KR102595677B1 - Method, apparatus and device for determining location information - Google Patents

Abstract

This application discloses a method, device, and device for determining location information, and relates to the field of inertial navigation system technology. The method includes obtaining acceleration, angular velocity, velocity, and yaw angle collected by the inertial navigation system; determining transformation information based on acceleration, angular velocity, velocity and yaw angle; and determining second position information of the carrier in the navigation coordinate system based on the transformation information and first position information of the carrier in the inertial coordinate system. The method provided in this embodiment can improve the accuracy and stability of the carrier's second location information in the navigation coordinate system.

Description

{Method, apparatus and device for determining location information}

This application relates to the field of inertial navigation system technology, and in particular to methods, devices and devices for determining location information.

An inertial navigation system (INS) is generally installed on a carrier (eg, vehicle, bracelet, etc.) and can determine position information of the carrier in the navigation coordinate system.

In related technology, a method for INS to obtain position information of a carrier in a navigation coordinate system includes determining transformation information based on preset data information (including axial direction and angle); It includes determining the position information of the carrier in the navigation coordinate system based on the transformation information and the position information of the carrier in the inertial coordinate system.

In the above-described method, the determined transformation information is generally fixed and invariant, so based on the transformation information and the position information of the carrier in the inertial coordinate system, the position information of the carrier in the determined navigation coordinate system is not accurate.

Provided are a method, device, and device for determining location information that improves the determination accuracy and stability of second location information of a carrier in a navigation coordinate system.

According to a first aspect, the present application provides a method for determining position information, applied to a carrier, and an inertial navigation system is installed on the carrier. The method includes obtaining acceleration, angular velocity, velocity, and yaw angle collected by the inertial navigation system; determining conversion information based on the acceleration, the angular velocity, the velocity, and the yaw angle; It includes; determining second position information of the carrier in the navigation coordinate system based on the transformation information and first position information of the carrier in the inertial coordinate system.

In one possible embodiment, the inertial navigation system has a gravity axis, a forward axis and a lateral displacement axis; The step of determining conversion information based on the acceleration, the angular velocity, the velocity, and the yaw angle includes, based on the acceleration, the angular velocity, the velocity, and the yaw angle, a gravity axis, a gravity axis direction, a forward axis, and a forward axis. determining the direction, transverse displacement axis and transverse displacement axis direction; Determine the conversion information based on the gravity axis, the gravity axis direction, the forward axis, the forward axis direction, the lateral displacement axis, the lateral displacement axis direction, the acceleration on the forward axis, and the acceleration on the lateral displacement axis. It includes;

In another possible embodiment, determining a gravity axis, a gravity axis direction, an advance axis, an advance axis direction, a lateral displacement axis, and a direction of the lateral displacement axis based on the acceleration, the angular velocity, the velocity, and the yaw angle comprises: determining the gravity axis and the direction of the gravity axis based on the acceleration and a preset acceleration; determining the forward axis and the forward axis direction based on the acceleration and the velocity; If the gravity axis and the axis corresponding to the yaw angle are determined to be the same based on the angular velocity and the yaw angle, based on the right-handed coordinate system, the gravity axis, the gravity axis direction, the forward axis and the forward axis direction, It includes; determining a lateral displacement axis and the direction of the lateral displacement axis.

In another possible embodiment, the acceleration comprises a three-axis acceleration sequence; The step of determining the gravity axis and the direction of the gravity axis based on the acceleration and the preset acceleration is based on a first acceleration curve corresponding to the acquired acceleration sequence of each axis and a second acceleration curve corresponding to the preset acceleration. Determining a first error value corresponding to the acceleration sequence of each axis; determining a first acceleration sequence based on a first error value corresponding to the acceleration sequence of each axis, wherein the first error value corresponding to the first acceleration sequence is the smallest; It includes determining an axis corresponding to the first acceleration sequence as the gravity axis, and determining a direction of the gravity axis based on an acceleration value included in the first acceleration sequence.

In another possible embodiment, the step of determining the forward axis and the forward axis direction based on the acceleration and the velocity may include a first acceleration curve corresponding to the obtained acceleration sequence of each axis and a third acceleration curve corresponding to the velocity. Based on the acceleration curve, determining a second error value corresponding to the acceleration sequence of each axis; determining a second acceleration sequence based on a second error value corresponding to the acceleration sequence of each axis, wherein the second error value corresponding to the second acceleration sequence is the smallest; It includes determining an axis corresponding to the second acceleration sequence as the forward axis, and determining the direction of the forward axis based on the acceleration value included in the second acceleration sequence.

In another possible embodiment, the angular velocity comprises a three-axis angular velocity sequence; The step of determining that the axis of gravity and the axis corresponding to the yaw angle are the same based on the angular velocity and the yaw angle includes a first angular velocity curve corresponding to the obtained angular velocity sequence of each axis and a second angular velocity curve corresponding to the yaw angle. As a basis, determining a third error value corresponding to the angular velocity sequence of each axis; If a target error value greater than or equal to a preset threshold exists among the third error values corresponding to the angular velocity sequence of each axis, determining that the gravity axis and the axis corresponding to the yaw angle are the same.

In another possible embodiment, based on the gravity axis, the gravity axis direction, the advance axis, the advance axis direction, the lateral displacement axis, the lateral displacement axis direction, the acceleration on the advance axis and the acceleration on the lateral displacement axis. , the step of determining the conversion information includes determining a heading angle of the forward axis based on an acceleration sequence corresponding to the forward axis and an acceleration sequence corresponding to the lateral displacement axis; and determining the conversion information based on the heading angle, the gravity axis, the gravity axis direction, the advance axis, the advance axis direction, the lateral displacement axis, and the lateral displacement axis direction.

In another possible embodiment, the acceleration sequence corresponding to the forward axis includes at least one first acceleration value, and the acceleration sequence corresponding to the lateral displacement axis includes at least one second acceleration value; The step of determining the heading angle of the forward axis based on the acceleration sequence corresponding to the forward axis and the acceleration sequence corresponding to the lateral displacement axis includes a first average value of the at least one first acceleration value and the at least one Obtaining a second average value of the second acceleration values; Processing the first average value and the second average value through a preset model to obtain a heading angle of the forward axis.

In another possible embodiment, the inertial navigation system includes an inertial measurement device, a speed measurement device and a navigation measurement device; The step of acquiring the acceleration, angular velocity, velocity, and yaw angle collected by the inertial navigation system includes, within a preset time, the acceleration and angular velocity collected by the inertial measurement device, the velocity collected by the velocity measuring device, and the and obtaining the yaw angle collected by a navigation measurement device.

According to a second aspect, the present application provides a position information determination device, applied to a carrier, and an inertial navigation system is installed on the carrier. The device includes an acquisition module and a decision module, wherein the acquisition module acquires acceleration, angular velocity, velocity and yaw angle collected by the inertial navigation system; The determination module determines conversion information based on the acceleration, the angular velocity, the velocity, and the yaw angle; The determination module also determines second position information of the carrier in the navigation coordinate system based on the transformation information and first position information of the carrier in the inertial coordinate system.

