KR20210049044A - Method, apparatus and device for determining location information - Google Patents

Abstract

The present application discloses a method, an apparatus and a device for determining location information, and relates to a technical field of an inertial navigation system. The method of the present invention comprises: a step of acquiring an acceleration, an angular velocity, a velocity and a yaw angle collected by an inertial navigation system; a step of determining transformation information based on the acceleration, the angular velocity, the velocity, and the yaw angle; and a step of determining second position information of a carrier in a navigation coordinate system based on the transformation information and first position information of the carrier in an inertial coordinate system. The method provided in this embodiment can improve the accuracy and stability of second position information of the carrier in the navigation coordinate system.

Description

Method, apparatus and device for determining location information TECHNICAL FIELD

The present application relates to the technical field of an inertial navigation system, and more particularly, to a method, an apparatus and a device for determining location information.

Inertial Navigation System (INS) is generally installed on a carrier (eg, a vehicle, a bracelet, etc.), and can determine the location information of the carrier in the navigation coordinate system.

In a related art, a method of obtaining position information of a carrier in a navigation coordinate system by an INS includes: determining transformation information based on preset data information (including an axis direction and an angle); And determining the location information of the carrier in the navigation coordinate system based on the transformation information and the location information of the carrier in the inertial coordinate system.

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

It provides a method, apparatus, and apparatus for determining location information that improves the accuracy and stability of determining second location information of a carrier in a navigation coordinate system.

According to a first aspect, the present application provides a method for determining location information, is applied to a carrier, and an inertial navigation system is installed on the carrier. The method includes: acquiring 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; And determining 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.

In one possible embodiment, the inertial navigation system comprises a gravity axis, a forward axis and a transverse displacement axis; On the basis of the acceleration, the angular velocity, the velocity, and the yaw angle, the step of determining the conversion information may include, based on the acceleration, the angular velocity, the velocity and the yaw angle, a gravitational axis, a gravitational axis direction, a forward axis, and a forward axis Determining a direction, a transverse displacement axis, and a transverse displacement axis direction; Based on the gravitational axis, the gravitational axis direction, the advancing axis, the advancing axis direction, the transverse displacement axis, the transverse displacement axis direction, the acceleration on the advancing axis, and the acceleration on the transverse displacement axis, the conversion information is determined It includes;

In another possible embodiment, based on the acceleration, the angular velocity, the velocity, and the yaw angle, determining a gravity axis, a gravity axis direction, a forward axis, a forward axis direction, a transverse displacement axis and the transverse displacement axis direction, Determining the gravitational axis and the gravitational axis direction based on the acceleration and a preset acceleration; Determining the forward axis and the forward axis direction based on the acceleration and the speed; If it is determined that the gravity axis and the axis corresponding to the yaw angle are the same based on the angular velocity and the yaw angle, based on the right-hand coordinate system, the gravitational axis, the gravitational axis direction, the advancing axis and the advancing axis direction, the And determining a transverse displacement axis and a direction of the transverse displacement axis.

In another possible embodiment, the acceleration comprises a triaxial acceleration sequence; The step of determining the gravity axis and the direction of the gravity axis based on the acceleration and a preset acceleration may include a first acceleration curve corresponding to the acquired acceleration sequence of each axis and a second acceleration curve corresponding to a preset acceleration. Determining a first error value corresponding to an 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 a first error value corresponding to the first acceleration sequence is smallest; And determining an axis corresponding to the first acceleration sequence as the axis of gravity, and determining a direction of the axis of gravity 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 comprises: a first acceleration curve corresponding to the obtained acceleration sequence of each axis and a third acceleration curve corresponding to the velocity. Determining a second error value corresponding to an acceleration sequence of each axis based on the acceleration curve; Determining a second acceleration sequence based on a second error value corresponding to the acceleration sequence of each axis, wherein a second error value corresponding to the second acceleration sequence is the smallest; And determining an axis corresponding to the second acceleration sequence as an advance axis, and determining a direction of the advance axis based on an acceleration value included in the second acceleration sequence.

In another possible embodiment, the angular velocity comprises a triaxial 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 comprises: 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. Determining a third error value corresponding to the angular velocity sequence of each axis as a basis; And if there is a target error value equal to or greater than a preset threshold among the third error values corresponding to the angular velocity sequence of each axis, determining that the axis of gravity and the axis corresponding to the yaw angle are the same.

