG. 5 shows an algorithm for inclination calculation by means of
  • FIG. 6 shows an algorithm for tilt correction during cornering.
  • FIG. 1 shows a MEMS sensor system 1 with individual sensors for determining acceleration values AccX, AccY, AccZ and for Rotational rate values GyroX, GyroY and GyroZ, in each case for the three spatial axes X, Y, Z.
  • the analog values AccX, AccY, AccZ, GyroX, GyroY and GyroZ are digitized via A / D converter 2 and stand as discrete measured values AccX ', AccY ', AccZ', GYROX ', GyroY' and GyroZ 'on the output side for further processing proces ⁇ available.
  • the second algorithm shown in FIG. 5 is to be preferred, as FIG. 2 shows.
  • this second algorithm only acceleration values Acc are needed to determine the desired motion parameters 5.
  • the acceleration values Acc may be provided as opposed to the rotation rate with ⁇ means of the MEMS sensor 1 in a non-cumulative method.
  • the more error-prone rotation rate measurement values Gyro required for the algorithms one and three shown in FIGS. 4 and 6 are only used for the calculation of the motion parameters 5 if the algorithm two is not applicable.
  • Threshold SgX the mean value is again formed from the two mean values MwGXv and MwGXn.
  • the thus ultimately decisive mean - trailing, or Running forward with ⁇ average value of both - can now be used to compensate the current offset.
  • the compensation can be carried out in the various stages of the inclination calculation, namely with respect to the rotation rate, the calculated angle or the calculated inclination. In this way, there is a running compensation of the current offset. Ultimately, it also compensates for disturbances of the drift.
  • a third algorithm, illustrated in FIG. 6, is used to compensate for the influences of bank angles. If the object moves around a curve, this is in many cases associated with a bank, ie with an inclination about the axis of the main movement direction.
  • This bank can either be directed to the outside of the curve, for example, as a result of the centrifugal force, or be directed to the inside of the curve, for example in the case of over-elevation curves for maximizing the passage-through speed. Both cases lead to measurable rates of rotation about the horizontal, perpendicular to the main motion ⁇ spatial axis. The effect of the rotation in the curve is directly dependent on the bank.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Gyroscopes (AREA)

Abstract

L'invention concerne un procédé de détermination de paramètres de déplacement d'objets en mouvement, en particulier de véhicules ferroviaires, ainsi qu'un dispositif correspondant. Dans le but de renoncer à l'utilisation de gyroscopes « gyro » coûteux, l'invention est caractérisée en ce que l'accélération est mesurée le long d'au moins l'une des trois coordonnées spatiales (X, Y, Z), au moyen de capteurs d'accélération MEMS (système micro-électro-mécanique) et/ou les vitesses de rotation de l'objet sont mesurées autour d'au moins l'une des trois coordonnées spatiales (X, Y, Z), au moyen de gyro-capteurs MEMS, et en ce que pour chaque valeur mesurée de vitesse de rotation numérique ou numérisée (GyroY'), des valeurs moyennes en suivi et/ou en avance (MwGXn et/ou MwGXv), par rapport à une coordonnée spatiale (X) orientée à 90°, sont utilisées en fonction de l'écart-type correspondant (StabwGXn et/ou StabwGXv), comparé à une valeur seuil (SgX), pour la correction de la valeur mesurée de la vitesse de rotation (GyroY').
EP11788097.1A 2010-11-26 2011-11-11 Procédé et dispositif de détermination de paramètres de déplacement d'objets en mouvement Withdrawn EP2643661A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010062016A DE102010062016A1 (de) 2010-11-26 2010-11-26 Verfahren und Vorrichtung zur Ermittlung von Bewegungsparametern bewegter Objekte
PCT/EP2011/069945 WO2012069324A1 (fr) 2010-11-26 2011-11-11 Procédé et dispositif de détermination de paramètres de déplacement d'objets en mouvement

Publications (1)

Publication Number Publication Date
EP2643661A1 true EP2643661A1 (fr) 2013-10-02

Family

ID=45044550

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11788097.1A Withdrawn EP2643661A1 (fr) 2010-11-26 2011-11-11 Procédé et dispositif de détermination de paramètres de déplacement d'objets en mouvement

Country Status (4)

Country Link
EP (1) EP2643661A1 (fr)
CN (1) CN103299160A (fr)
DE (1) DE102010062016A1 (fr)
WO (1) WO2012069324A1 (fr)

Cited By (1)

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CN108534877A (zh) * 2018-04-04 2018-09-14 北京源清慧虹信息科技有限公司 一种车辆载重测量方法及装置

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CN102932686B (zh) * 2012-10-15 2015-06-03 青岛海信信芯科技有限公司 在遥控器中处理传感器数据的方法
CN105445493A (zh) * 2016-01-16 2016-03-30 中车青岛四方机车车辆股份有限公司 一种微小转角情况下电机转向检测与识别装置与方法
DE102016122066A1 (de) * 2016-11-16 2018-05-17 Automotive Lighting Reutlingen Gmbh Verfahren zur Einstellung der Winkellage der optischen Achse eines Scheinwerfers eines Kraftfahrzeugs und Beleuchtungseinrichtung des Kraftfahrzeugs
CN107358051B (zh) * 2017-07-18 2018-07-10 前海随身宝（深圳）科技有限公司 终端运动状态分析方法、移动终端及可读存储介质
DE102017218487A1 (de) * 2017-10-16 2019-04-18 Continental Automotive Gmbh Verfahren zum Betrieb eines Inertialsensorsystems, Inertialsystem und Fahrzeug mit Inertialsystem
CN110254469B (zh) * 2018-05-31 2020-08-18 广州市奥特创通测控技术有限公司 基于远程计量传递及互联网的列车轮对监测网校准方法
CN110968087B (zh) * 2018-09-30 2023-05-23 百度（美国）有限责任公司 车辆控制参数的标定方法、装置、车载控制器和无人车
CN109278755B (zh) * 2018-10-09 2021-04-06 浙江力邦合信智能制动系统股份有限公司 车辆路面坡度计算方法及系统
DE102019209605A1 (de) * 2019-07-01 2021-01-07 Aktiebolaget Skf Vorrichtung zum Detektieren eines Defekts einer rotierenden Anordnung

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JP2006194677A (ja) * 2005-01-12 2006-07-27 Macnica Inc 路面角度の算出装置及び算出方法
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KR101008360B1 (ko) * 2008-07-01 2011-01-14 (주)마이크로인피니티 이동 로봇에서의 자이로 센서 오차를 교정하는 장치 및방법
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Publication number Priority date Publication date Assignee Title
CN108534877A (zh) * 2018-04-04 2018-09-14 北京源清慧虹信息科技有限公司 一种车辆载重测量方法及装置

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Publication number Publication date
CN103299160A (zh) 2013-09-11
DE102010062016A1 (de) 2012-05-31
WO2012069324A1 (fr) 2012-05-31

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