In one possible embodiment, the determination module specifically determines the gravity axis, the gravity axis direction, the advance axis, the advance axis direction, the lateral displacement axis, and the lateral displacement axis direction, based on the acceleration, the angular velocity, the velocity, and the yaw angle. decide; Determine the conversion information based on the gravity axis, the gravity axis direction, the forward axis, the forward axis direction, the lateral displacement axis, the lateral displacement axis direction, the acceleration on the forward axis, and the acceleration on the lateral displacement axis. do.

In another possible embodiment, the determination module specifically determines the gravity axis and the gravity axis direction based on the acceleration and a preset acceleration; Based on the acceleration and the speed, determine the forward axis and the forward axis direction; If the gravity axis and the axis corresponding to the yaw angle are determined to be the same based on the angular velocity and the yaw angle, based on the right-handed coordinate system, the gravity axis, the gravity axis direction, the forward axis and the forward axis direction, Determine the lateral displacement axis and the direction of the lateral displacement axis.

In another possible embodiment, the decision module specifically, based on the first acceleration curve corresponding to the acquired acceleration sequence of each axis and the second acceleration curve corresponding to the preset acceleration, the first acceleration curve corresponding to the acceleration sequence of each axis. determine the error value; A first acceleration sequence is determined based on a first error value corresponding to the acceleration sequence of each axis, wherein the first error value corresponding to the first acceleration sequence is the smallest; An axis corresponding to the first acceleration sequence is determined as the gravity axis, and the direction of the gravity axis is determined based on the acceleration value included in the first acceleration sequence.

In another possible embodiment, the decision module specifically determines a second error corresponding to the acceleration sequence of each axis based on the obtained first acceleration curve corresponding to the acceleration sequence of each axis and the third acceleration curve corresponding to the velocity. determine the value; Determining a second acceleration sequence based on a second error value corresponding to the acceleration sequence of each axis, wherein the second error value corresponding to the second acceleration sequence is the smallest; The axis corresponding to the second acceleration sequence is determined as the forward axis, and the direction of the forward axis is determined based on the acceleration value included in the second acceleration sequence.

In another possible embodiment, the angular velocity comprises a three-axis angular velocity sequence; The determination module also determines a third error value corresponding to the angular velocity sequence of each axis based on the obtained first angular velocity curve corresponding to the angular velocity sequence of each axis and the second angular velocity curve corresponding to the yaw angle; If a target error value that is greater than or equal to a preset threshold exists among the third error values corresponding to the angular velocity sequence of each axis, it is determined that the gravity axis and the axis corresponding to the yaw angle are the same.

In another possible embodiment, the determination module specifically determines a heading angle of the forward axis based on an acceleration sequence corresponding to the forward axis and an acceleration sequence corresponding to the lateral displacement axis; The conversion information is determined based on the heading angle, the gravity axis, the gravity axis direction, the advance axis, the advance axis direction, the lateral displacement axis, and the lateral displacement axis direction.

In another possible embodiment, the acceleration sequence corresponding to the forward axis includes at least one first acceleration value, and the acceleration sequence corresponding to the lateral displacement axis includes at least one second acceleration value; The determination module specifically acquires a first average value of the at least one first acceleration value and a second average value of the at least one second acceleration value; The first average value and the second average value are processed through a preset model to obtain the heading angle of the forward axis.

In another possible embodiment, the inertial navigation system includes an inertial measurement device, a speed measurement device and a navigation measurement device; Specifically, the acquisition module acquires the acceleration and angular velocity collected by the inertial measurement device, the velocity collected by the speed measurement device, and the yaw angle collected by the navigation measurement device within a preset time.

According to a third aspect, the present application provides an electronic device. The electronic device includes at least one processor; and a memory communicatively connected to the at least one processor, wherein an instruction executable by the at least one processor is stored in the memory, and the instruction is executed by the at least one processor, and the at least one processor Enable a processor to perform the method according to any one of the first aspects.

According to a fourth aspect, the present application provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions cause a computer to perform the method according to any one of the first aspects.

According to a fifth aspect, the present application provides a computer program stored in a computer-readable storage medium, and at least one processor of an electronic device is capable of reading the computer program from the readable storage medium, and the at least one processor executes the computer program to cause the electronic device to perform the method according to any one of the first aspects.

This application provides a method, device, and device for determining location information. The method includes obtaining acceleration, angular velocity, velocity, and yaw angle collected by the inertial navigation system; determining conversion information based on the acceleration, the angular velocity, the velocity, and the yaw angle; It includes; determining second position information of the carrier in the navigation coordinate system based on the transformation information and first position information of the carrier in the inertial coordinate system. According to the technology of the present application, the problem that the position information of the carrier in the navigation coordinate system determined by fixed and invariant transformation information is inaccurate is solved, and the accuracy and stability of the position information of the carrier in the navigation coordinate system are improved.

It should be understood that the content described in this part is not intended to specify key or important features of the embodiments of the present application, and does not limit the scope of the present application. Other features of the present application can be easily understood from the description below.

The attached drawings are provided to provide a more complete understanding of the present solution and are not limiting to the present application.
1 is a diagram showing a possible application scenario of the present application.
Figure 2 is flowchart 1 of the method for determining location information provided in this application.
Figure 3 is flowchart 2 of the method for determining location information provided in this application.
Figure 4 is a diagram showing the determination of the lateral displacement axis and the direction of the lateral displacement axis provided in the present application.
Figure 5 is a structural diagram of a location information determination device provided in this application.
Figure 6 is a block diagram of the electronic device provided in this application.

The following describes exemplary embodiments of the present application in combination with the accompanying drawings, including various details of the embodiments of the present application to aid understanding, and should be regarded as exemplary only. Accordingly, it should be understood that those skilled in the art can make various changes and modifications to the embodiments described herein without departing from the scope and spirit of the present application. Likewise, for clarity and conciseness, descriptions of known functions and structures are omitted in the description below.

As described above, the position information of the carrier in the navigation coordinate system is determined based on the transformation information and the position information of the carrier in the inertial coordinate system, so the accuracy of the transformation information affects the position information of the carrier in the navigation coordinate system. do. In the location information determination method, device, device, and storage medium provided in this application, conversion information is determined through data collected by an inertial navigation system installed on the carrier, thereby improving the accuracy of conversion information in one aspect and improving the accuracy of conversion information in another aspect. Laterally, it improves the accuracy of the carrier's position information in the navigation coordinate system.

Below, an application scenario of the technical solution according to the present application will be described by combining FIG. 1.

1 is a diagram showing a possible application scenario provided by this application. As shown in FIG. 1, the carrier 10 travels on a road, and an inertial navigation system 20 is installed on the carrier 10. The inertial navigation system 20 collects driving information of the carrier 10 while the carrier 10 is traveling. The inertial navigation system 20 can be installed at any location on the carrier 10, and All that is required is to obtain the driving information of (10). The inertial navigation system 20 is connected to a location information determination device installed on the carrier 10, and the inertial navigation system 20 transmits the collected driving information to the location information determination device. Here, the location information determination device may be in the form of software and/or hardware, and the location information determination device processes the driving information to obtain conversion information, and the location of the carrier 10 in the conversion information and the obtained inertial coordinate system. Based on the information, location information of the carrier 10 in the navigation coordinate system can be determined. In the above-described method, transformation information is determined based on the driving information of the carrier 10, but since the transformation information may change according to changes in driving information, the position of the carrier 10 in the navigation coordinate system is determined based on the transformation information. When determining information, the accuracy and stability of the position information of the carrier 10 in the navigation coordinate system can be improved.