In another possible embodiment, based on the gravitational axis, the gravitational axis direction, the advancing axis, the advancing axis direction, the transverse displacement axis, the transverse displacement axis direction, the acceleration on the advancing axis and the acceleration on the transverse displacement axis. , The determining of the conversion information includes: determining a heading angle of the advance axis based on an acceleration sequence corresponding to the advance axis and an acceleration sequence corresponding to the transverse displacement axis; And determining the conversion information based on the heading angle, the gravity axis, the direction of the gravity axis, the advance axis, the direction of the advance axis, the transverse displacement axis and the transverse 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 transverse displacement axis includes at least one second acceleration value; Based on the acceleration sequence corresponding to the forward axis and the acceleration sequence corresponding to the transverse displacement axis, determining the heading angle of the advance axis may include 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; And obtaining a heading angle of the forward axis by processing the first average value and the second average value through a preset model.

In another possible embodiment, the inertial navigation system comprises an inertial measuring device, a speed measuring device and a navigation measuring device; The step of obtaining the acceleration, angular velocity, velocity, and yaw angle collected by the inertial navigation system may include the acceleration and the angular velocity collected by the inertial measurement device, the velocity collected by the velocity measuring device, and the And acquiring the yaw collected by the navigation measuring device.

According to a second aspect, the present application provides a location information determination apparatus, applied to a carrier, and an inertial navigation system installed on the carrier. The apparatus includes an acquisition module and a determination 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 further determines 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.

In one possible embodiment, the determination module is specifically, based on the acceleration, the angular velocity, the velocity, and the yaw angle, the axis of gravity, the direction of the gravity axis, the direction of the forward axis, the direction of the forward axis, the direction of the transverse displacement axis and the direction of the transverse displacement axis To determine; Based on the gravitational axis, the gravitational axis direction, the advancing axis, the advancing axis direction, the transverse displacement axis, the transverse displacement axis direction, the acceleration on the advancing axis, and the acceleration on the transverse displacement axis, the conversion information is determined do.

In another possible embodiment, the determination module specifically determines, based on the acceleration and a preset acceleration, the axis of gravity and the direction of the axis of gravity; Determining the forward axis and the forward axis direction based on the acceleration and the speed; If it is determined that the gravity axis and the axis corresponding to the yaw angle are the same based on the angular velocity and the yaw angle, based on the right-hand coordinate system, the gravitational axis, the gravitational axis direction, the advancing axis and the advancing axis direction, the The transverse displacement axis and the transverse displacement axis direction are determined.

In another possible embodiment, the determination module is 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 sequence 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, and 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 axis of gravity, and a direction of the axis of gravity is determined based on an acceleration value included in the first acceleration sequence.

In another possible embodiment, the determination module is specifically based on the first acceleration curve corresponding to the acquired acceleration sequence of each axis and the third acceleration curve corresponding to the velocity, and the second error corresponding to the acceleration sequence of each axis. Determine the value; A second acceleration sequence is determined based on a second error value corresponding to the acceleration sequence of each axis, and the second error value corresponding to the second acceleration sequence is the smallest; An axis corresponding to the second acceleration sequence is determined as an advance axis, and a direction of the advance axis is determined based on an acceleration value included in the second acceleration sequence.

In another possible embodiment, the angular velocity comprises a triaxial angular velocity sequence; The determination module further determines a third error value corresponding to the angular velocity sequence of each axis, 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; If there is a target error value equal to or greater than a preset threshold 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, based on an acceleration sequence corresponding to the advance axis and an acceleration sequence corresponding to the transverse displacement axis, a heading angle of the advance axis; The transformation information is determined based on the heading angle, the gravitational axis, the gravitational axis direction, the advancing axis, the advancing axis direction, the transverse displacement axis and the transverse 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 transverse displacement axis includes at least one second acceleration value; Specifically, the determination module is configured to 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; The first average value and the second average value are processed through a preset model to obtain a heading angle of the forward axis.

In another possible embodiment, the inertial navigation system comprises an inertial measuring device, a speed measuring device and a navigation measuring device; Specifically, the acquisition module acquires the acceleration and the angular velocity collected by the inertial measurement device, the velocity collected by the velocity 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 that is 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 Allows the processor of 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 in which computer instructions are stored, which computer instructions cause a computer to perform the method according to any one of the first aspects.