Specifically, the carrier 10 may be a vehicle equipped with an inertial navigation system (see FIG. 1), or may be a vehicle equipped with an inertial navigation system, a bracelet, a mobile phone, a helmet, etc. Specifically, the present application is not limited to the type of carrier.

Below, the technical solution of the present application is described in detail by combining several specific embodiments. Some of the embodiments below may be combined with each other, and duplicate descriptions of the same or similar content may be omitted in some embodiments.

Figure 2 is flowchart 1 of the method for determining location information provided in this application. The method according to this embodiment may be performed by the location information determination device in FIG. 1, the location information determination device may be in the form of software and/or hardware, and the location information determination device is installed in the carrier. As shown in Figure 2, the method of this embodiment includes the following steps.

S201: Acquire acceleration, angular velocity, velocity, and yaw angle collected by the inertial navigation system.

Here, the inertial navigation system is installed on the carrier, and the inertial navigation system has a forward axis (Z), a gravity axis (Y), and a lateral displacement axis (X). Specifically, rotation around the forward axis (Z) is the roll angle, rotation around the gravity axis (Y) is the yaw angle, and rotation around the lateral displacement axis (X) is the pitch angle. )am.

Optionally, the acceleration, angular velocity, velocity, and yaw angle collected by the inertial navigation system may be collected within a preset time. Here, the preset time may be 10 minutes, 15 minutes, 16 minutes, etc., and the present application is not limited thereto.

Optionally, the above-described data collected by the inertial navigation system within a preset time includes state data of the carrier in a static state, a straight state, and a rotation state, etc.

Specifically, when the above-described data includes state data in the static state, straight state, and rotation state of the carrier, the accuracy of conversion information can be improved.

S202: Determine conversion information based on acceleration, angular velocity, velocity and yaw angle.

Specifically, before determining the conversion information, first determine the forward axis, forward axis direction, gravity axis, gravity axis direction, lateral displacement axis, and lateral displacement axis direction of the inertial navigation system, and then determine the forward axis, forward axis direction, and gravity axis. , conversion information must be determined based on the gravity axis direction, lateral displacement axis, and lateral displacement axis direction.

In one possible embodiment, based on the acceleration, angular velocity, velocity and yaw angle, determining transformation information may include, based on the acceleration, angular velocity, velocity and yaw angle, a gravity axis, a gravity axis direction, a forward axis, a forward axis direction; determining a lateral displacement axis and a lateral displacement axis direction; It includes determining conversion information based on the gravity axis, the gravity axis direction, the forward axis, the forward axis direction, the lateral displacement axis, the lateral displacement axis direction, the acceleration on the forward axis, and the acceleration on the lateral displacement axis.

S203: Based on the transformation information and the first position information of the carrier in the inertial coordinate system, the second position information of the carrier in the navigation coordinate system is determined.

Optionally, the transformation information, first location information, and second location information may be information in the form of a matrix. Specifically, when the conversion information, first location information, and second location information are information in the form of a matrix, the second location information can be determined through (Equation 1) below.

(수식 1);

(Equation 1);

Here, T _G is second location information, T _I is first location information, and T _C is conversion information.

The method for determining location information provided in this embodiment includes obtaining acceleration, angular velocity, velocity, and yaw angle collected by the inertial navigation system; determining conversion information based on the acceleration, the angular velocity, the velocity, and the yaw angle; It includes; determining second position information of the carrier in the navigation coordinate system based on the transformation information and first position information of the carrier in the inertial coordinate system. In the above-described method, by determining the conversion information based on acceleration, angular velocity, velocity and yaw angle, the accuracy of the conversion information can be improved and further the accuracy and stability of the second position information can be improved.

On the basis of the above-described embodiments, the method for determining location information provided in the present application in combination with FIG. 3 will be described in more detail below, and the embodiment of FIG. 3 may be specifically referred to.

Figure 3 is flowchart 2 of the method for determining location information provided in this application. As shown in Figure 3, the method of this embodiment includes the following steps.

S301: Within a preset time, obtain the acceleration and angular velocity collected by the inertial measurement device, the velocity collected by the speed measurement device, and the yaw angle collected by the navigation measurement device.

Here, the inertial measurement device, the speed measurement device, and the navigation measurement device are included in the inertial navigation system, and the inertial navigation system is installed on the carrier. Optionally, the preset time can be any time greater than 10 minutes.

Optionally, the above-described acceleration includes acceleration corresponding to the static state, straight-forward state, and rotating state of the carrier within a preset time, and the angular velocity includes the static state, straight-forward state, and rotating state of the carrier within a preset time. The speed includes the speed corresponding to the static state, straight-forward state, and rotating state of the carrier within a preset time, and the yaw angle includes the static state of the carrier within a preset time, It includes yaw angles corresponding to states such as a straight-forward state and a rotating state.

Specifically, the inertial measurement device is an inertial measurement unit (IMU), the inertial measurement device includes an acceleration sensor (ACC) and a gyroscope (GYRO), the acceleration sensor collects and acquires acceleration, and the gyroscope The scope obtains this by collecting angular velocity. The speed measurement device is a speed sensor, and the SPEED sensor collects and obtains speed. The navigation measurement device is a Global Positioning System (GPS) sensor, and the GPS sensor collects and obtains the yaw angle. Here, the corresponding GPS sensor also collects and obtains the pitch angle and roll angle.

S302: Determine the gravity axis and gravity axis direction based on the acceleration and preset acceleration.

In a first possible embodiment, the acceleration comprises a three-axis acceleration sequence; The step of determining the gravity axis and the gravity axis direction based on the acceleration and the preset acceleration is based on the first acceleration curve corresponding to the acceleration sequence of each axis obtained and the second acceleration curve corresponding to the preset acceleration, determining a first error value corresponding to an acceleration sequence of an axis; determining a first acceleration sequence based on a first error value corresponding to the acceleration sequence of each axis, wherein the first error value corresponding to the first acceleration sequence is the smallest; It includes determining the axis corresponding to the first acceleration sequence as the gravity axis and determining the direction of the gravity axis based on the acceleration value included in the first acceleration sequence.

For example, the three-axis acceleration sequences are a first acceleration sequence, a second acceleration sequence, and a third acceleration sequence, respectively. The first acceleration curve corresponding to the acceleration sequence of each axis is obtained based on at least one acceleration value included in the acceleration sequence of each axis. For example, obtaining a first acceleration curve (x1) based on at least one acceleration value of the first axis acceleration sequence; Obtain a first acceleration curve (y1) based on at least one acceleration value of the second axis acceleration sequence; A first acceleration curve (z1) is obtained based on at least one acceleration value from the third axis acceleration sequence.