According to the fifth aspect, the present application provides a computer program stored in a computer-readable storage medium, at least one processor of an electronic device can read 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.

The present application provides a method, an apparatus, and a device for determining location information. The method includes: acquiring 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; And determining 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. According to the technology of the present application, it is possible to solve the problem that the location information of the carrier in the navigation coordinate system determined by the fixed invariant transform information is not accurate, and improve the accuracy and stability of the location information of the carrier in the navigation coordinate system.

It should be understood that the content described in this section is not intended to specify the core 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 following specification.

The accompanying drawings are provided to more fully understand the method, and are not limited to the present application.
1 is a diagram showing a possible application scenario of the present application.
2 is a flowchart 1 of a method for determining location information provided in the present application.
3 is a flowchart 2 of a method for determining location information provided in the present application.
4 is a diagram illustrating determining the direction of the transverse displacement axis and the transverse displacement axis provided in the present application.
5 is a structural diagram of an apparatus for determining location information provided in the present application.
6 is a block diagram of an electronic device provided in the present application.

Hereinafter, exemplary embodiments of the present application will be described in conjunction with the accompanying drawings, and various details of the embodiments of the present application are included in order to aid understanding, and these should be regarded as merely exemplary. Therefore, those of ordinary skill in the art may make various changes and modifications to the embodiments described herein, which should be understood as not departing from the scope and spirit of the present application. Likewise, for the sake of clarity and conciseness, descriptions of known functions and structures are omitted from the following description.

As described above, since 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, the accuracy of the transformation information affects the position information of the carrier in the navigation coordinate system. do. In the method, apparatus, device, and storage medium for determining location information provided in this application, by determining conversion information through data collected by the inertial navigation system installed on the carrier, in one aspect, the accuracy of the conversion information is improved, and the other In terms of the aspect, it improves the accuracy of the location information of the carrier in the navigation coordinate system.

In the following, an application scenario of the technical solution according to the present application will be described in conjunction with FIG. 1.

1 is a diagram showing a possible application scenario provided by the present application. As shown in FIG. 1, the carrier 10 runs 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, and the inertial navigation system 20 may be installed at any position of the carrier 10, and the carrier 10 It is only necessary to be able to obtain the driving information of (10). The inertial navigation system 20 is connected to a location information determining device installed on the carrier 10, and the inertial navigation system 20 transmits the collected driving information to the location information determining device. Here, the location information determination device may be in the form of software and/or hardware, and the location information determination device processes driving information to obtain transformation information, and the transformation information and the position of the carrier 10 in the acquired inertial coordinate system. Based on the information, it is possible to determine the location information of the carrier 10 in the navigation coordinate system. In the above-described method, the transformation information is determined based on the driving information of the carrier 10, but the transformation information may change according to the change of the driving information, so the position of the carrier 10 in the navigation coordinate system is based on the transformation information. When determining the information, it is possible to improve the accuracy and stability of the location information of the carrier 10 in the navigation coordinate system.

Specifically, the carrier 10 may be a vehicle equipped with an inertial navigation system (see FIG. 1 ), or may be a vehicle, a bracelet, a mobile phone, a helmet, or the like installed with an inertial navigation system. Specifically, this application does not limit the type of carrier.

Hereinafter, a technical solution of the present application will be described in detail by combining some specific embodiments. Some embodiments below may be combined with each other, and the same or similar content may be omitted in some embodiments.

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

S201: Acquire the 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 includes a forward axis (Z), a gravity axis (Y), and a transverse displacement axis (X). Specifically, rotation around the forward axis (Z) is a roll angle, rotation around the gravity axis (Y) is a yaw, and rotation around the transverse displacement axis (X) is a pitch angle (pitch). )to be.

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, and the like, 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 in a static state, a straight state, and a rotation state of the carrier.

Specifically, when the above-described data includes state data in a static state, a straight state, and a rotation state of the carrier, it is possible to improve the accuracy of the conversion information.

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

Specifically, before determining the transformation information, first, the forward axis, the forward axis direction, the gravity axis, the gravity axis direction, the lateral displacement axis, the lateral displacement axis direction are determined, and the advance axis, the advance axis direction, the gravity axis , Based on the direction of the gravity axis, the transverse displacement axis, and the transverse displacement axis direction, the conversion information must be determined.