Specifically, the preset acceleration is gravitational acceleration, and the second acceleration curve g1 can be obtained based on the gravitational acceleration.

Furthermore, according to a preset curve error determination method, the second acceleration curve (g1) and the first acceleration curve (x1) are processed to obtain a first error value (Ax) corresponding to the first axis acceleration sequence; Process the second acceleration curve g1 and the first acceleration curve y1 to obtain a first error value Ay corresponding to the second axis acceleration sequence; The second acceleration curve (g1) and the first acceleration curve (z1) are processed to obtain a first error value (Az) corresponding to the third axis acceleration sequence. The first acceleration sequence is determined based on the acceleration sequence corresponding to the minimum first error value among the first error values (Ax, Ay, and Az).

After determining the first acceleration sequence, the axis corresponding to the first acceleration sequence is determined as the gravity axis (Y). Furthermore, if at least one acceleration value in the first acceleration sequence is determined to be positive, the gravity axis direction is determined to be +Y, and if at least one acceleration value in the first acceleration sequence is determined to be negative, the gravity axis direction is determined to be +Y. The direction is determined to be -Y.

In a second possible embodiment, two first acceleration curves corresponding to the acceleration sequence of each axis are further obtained; Based on the second acceleration curve and each first acceleration curve, determine a first error value corresponding to each first acceleration curve; A first acceleration sequence may be determined based on the first error value corresponding to each first acceleration curve, wherein a first acceleration sequence corresponding to one of the two first acceleration curves corresponding to the first acceleration sequence The error value is the smallest; The gravity axis and gravity axis direction are determined based on the first acceleration sequence.

Below, a method of determining the first error value corresponding to each of the two first acceleration curves (x1 and x2) will be described, taking the first axis acceleration sequence as an example.

Obtain a first acceleration curve (x1) based on at least two acceleration values included in the first axis acceleration sequence, and obtain a first acceleration curve based on at least two acceleration values included in the opposite sequence of the first axis acceleration sequence. Determine (x2), where the at least two acceleration values included in the opposite sequence and the at least two acceleration values included in the first axis acceleration sequence are opposite to each other. Process the second acceleration curve (g1) and the first acceleration curve (x1) through a preset curve error determination method to obtain a first error value (Ax1) corresponding to the first acceleration curve (x1), The second acceleration curve (g1) and the first acceleration curve (x2) are processed to obtain a first error value (Ax2) corresponding to the first acceleration curve (x2).

Likewise, according to the above-described method, two first acceleration curves (y1 and y2) corresponding to the second axis acceleration sequence, first error values (Ay1 and Ay2) corresponding to each of the first acceleration curves (y1 and y2), and Two first acceleration curves (z1 and z2) corresponding to the three-axis acceleration sequence and first error values (Az1 and Az2) corresponding to each of the first acceleration curves (z1 and z2) can be obtained.

Furthermore, a first acceleration sequence is determined based on the first error values (Ax1, Ax2, Ay1, Ay2, Az1 and Az2). For example, if the first error value (Ax2) is the smallest, the first axis acceleration sequence is determined as the first acceleration sequence, and further, the first error value (Ax2) is the opposite sequence of the first axis acceleration sequence. Since it is determined on the basis, the axis corresponding to the first axis acceleration sequence is the gravity axis (Y), and the direction of the gravity axis is -Y.

S303: Based on acceleration and speed, determine the forward axis and direction of the forward axis.

In one possible embodiment, a second error value corresponding to the acceleration sequence of each axis is determined based on the obtained first acceleration curve corresponding to the acceleration sequence of each axis and the third acceleration curve corresponding to the velocity; A second acceleration sequence is determined based on a second error value corresponding to the acceleration sequence of each axis, wherein the second error value corresponding to the second acceleration sequence is the smallest; The axis corresponding to the second acceleration sequence is determined as the forward axis, and the forward axis direction is determined based on the acceleration value included in the second acceleration sequence.

Here, speed is a speed sequence containing at least two speed values. Specifically, a method of obtaining a third acceleration curve corresponding to speed includes determining at least two acceleration values based on at least two speed values; It may include determining a third acceleration curve based on at least two accelerations.

Specifically, the forward axis (Z) and the forward axis direction can be determined by referring to the “first possible embodiment” and/or the “second possible embodiment” in S302, and redundant descriptions are omitted here. Specifically, the third acceleration curve corresponds to the second acceleration curve g1 in S302.

S304: If the axis corresponding to the gravity axis and the yaw angle are determined to be the same based on the angular velocity and yaw angle, the lateral displacement axis and the lateral displacement axis are determined based on the right-handed coordinate system, gravity axis, gravity axis direction, forward axis, and forward axis direction. Decide on the direction.

In a first possible embodiment, the angular velocity comprises a three-axis angular velocity sequence; The step of determining that the axis corresponding to the gravity axis and the yaw angle is the same based on the angular velocity and yaw angle is based on the first angular velocity curve corresponding to the obtained angular velocity sequence of each axis and the second angular velocity curve corresponding to the yaw angle, determining a third error value corresponding to the angular velocity sequence; If a target error value that is less than or equal to a preset threshold exists among the third error values corresponding to the angular velocity sequence of each axis, determining that the gravity axis and the axis corresponding to the yaw angle are the same.

For example, the three-axis angular velocity sequence is a first-axis angular velocity sequence, a second-axis angular velocity sequence, and a third-axis angular velocity sequence, respectively, and corresponds to the angular velocity sequence of each axis based on at least two angular velocity values included in the angular velocity sequence of each axis. The first angular velocity curve can be determined. For example, the first angular velocity curve (wx) is obtained based on at least two angular velocity values included in the first axis angular velocity sequence, and the first angular velocity curve (wx) is obtained based on the at least two angular velocity values included in the second axis angular velocity sequence. A curve (wy) is acquired, and a first angular velocity curve (wz) is acquired based on at least two angular velocity values included in the third axis angular velocity sequence. Here, the yaw angle is a yaw angle sequence including at least two yaw angle values, and the second angular velocity curve (sy) can be obtained from the yaw angle sequence including at least two yaw angle values.

Specifically, according to a preset curve error determination method, the second angular velocity curve (sy) and the first angular velocity curve (wx) are processed to obtain a third error value (Bx); Processing the second angular velocity curve (sy) and the second angular velocity curve (wy) to obtain a third error value (By); A third error value (Bz) can be obtained by processing the second angular velocity curve (sy) and the third angular velocity curve (wz). If a target error value (for example, By) that is less than a preset threshold exists among the third error values (Bx, By, Bz), it is determined that the gravity axis and the axis corresponding to the yaw angle are the same. Optionally, the preset threshold may be 0.1, 0.05, etc. Specifically, the present application is not limited thereto.

In a second possible embodiment, based on the obtained two first angular velocity curves corresponding to the angular velocity sequence of each axis and the second angular velocity curve corresponding to the yaw angle, a third error value corresponding to each first angular velocity curve is determined; ; If a target error value that is less than or equal to a preset threshold exists among the third error values corresponding to each angular velocity sequence, it is determined that the axis of gravity and the axis corresponding to the yaw angle are the same.