In one possible embodiment, based on the acceleration, angular velocity, velocity and yaw angle, the step of determining the transformation information includes, based on the acceleration, angular velocity, velocity and yaw angle, the axis of gravity, the direction of the axis of gravity, the direction of the axis of advance, the direction of the axis of advance, Determining a transverse displacement axis and a transverse displacement axis direction; And determining conversion information based on the gravity axis, the gravity axis direction, the advancing axis, the advancing axis direction, the transverse displacement axis, the transverse displacement axis direction, the acceleration on the advancing axis and the acceleration on the transverse displacement axis.

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

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

(수식 1);

(Equation 1);

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

The method for determining location information provided in this embodiment includes the steps of acquiring 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; 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, by determining the conversion information based on acceleration, angular velocity, velocity, and yaw angle, it is possible to improve the accuracy of the conversion information, and further improve the accuracy and stability of the second position information.

On the basis of the above-described embodiment, the method for determining location information provided in the present application by combining FIG. 3 will be described in more detail below, and in detail, reference may be made to the embodiment of FIG. 3.

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

S301: Within a preset time, the acceleration and angular velocity collected by the inertial measuring device, the velocity collected by the velocity measuring device, and the yaw angle collected by the navigation measuring device are acquired.

Here, the inertial measuring device, the speed measuring device, and the navigation measuring device are included in the inertial navigation system, and the inertial navigation system is installed on the carrier. Optionally, the preset time may be any time of 10 minutes or more.

Optionally, the above-described acceleration includes an acceleration corresponding to a state such as a static state, a straight state, and a rotation state of the carrier within a preset time, and the angular velocity is a static state, a straight state, and a rotation state of the carrier within a preset time. It includes an angular velocity corresponding to a state such as, and the speed includes a speed corresponding to a state such as a static state, a straight forward state, and a rotation state of the carrier within a preset time, and the yaw angle is the static state of the carrier within a preset time, It includes a yaw angle corresponding to a state such as a straight line state and a rotation 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), and the acceleration sensor collects and acquires acceleration, and The scope is obtained by collecting the angular velocity. The speed measuring device is a speed sensor, and the corresponding SPEED sensor collects and acquires the speed. The navigation measurement device is a global positioning system (GPS) sensor, and the corresponding GPS sensor collects and acquires a yaw angle. Here, the corresponding GPS sensor is also obtained by collecting the pitch angle and the roll angle.

S302: Based on the acceleration and the preset acceleration, the gravity axis and the direction of the gravity axis are determined.

In a first possible embodiment, the acceleration comprises a 3-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 may include a first acceleration curve corresponding to the obtained acceleration sequence of each axis and a second acceleration curve corresponding to the preset acceleration, respectively. Determining a first error value corresponding to the acceleration sequence of the 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; And determining an axis corresponding to the first acceleration sequence as the axis of gravity, and determining a direction of the axis of gravity based on an acceleration value included in the first acceleration sequence.

For example, the three-axis acceleration sequence is 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 an acceleration value of at least one of the first axis acceleration sequences; Obtaining a first acceleration curve y1 based on an acceleration value of at least one of the second axis acceleration sequences; A first acceleration curve z1 is obtained based on at least one acceleration value in the third axis acceleration sequence.

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

Further, according to a predetermined curve error determination method, processing the second acceleration curve g1 and the first acceleration curve x1 to obtain a first error value Ax corresponding to the first axis acceleration sequence; Processing 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 axis of gravity (Y). Furthermore, if it is determined that at least one acceleration value in the first acceleration sequence is positive, the axis of gravity direction is determined to be +Y, and if at least one acceleration value in the first acceleration sequence is determined to be negative, the axis of gravity It is determined that the direction is -Y.

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

Hereinafter, a method of determining a 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.

A first acceleration curve (x1) is obtained based on at least one acceleration value included in the first axis acceleration sequence, and a first acceleration curve is obtained based on at least one acceleration value included in a sequence opposite to the first axis acceleration sequence. (x2) is determined, wherein at least one acceleration value included in the opposite sequence and at least one acceleration value included in the first axis acceleration sequence are the opposite half of each other. Through 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 Ax1 corresponding to the first acceleration curve x1, and 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.

Similarly, according to the above-described method, the first two acceleration curves (y1 and y2) corresponding to the second axis acceleration sequence, the first error values (Ay1 and Ay2) corresponding to each of the first acceleration curves (y1 and y2), Two first acceleration curves z1 and z2 corresponding to the 3-axis acceleration sequence, and first error values Az1 and Az2 corresponding to each of the first acceleration curves z1 and z2 may be obtained.

Furthermore, based on the first error values (Ax1, Ax2, Ay1, Ay2, Az1 and Az2), the first acceleration sequence is determined. 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 based on the first axis, the axis corresponding to the acceleration sequence is the axis of gravity (Y), and the direction of the axis of gravity is -Y.

S303: Based on the acceleration and speed, the forward axis and the forward axis direction are determined.

In one possible embodiment, 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 error value corresponding to the acceleration sequence of each axis; The second acceleration sequence is determined based on the second error value corresponding to the acceleration sequence of each axis, and the second error value corresponding to the second acceleration sequence is the smallest; An axis corresponding to the second acceleration sequence is determined as an advance axis, and a direction of the advance axis is determined based on an acceleration value included in the second acceleration sequence.

Here, the speed is a speed sequence including at least one speed value. Specifically, a method of obtaining a third acceleration curve corresponding to a speed may include determining at least one acceleration value based on at least one speed value; It may include; determining a third acceleration curve based on at least one acceleration.

Specifically, the forward axis Z and the forward axis direction may be determined with reference to “first possible embodiment” and/or “second possible embodiment” in S302, and redundant descriptions are omitted herein. Specifically, the third acceleration curve corresponds to the second acceleration curve g1 in S302.

S304: If it is determined that the axis of gravity and the axis corresponding to the yaw angle are the same based on the angular velocity and yaw angle, based on the right-handed coordinate system, the gravitational axis, the direction of the gravitational axis, the forward axis and the forward axis direction, the transverse displacement axis and the transverse displacement axis Decide the direction

In a first possible embodiment, the angular velocity comprises a triaxial angular velocity sequence; Determining that the axis of gravity and the axis corresponding to the yaw angle are the same based on the angular velocity and yaw angle, 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; And if there is a target error value equal to or less than a preset threshold among the third error values corresponding to the angular velocity sequence of each axis, determining that the axis of gravity and the axis corresponding to the yaw angle are the same.

For example, the 3-axis angular velocity sequence is a first axis angular velocity sequence, a second axis angular velocity sequence, and a third axis angular velocity sequence, and corresponds to the angular velocity sequence of each axis based on at least one angular velocity value included in the angular velocity sequence of each axis. It is possible to determine the first angular velocity curve. For example, a first angular velocity curve (wx) is obtained based on at least one angular velocity value included in the first axis angular velocity sequence, and a first angular velocity is obtained based on at least one angular velocity value included in the second axis angular velocity sequence. A curve wy is obtained, and a first angular velocity curve wz is obtained based on at least one angular velocity value included in the third axis angular velocity sequence. Here, the yaw angle is a yaw angle sequence including at least one yaw angle value, and a second angular velocity curve sy may be obtained from the yaw angle sequence including at least one yaw angle value.

Specifically, according to a predetermined curve error determination method, processing the second angular velocity curve sy and the first angular velocity curve wx 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 may be obtained by processing the second angular velocity curve sy and the third angular velocity curve wz. If a target error value (eg, By) that is less than or equal to a preset threshold among the third error values (Bx, By, Bz) is present, it is determined that the axis of gravity and the axis corresponding to the yaw angle are the same. Optionally, the preset threshold may be 0.1, 0.05, or the like, and specifically, the present application is not limited thereto.

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

In the following, a description will be given of determining a third error value corresponding to each of the first angular velocity curves wx1 and wx2, taking the first axis angular velocity sequence as an example. Specifically, a first angular velocity curve (wx1) is determined based on at least one angular velocity value included in the first axis angular velocity sequence, and based on at least one angular velocity value included in a sequence opposite to the first axis angular velocity sequence. 1 Determine an angular velocity curve (wx2), wherein at least one angular velocity value included in the opposite sequence and at least one angular velocity value included in the first axis angular velocity sequence are opposite to each other. Processing 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.