Below, using the first axis angular velocity sequence as an example, determination of the third error value corresponding to each of the first angular velocity curves (wx1 and wx2) will be explained. Specifically, a first angular velocity curve (wx1) is determined based on at least two angular velocity values included in the first axis angular velocity sequence, and a first angular velocity curve (wx1) is determined based on at least two angular velocity values included in the opposite sequence of the first axis angular velocity sequence. 1 Determine an angular velocity curve (wx2), wherein at least two angular velocity values included in the opposite sequence and at least two angular velocity values included in the first axis angular velocity sequence are opposite to each other. Process the second angular velocity curve (sy) and the first angular velocity curve (wx1) through a preset curve error determination method to obtain a third error value (Bx1); The second angular velocity curve (sy) and the first angular velocity curve (wx2) are processed to obtain a third error value (Bx2).

Likewise, two first angular velocity curves (wy1 and wy2) corresponding to the second axis angular velocity sequence, a third error value (By1) corresponding to the first angular velocity curve (wy1), and a first angular velocity curve (wy2) corresponding to the second axis angular velocity sequence. 3 error value (By2), two first angular velocity curves (wz1 and wz2) corresponding to the third axis angular velocity sequence, third error value (Bz1) corresponding to the first angular velocity curve (wz1), and first angular velocity curve (wz2) ) can be obtained. If there is a target error value (for example, By1) that is less than the preset threshold among the third error values (Bx1, Bx2, By1, By2, Bz1, Bz2), it is determined that the gravity axis and the axis corresponding to the yaw angle are the same. .

In particular, reference may be made to a specific drawing in which the lateral displacement axis and the lateral displacement axis direction are determined based on the right-handed coordinate system, the gravity axis, the gravity axis direction, the forward axis, and the forward axis direction in the embodiment of FIG. 4. Figure 4 is a diagram showing determining the lateral displacement axis and the direction of the lateral displacement axis provided in the present application. As shown in Figure 4, the thumb indicates the gravity axis, the pointing direction of the thumb is the gravity axis direction, the index finger indicates the forward axis, the pointing direction of the index finger is the forward axis direction, and the middle finger indicates the lateral displacement axis. Indicates that the pointing direction of the middle finger is the direction of the lateral displacement axis. Here, the gravity axis, the advancement axis, and the lateral displacement axis are each perpendicular to each other. In the present application, after determining the gravity axis, the gravity axis direction, the advance axis, and the advance axis direction, the lateral displacement axis and the lateral displacement axis direction can be determined based on the right-handed coordinate system.

S305: Determine the heading angle of the forward axis based on the acceleration sequence corresponding to the forward axis and the acceleration sequence corresponding to the lateral displacement axis.

In one possible embodiment, the acceleration sequence corresponding to the forward axis includes at least one first acceleration value, and the acceleration sequence corresponding to the lateral displacement axis includes at least one second acceleration value; The step of determining the heading angle of the forward axis based on the acceleration sequence corresponding to the forward axis and the acceleration sequence corresponding to the lateral displacement axis includes the first average value of the at least one first acceleration value and the at least one second acceleration value. obtain a second average value; It includes the step of processing the first average value and the second average value through a preset model to obtain the heading angle of the forward axis.

Specifically, the first average value can be determined based on (Equation 2) below.

(Formula 2);

here, is the first average value, is the ith first acceleration value, i is a value between 1 and n, and n is the total quantity of at least one first acceleration value.

Specifically, the second average value can be determined based on (Equation 3) below.

(Formula 3);

here, is the second average value, is the ith second acceleration value, i is a value between 1 and m, and m is the total quantity of at least one second acceleration value.

Furthermore, the heading angle of the forward axis can be obtained by processing the first and second average values based on the preset model below.

(Formula 4).

Specifically, when g is maximum, the heading angle of the forward axis can be obtained.

S306: Determine conversion information based on the heading angle, gravity axis, gravity axis direction, advance axis, advance axis direction, lateral displacement axis, and lateral displacement axis direction.

Specifically, after determining the gravity axis, gravity axis direction, forward axis, forward axis direction, lateral displacement axis, and lateral displacement axis direction, conversion information can be determined through (Equation 5) below.

(Equation 5);

Here, T _C is the transformation information, R _Z (ϕ) is the rotation matrix corresponding to the heading angle (ϕ) of the advancing axis (having the advancing axis direction), and R _Y (θ) is the gravity axis (having the gravity axis direction). is a rotation matrix corresponding to the heading angle (θ) of the lateral displacement axis, and _R

In the present application, the carrier on which the inertial navigation system is installed moves along the forward axis (Z). Therefore, R _Y ( _θ ) and R

When R _Y (θ) and R _X (ψ) are both identity matrices, am.

S307: Based on the transformation information and the first position information of the carrier in the inertial coordinate system, the second position information of the carrier in the navigation coordinate system is determined.

Specifically, based on the yaw angle collected by the navigation measurement device and the angular velocity collected by the gyroscope among the inertial measurement devices, the unit of angular velocity (radians/second, or degrees/second) is determined; Based on the unit of angular velocity, first position information T _I of the carrier in the inertial coordinate system is obtained through extended Kalman filter (EKF) estimation processing for the acceleration and angular velocity collected by the inertial measurement device.

Here, the prior art may be referred to for determining the unit of angular velocity. Here, redundant explanations are omitted.

Furthermore, according to Equation 1, the first position information T _I and the transformation information T _C can be processed to obtain the second position information of the carrier in the navigation coordinate system.

Optionally, after S307, preset position information of the carrier in the navigation coordinate system is acquired, and accuracy of determining the second position information is improved based on the preset position information and the second position information.

Specifically, the similarity of the location information may be determined based on the preset location information and the second location information, and if the similarity is determined to be greater than the preset value, the accuracy of the conversion information is determined to be higher. Here, the preset value may be 0.9, 0.8, etc. Here, there is no limitation to the preset value. Specifically, the higher the accuracy of the conversion information, the more accurate the data collected by inertial measurement devices, speed measurement devices, and navigation measurement devices.

Unlike the prior art, in some prior art, before determining the second position information of the carrier in the navigation coordinate system, a cycle of detection, calibration, detection, calibration is common for the inertial measurement device, the speed measurement device and the navigation measurement device. It takes longer and wastes time and human resources. After detection and calibration, conversion information can be obtained based on preset data information (including axial direction and angle), and the conversion information is generally fixed and invariant, so the accuracy of the second position information of the carrier is lower; Stability is low.

In the present application, before determining the second position information of the carrier in the navigation coordinate system, there is no need to perform detection and calibration on the inertial measurement device, speed measurement device and navigation measurement device, saving time and human resources. You can. Additionally, since the obtained conversion information is practically related to the movement of the carrier, the accuracy and stability of the second location information of the carrier are improved.