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

Specifically, reference may be made to a specific diagram for determining the transverse displacement axis and the transverse displacement axis direction based on the right-handed coordinate system, the gravity axis, the direction of the gravity axis, the advance axis and the advance axis direction in the embodiment of FIG. 4. 4 is a diagram illustrating determining the transverse displacement axis and the transverse displacement axis direction provided in the present application. As shown in Fig. 4, the thumb indicates the axis of gravity, the direction of the thumb indicates the direction of the axis of gravity, the index finger indicates the axis of advance, the direction of the index finger indicates the direction of the forward axis, and the middle finger indicates the transverse displacement axis. And the direction indicated by the middle finger is the direction of the transverse displacement axis. Here, the axis of gravity, the axis of advancing, and the axis of transverse displacement are perpendicular to each other two or two. In the present application, after determining the gravitational axis, the gravitational axis direction, the advancing axis and the advancing axis direction, the transverse displacement axis and the transverse displacement axis direction may be determined based on the right-handed coordinate system.

S305: Based on the acceleration sequence corresponding to the forward axis and the acceleration sequence corresponding to the transverse displacement axis, the heading angle of the advance axis is determined.

In one possible embodiment, the acceleration sequence corresponding to the forward axis comprises at least one first acceleration value, and the acceleration sequence corresponding to the transverse displacement axis comprises at least one second acceleration value; Based on the acceleration sequence corresponding to the forward axis and the acceleration sequence corresponding to the transverse displacement axis, the determining of the heading angle of the advance axis comprises: a first average value of at least one first acceleration value and at least one second acceleration value. Obtaining a second average value; And processing the first average value and the second average value through a preset model to obtain a heading angle of the forward axis.

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

(수식 2);

(Equation 2);

는 제1 평균값이고,

는 제i번째 제1 가속도값이고, i는 1내지 n 사이의 값이고, n은 적어도 하나의 제1 가속도값의 총 수량이다.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 may be determined based on (Equation 3) below.

(수식3);

(Equation 3);

는 제2 평균값이고,

는 제i번째 제2 가속도값이고, i는 1 내지 m 사이의 값이고, m은 적어도 하나의 제2 가속도값의 총 수량이다.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, by processing the first average value and the second average value based on the preset model below, the heading angle of the forward axis may be obtained.

(수식4).

(Equation 4).

을 획득할 수 있다.Specifically, when g is the maximum, the heading angle of the forward axis

Can be obtained.

S306: Based on the heading angle, the gravity axis, the direction of the gravity axis, the forward axis, the forward axis direction, the transverse displacement axis and the transverse displacement axis direction, the transformation information is determined.

Specifically, after determining the gravitational axis, the gravitational axis direction, the advancing axis, the advancing axis direction, the transverse displacement axis and the transverse displacement axis direction, conversion information can be determined through (Equation 5) below.

(수식 5);

(Equation 5);

Here, T _C is the transformation information, R _Z (φ) is the rotation matrix corresponding to the heading angle (φ) of the forward axis (having the direction of the forward axis), and R _Y (θ) is the gravity axis (the direction of the gravity axis). Is a rotation matrix corresponding to the heading angle θ of (having), and R _X (ψ) is a rotation matrix corresponding to the heading angle ψ of the transverse displacement axis (having the transverse displacement axis direction).

In the present application, the carrier in which the inertial navigation system is installed moves along the forward axis Z. Therefore, R _Y (θ) and R _X (ψ) are both identity matrices (diagonal lines are all 1, ie, θ and ψ are both 0).

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

to be.

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

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

Here, determining the unit of the angular velocity may refer to the prior art. Here, redundant descriptions are omitted.

Further, according to Equation 1, the first location information T _I and the transformation information T _C are processed to obtain second location information of the carrier in the navigation coordinate system.

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

Specifically, the similarity of the location information may be determined based on the preset location information and the second location information, and if it is determined that the similarity is greater than the preset value, it is determined that the accuracy of the conversion information is higher. Here, the preset value may be 0.9, 0.8, or the like. Here, the preset value is not limited. Specifically, it means that the higher the accuracy of the conversion information, the more accurate the data collected by the inertial measuring device, the speed measuring device and the navigation measuring device.