The method for determining location information provided in this embodiment includes the steps of acquiring acceleration and angular velocity collected by an inertial measurement device, velocity collected by a speed measurement device, and yaw angle collected by a navigation measurement device within a preset time; Determining the gravity axis and gravity axis direction based on the acceleration and the preset acceleration; Determining the forward axis and direction of the forward axis based on acceleration and speed; If the axis corresponding to the gravity axis and the yaw angle are determined to be the same based on the angular velocity and yaw angle, the lateral displacement axis and the lateral displacement axis direction are determined based on the right-handed coordinate system, gravity axis, gravity axis direction, advance axis, and advance axis direction. deciding step; determining a heading angle of the forward axis based on the acceleration sequence corresponding to the forward axis and the acceleration sequence corresponding to the lateral displacement axis; determining transformation information based on the heading angle, gravity axis, gravity axis direction, advance axis, advance axis direction, lateral displacement axis and lateral displacement axis direction; and determining second position information of the carrier in the navigation coordinate system based on the transformation information and first position information of the carrier in the inertial coordinate system. In the above-described method, the accuracy of the conversion information is improved by determining the conversion information based on the heading angle, gravity axis, gravity axis direction, advance axis, advance axis direction, lateral displacement axis, and lateral displacement axis direction, and further improves the accuracy of the conversion information. 2 The accuracy and stability of location information can be improved.

Figure 5 is a structural diagram of a location information determination device provided in this application. The location information determination device 50 is applied to a carrier, and an inertial navigation system is installed on the carrier. The location information determination device 50 includes an acquisition module 501 and a decision module 502, Here, the acquisition module 501 acquires the acceleration, angular velocity, velocity and yaw angle collected by the inertial navigation system; The decision module 502 determines conversion information based on the acceleration, angular velocity, velocity, and yaw angle; The determination module 502 also determines the second position information of the carrier in the navigation coordinate system based on the transformation information and the first position information of the carrier in the inertial coordinate system.

The location information determination device provided in this embodiment can implement the technical solution according to any of the above-described method embodiments, and since its implementation principle and technical effect are similar, detailed description thereof will be omitted here.

In one possible embodiment, the determination module 502 specifically determines the gravity axis, the gravity axis direction, the advance axis, the advance axis direction, the lateral displacement axis, and the lateral direction, based on the acceleration, the angular velocity, the velocity, and the yaw angle. determine the displacement axis direction; Determine the conversion information based on the gravity axis, the gravity axis direction, the forward axis, the forward axis direction, the lateral displacement axis, the lateral displacement axis direction, the acceleration on the forward axis, and the acceleration on the lateral displacement axis. do.

In another possible embodiment, the determination module 502 specifically determines the gravity axis and the gravity axis direction based on the acceleration and a preset acceleration; Based on the acceleration and the speed, determine the forward axis and the forward axis direction; If the gravity axis and the axis corresponding to the yaw angle are determined to be the same based on the angular velocity and the yaw angle, based on the right-handed coordinate system, the gravity axis, the gravity axis direction, the forward axis and the forward axis direction, Determine the lateral displacement axis and the direction of the lateral displacement axis.

In another possible embodiment, the decision module 502 specifically corresponds to the acceleration sequence of each axis based on the first acceleration curve corresponding to the acquired acceleration sequence of each axis and the second acceleration curve corresponding to the preset acceleration. determine a first error value; A first acceleration sequence is determined based on a first error value corresponding to the acceleration sequence of each axis, wherein the first error value corresponding to the first acceleration sequence is the smallest; An axis corresponding to the first acceleration sequence is determined as the gravity axis, and the direction of the gravity axis is determined based on the acceleration value included in the first acceleration sequence.

In another possible embodiment, the decision module 502 specifically determines the acceleration sequence of each axis based on the obtained first acceleration curve corresponding to the acceleration sequence of each axis and the third acceleration curve corresponding to the speed. determine a second error value; Determining a second acceleration sequence based on a second error value corresponding to the acceleration sequence of each axis, wherein the second error value corresponding to the second acceleration sequence is the smallest; The axis corresponding to the second acceleration sequence is determined as the forward axis, and the direction of the forward axis is determined based on the acceleration value included in the second acceleration sequence.

In another possible embodiment, the angular velocity comprises a three-axis angular velocity sequence; The decision module 502 also determines a third error value corresponding to the angular velocity sequence of each axis based on the obtained first angular velocity curve corresponding to the angular velocity sequence of each axis and the second angular velocity curve corresponding to the yaw angle, ; If a target error value that is less than or equal to a preset threshold exists among the third error values corresponding to the angular velocity sequence of each axis, it is determined that the gravity axis and the axis corresponding to the yaw angle are the same.

In another possible embodiment, the determination module 502 specifically determines the heading angle of the forward axis based on the acceleration sequence corresponding to the forward axis and the acceleration sequence corresponding to the lateral displacement axis; The conversion information is determined based on the heading angle, the gravity axis, the gravity axis direction, the advance axis, the advance axis direction, the lateral displacement axis, and the lateral displacement axis direction.

In another possible embodiment, the acceleration sequence corresponding to the forward axis includes at least one first acceleration value, and the acceleration sequence corresponding to the lateral displacement axis includes at least one second acceleration value; Specifically, the decision module 502 obtains a first average value of the at least one first acceleration value and a second average value of the at least one second acceleration value; The first average value and the second average value are processed through a preset model to obtain the heading angle of the forward axis.

In another possible embodiment, the inertial navigation system includes an inertial measurement device, a speed measurement device and a navigation measurement device; Specifically, the acquisition module 501 acquires the acceleration and angular velocity collected by the inertial measurement device, the velocity collected by the speed measurement device, and the yaw angle collected by the navigation measurement device within a preset time. .

The location information determination device provided in this embodiment can perform the technical solution according to any of the above-described method embodiments, and since its implementation principle and technical effect are similar, detailed description thereof will be omitted here.

According to an embodiment of the present application, the present application further provides a computer program stored in a computer-readable storage medium, wherein at least one processor of the electronic device is capable of reading computer instructions from the readable storage medium, and the at least one processor Executes a computer program to cause the electronic device to perform a method according to any of the above-described embodiments.

According to an embodiment of the present application, the present application further provides an electronic device and a readable storage medium. Figure 6 is a block diagram of an electronic device according to an embodiment of the present application. The electronic devices shown in Figure 6 refer to various types of digital computers, such as laptop computers, desktop computers, work stations, personal digital assistants, servers, blade servers, large computers, and other suitable computers. Electronic devices may refer to various types of mobile devices, such as personal digital assistants, cell phones, smart phones, wearable devices, and other similar computing devices. The elements disclosed in the text, their connections and relationships, and their functions are exemplary only and are not intended to limit the implementation of the present application as disclosed and/or required in the text.

As shown in FIG. 6, the electronic device includes one or more processors 601, a memory 602, and an interface including a high-speed interface and a low-speed interface for connecting each member. Each member is connected to each other through a different bus and can be mounted on a common main board or in other ways depending on demand. The processor may process instructions executed within the electronic device and stored in or on memory to display graphical information of the GUI on an external input/output device (e.g., a display device coupled to the interface). It can be included. In other embodiments, multiple processors and/or multiple buses and multiple memories may be used together, depending on demand. Likewise, multiple electronic devices can be connected, each device providing part of the required operation (e.g., as a server array, a set of blade servers, or a multi-processor system). Figure 6 takes one processor 601 as an example.

Memory 602 is a non-transitory computer-readable storage medium according to the present application. Here, the memory stores instructions that can be executed by at least one processor, so that the at least one processor performs the method for determining location information according to the present application. The non-transitory computer-readable storage medium of the present application stores computer instructions, and the computer instructions cause the computer to perform the method of determining location information according to the present application.

The memory 602 is a non-transitory computer-readable storage medium, including non-transitory software programs, non-transitory computer-executable programs and modules, such as program instructions/modules (e.g., For example, the acquisition module 501 and decision module 502 shown in FIG. 5 may be stored. The processor 601 executes non-transitory software programs, instructions, and modules stored in the memory 602 to perform various functional applications and data processing of the server. That is, the location information determination method among the above-described method embodiments is implemented.

The memory 602 may include a program storage area and a data storage area. Here, the program storage area may store an operating system and an application program required for at least one function. The data storage area may store data configured according to the use of an electronic device that performs a location information determination device. Meanwhile, memory 602 may include high-speed random access memory, and may also include non-transitory memory, such as, for example, at least one magnetic storage device, flash memory, or other non-transitory solid state storage device. In some embodiments, memory 602 may optionally include memory installed remotely to processor 601. This remote memory can be connected via a network to an electronic device that performs a location information determination method. Examples of the above-described networks include, but are not limited to, the Internet, intranet, local area network, mobile communication network, and combinations thereof.

The electronic device that performs the location information determination method may further include an input device 603 and an output device 604. The processor 601, memory 602, input device 603, and output device 604 may be connected through a bus or other methods, and FIG. 6 illustrates connection through a bus.

The input device 603 can receive input numeric or character code information and generate key signal input for user settings and function control of XXX electronic devices. For example, there are input devices such as a touch screen, keypad, mouse, trackpad, touch panel, indicator lever, one or more mouse buttons, track ball, and control lever. The output device 604 may include a display device, an auxiliary lighting device (eg, LED), a tactile feedback device (eg, a vibration motor), etc. The display device may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display, and a plasma display. In some embodiments, the display device may be a touch screen.

Various embodiments of the systems and techniques described herein may be implemented in digital electronic circuit systems, integrated circuit systems, dedicated ASICs (dedicated integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs, and the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, and the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor. The processor may be a dedicated or general-purpose programmable processor, and is capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and sending data and instructions to the storage system and the at least one input device. , and transmit it to at least one output device.

Such computer programs (also referred to as programs, software, software applications, or code) contain mechanical instructions on a programmable processor and may be written using high-level process and/or object-oriented programming languages, and/or assembly/machine languages. It can be run. For example, as used herein, the terms “machine-readable medium” and “computer-readable medium” refer to any computer program product, device, and/or device for providing mechanical instructions and/or data to a programmable processor (e.g., Refers to magnetic disks, optical disks, memory, programmable logic devices (PLDs), and includes machine-readable media that receive mechanical instructions, which are machine-readable signals. The term “machine-readable signal” refers to any signal intended to provide mechanical instructions and/or data to a programmable processor.

In order to provide interaction with a user, the systems and techniques described herein may be implemented on a computer, which computer may be equipped with a display device (e.g., a cathode ray tube (CRT) or LCD (LCD)) to display information to the user. liquid crystal display) monitor); and a keyboard and a pointing device (eg, a mouse or a trackball), and the user can provide input to the computer through the keyboard and the pointing device. Other types of devices may also provide interaction with the user. For example, the feedback provided to the user may be any form of sensing feedback (e.g., visual feedback, auditory feedback, or tactile feedback); Input from the user may be received through any form (sound input, voice input, or tactile input).

The systems and techniques described herein may be computing systems that include background components (e.g., as data servers), or computing systems that include intermediate components (e.g., application servers), or computing systems that include front-end components. A system (e.g., a user's computer equipped with a graphical user interface or an Internet browser, through which the user can interact with embodiments of the systems and technologies described herein), or such background. It can be implemented in any combination of computing systems, including a central component, an intermediate component, or a front-end component. Elements of the system may be connected to each other through digital data communication (e.g., a communications network) in any form or medium. Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

A computer system may include clients and servers. Clients and servers are generally remote from each other and typically interact through a communications network. A client-server relationship is created through computer programs that run on the corresponding computer and have a client-server relationship with each other.

Steps can be rearranged, added, or deleted using the various types of processes described above. For example, each step described in the present application may be performed in parallel, sequentially, or in a different order, and as long as the technical solution disclosed in the present application can achieve the desired result, the text shall It is not limited to

The specific embodiments described above do not limit the scope of protection of this application. Those of ordinary skill in the art will understand that various modifications, combinations, sub-combinations and substitutions can be made based on design needs and other factors. All modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be considered to fall within the scope of protection of this application.

Claims (21)

In a method for determining location information applied to a carrier and having an inertial navigation system installed on the carrier, the method includes:
Obtaining acceleration, angular velocity, velocity, and yaw angle collected by the inertial navigation system;
determining a gravity axis, a gravity axis direction, a forward axis, a forward axis direction, a lateral displacement axis, and a lateral displacement axis direction based on the acceleration, the angular velocity, the velocity, and the yaw angle;
Determining conversion information based on the gravity axis, the gravity axis direction, the forward axis, the forward axis direction, the lateral displacement axis, the lateral displacement axis direction, the acceleration on the forward axis, and the acceleration on the lateral displacement axis. ;
Based on the transformation information and the first position information of the carrier in the inertial coordinate system, determining second position information of the carrier in the navigation coordinate system,
Based on the acceleration, the angular velocity, the velocity, and the yaw angle, determining the gravity axis, the gravity axis direction, the advance axis, the advance axis direction, the lateral displacement axis, and the lateral displacement axis direction,
determining the gravity axis and the direction of the gravity axis based on the acceleration and a preset acceleration;
determining the forward axis and the forward axis direction based on the acceleration and the velocity;
If the gravity axis and the axis corresponding to the yaw angle are determined to be the same based on the angular velocity and the yaw angle, based on the right-handed coordinate system, the gravity axis, the gravity axis direction, the forward axis, and the forward axis direction, the lateral direction A method comprising: determining a displacement axis and a direction of the lateral displacement axis. delete delete According to paragraph 1,
The acceleration includes a three-axis acceleration sequence; The step of determining the gravity axis and the direction of the gravity axis based on the acceleration and the preset acceleration,
Determining a first error value corresponding to the acceleration sequence of each axis based on the obtained first acceleration curve corresponding to the acceleration sequence of each axis and the second acceleration curve corresponding to the preset acceleration;
determining a first acceleration sequence based on a first error value corresponding to the acceleration sequence of each axis, wherein the first error value corresponding to the first acceleration sequence is the smallest;
Determining an axis corresponding to the first acceleration sequence as the gravity axis, and determining the direction of the gravity axis based on the acceleration value included in the first acceleration sequence. According to paragraph 1,
The step of determining the forward axis and the forward axis direction based on the acceleration and the velocity,
determining a second error value corresponding to the acceleration sequence of each axis based on the obtained first acceleration curve corresponding to the acceleration sequence of each axis and a third acceleration curve corresponding to the velocity;
determining a second acceleration sequence based on a second error value corresponding to the acceleration sequence of each axis, wherein the second error value corresponding to the second acceleration sequence is the smallest;
Determining the axis corresponding to the second acceleration sequence as the forward axis, and determining the direction of the forward axis based on the acceleration value included in the second acceleration sequence. According to paragraph 1,
The angular velocity includes a three-axis angular velocity sequence; The step of determining that the gravity axis and the axis corresponding to the yaw angle are the same based on the angular velocity and the yaw angle,
Determining a third error value corresponding to the angular velocity sequence of each axis based on the obtained first angular velocity curve corresponding to the angular velocity sequence of each axis and the second angular velocity curve corresponding to the yaw angle;
If a target error value that is less than or equal to a preset threshold exists among the third error values corresponding to the angular velocity sequence of each axis, determining that the gravity axis and the axis corresponding to the yaw angle are the same; How to. According to paragraph 1,
Determine the conversion information based on the gravity axis, the gravity axis direction, the forward axis, the forward axis direction, the lateral displacement axis, the lateral displacement axis direction, the acceleration on the forward axis, and the acceleration on the lateral displacement axis. The steps are:
determining a heading angle of the forward axis based on an acceleration sequence corresponding to the forward axis and an acceleration sequence corresponding to the lateral displacement axis;
Determining the conversion information based on the heading angle, the gravity axis, the gravity axis direction, the advance axis, the advance axis direction, the lateral displacement axis, and the lateral displacement axis direction. How to. In clause 7,
The acceleration sequence corresponding to the forward axis includes at least one first acceleration value, and the acceleration sequence corresponding to the lateral displacement axis includes at least one second acceleration value; The step of determining the heading angle of the forward axis based on the acceleration sequence corresponding to the forward axis and the acceleration sequence corresponding to the lateral displacement axis includes:
Obtaining a first average value of the at least one first acceleration value and a second average value of the at least one second acceleration value;
Processing the first average value and the second average value through a preset model to obtain a heading angle of the forward axis. According to any one of claims 1, 4 to 8,
The inertial navigation system includes an inertial measurement device, a speed measurement device and a navigation measurement device; The step of acquiring the acceleration, angular velocity, velocity, and yaw angle collected by the inertial navigation system is,
A method comprising obtaining, within a preset time, the acceleration and angular velocity collected by the inertial measurement device, the velocity collected by the speed measurement device, and the yaw angle collected by the navigation measurement device. . In the position information determination device applied to a carrier and having an inertial navigation system installed on the carrier, the device includes an acquisition module and a decision module,
The acquisition module acquires acceleration, angular velocity, velocity and yaw angle collected by the inertial navigation system;
The determination module determines a gravity axis, a gravity axis direction, a forward axis, a forward axis direction, a lateral displacement axis, and a lateral displacement axis direction based on the acceleration, the angular velocity, the velocity, and the yaw angle;
Determine conversion information based on the gravity axis, the gravity axis direction, the forward axis, the forward axis direction, the lateral displacement axis, the lateral displacement axis direction, the acceleration on the forward axis, and the acceleration on the lateral displacement axis; ;
The determination module also determines second position information of the carrier in the navigation coordinate system based on the transformation information and first position information of the carrier in the inertial coordinate system,
The decision module is specifically,
Based on the acceleration and a preset acceleration, determine the gravity axis and the direction of the gravity axis;
Based on the acceleration and the speed, determine the forward axis and the forward axis direction;
If the gravity axis and the axis corresponding to the yaw angle are determined to be the same based on the angular velocity and the yaw angle, based on the right-handed coordinate system, the gravity axis, the gravity axis direction, the forward axis, and the forward axis direction, the lateral direction A device characterized in that it determines the displacement axis and the direction of the transverse displacement axis. delete delete According to clause 10,
The decision module is specifically,
Determining a first error value corresponding to the acceleration sequence of each axis based on the obtained first acceleration curve corresponding to the acceleration sequence of each axis and the second acceleration curve corresponding to the preset acceleration;
A first acceleration sequence is determined based on a first error value corresponding to the acceleration sequence of each axis, wherein the first error value corresponding to the first acceleration sequence is the smallest;
A device characterized in that the axis corresponding to the first acceleration sequence is determined as the gravity axis, and the gravity axis direction is determined based on the acceleration value included in the first acceleration sequence. According to clause 10,
The decision module is specifically,
determining a second error value corresponding to the acceleration sequence of each axis based on the obtained first acceleration curve corresponding to the acceleration sequence of each axis and the third acceleration curve corresponding to the velocity;
determining a second acceleration sequence based on a second error value corresponding to the acceleration sequence of each axis, wherein the second error value corresponding to the second acceleration sequence is the smallest;
A device characterized in that the axis corresponding to the second acceleration sequence is determined as the forward axis, and the forward axis direction is determined based on the acceleration value included in the second acceleration sequence. According to clause 10,
The angular velocity includes a three-axis angular velocity sequence; The decision module also,
Determining a third error value corresponding to the angular velocity sequence of each axis based on the obtained first angular velocity curve corresponding to the angular velocity sequence of each axis and the second angular velocity curve corresponding to the yaw angle;
A device characterized in that, if a target error value that is less than or equal to a preset threshold exists among the third error values corresponding to the angular velocity sequence of each axis, the axis of gravity and the axis corresponding to the yaw angle are determined to be the same. According to clause 10,
The decision module is specifically,
determining a heading angle of the forward axis based on an acceleration sequence corresponding to the forward axis and an acceleration sequence corresponding to the lateral displacement axis;
A device characterized in that the conversion information is determined based on the heading angle, the gravity axis, the gravity axis direction, the advance axis, the advance axis direction, the lateral displacement axis, and the lateral displacement axis direction. According to clause 16,
The acceleration sequence corresponding to the forward axis includes at least one first acceleration value, and the acceleration sequence corresponding to the lateral displacement axis includes at least one second acceleration value; The decision module is specifically,
obtain a first average value of the at least one first acceleration value and a second average value of the at least one second acceleration value;
A device characterized in that the heading angle of the forward axis is obtained by processing the first average value and the second average value through a preset model. According to any one of claims 10, 13 to 17,
The inertial navigation system includes an inertial measurement device, a speed measurement device and a navigation measurement device; The acquisition module is specifically:
A device characterized in that, within a preset time, acquiring the acceleration and angular velocity collected by the inertial measurement device, the velocity collected by the speed measurement device, and the yaw angle collected by the navigation measurement device. Electronics,
at least one processor; and
Including a memory connected to communication with the at least one processor,
An instruction executable by the at least one processor is stored in the memory, and the instruction is executed by the at least one processor, so that the at least one processor executes any of claims 1, 4 to 8. An electronic device characterized in that it allows performing the method according to one clause. A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions cause a computer to perform the method according to any one of claims 1, 4 to 8. In a computer program stored on a computer-readable storage medium,
A computer program that implements the method according to any one of claims 1, 4 to 8 when the computer program is executed by a processor.