Unlike the prior art, in some prior art, it is common to detect, calibrate, detect, and calibrate for the inertial measuring device, the velocity measuring device, and the navigation measuring device before determining the second position information of the carrier in the navigation coordinate system. It is longer and wastes time and manpower resources. After detection and calibration, conversion information can be obtained based on preset data information (including axial direction and angle), and since the conversion information is generally fixed and invariant, the accuracy of the second position information of the carrier is lower, Poor stability.

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 for the inertial measuring device, the speed measuring device, and the navigation measuring device, thereby saving time and manpower resources. I can. In addition, since the obtained transformation information is operatively related to the movement of the carrier, the accuracy and stability of the second position information of the carrier are improved.

The method for determining location information provided in the present embodiment includes the steps of acquiring acceleration and angular velocity collected by the inertial measurement device, a velocity collected by the velocity measurement device, and a yaw angle collected by the navigation measurement device within a preset time period; Determining a gravity axis and a gravity axis direction based on the acceleration and a preset acceleration; Determining a forward axis and a forward axis direction based on the acceleration and the speed; If it is determined that the axis of gravity and the axis corresponding to the yaw angle are 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, the gravity axis, the direction of the gravity axis, and the forward and forward axis directions. Determining; 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 transverse displacement axis; Determining transformation information based on the heading angle, the gravity axis, the direction of the gravity axis, the forward axis, the direction of the advance axis, the direction of the transverse displacement axis and the transverse displacement axis; And determining 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. In the above-described method, by determining the conversion information based on the heading angle, the gravity axis, the gravity axis direction, the advance axis, the advance axis direction, the transverse displacement axis and the transverse displacement axis direction, the accuracy of the conversion information is improved, and further 2 The accuracy and stability of location information can be improved.

5 is a structural diagram of an apparatus for determining location information provided in the present application. The location information determining device 50 is applied to a carrier, and an inertial navigation system is installed on the carrier, and the location information determining device 50 includes an acquisition module 501 and a determination module 502, Here, the acquisition module 501 acquires acceleration, angular velocity, velocity and yaw angle collected by the inertial navigation system; The determination module 502 determines conversion information based on the acceleration, the angular velocity, the velocity, and the yaw angle; The determination module 502 also determines 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 determining apparatus provided in the present embodiment can implement the technical solution according to any one of the above-described method embodiments, and the implementation principle and technical effect thereof remain unchanged, and thus a detailed description thereof will be omitted here.

In one possible embodiment, the determination module 502 is specifically, based on the acceleration, the angular velocity, the velocity, and the yaw angle, the axis of gravity, the direction of the gravity axis, the direction of the forward axis, the direction of the forward axis, the transverse displacement axis and the transverse direction. Determine the direction of the displacement axis; Based on the gravitational axis, the gravitational axis direction, the advancing axis, the advancing axis direction, the transverse displacement axis, the transverse displacement axis direction, the acceleration on the advancing axis, and the acceleration on the transverse displacement axis, the conversion information is determined do.

In another possible embodiment, the determination module 502 specifically determines, based on the acceleration and a preset acceleration, the gravitational axis and the gravitational axis direction; Determining the forward axis and the forward axis direction based on the acceleration and the speed; If it is determined that the gravity axis and the axis corresponding to the yaw angle are the same based on the angular velocity and the yaw angle, based on the right-hand coordinate system, the gravitational axis, the gravitational axis direction, the advancing axis and the advancing axis direction, the The transverse displacement axis and the transverse displacement axis direction are determined.

In another possible embodiment, the determination 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 to be used; A first acceleration sequence is determined based on a first error value corresponding to the acceleration sequence of each axis, and 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 axis of gravity, and a direction of the axis of gravity is determined based on an acceleration value included in the first acceleration sequence.

In another possible embodiment, the determination module 502 is specifically, based on the first acceleration curve corresponding to the acquired acceleration sequence of each axis and the third acceleration curve corresponding to the velocity, Determine a second error value; A second acceleration sequence is determined based on a second error value corresponding to the acceleration sequence of each axis, and the second error value corresponding to the second acceleration sequence is the smallest; An axis corresponding to the second acceleration sequence is determined as an advance axis, and a direction of the advance axis is determined based on an acceleration value included in the second acceleration sequence.

In another possible embodiment, the angular velocity comprises a triaxial angular velocity sequence; The determination module 502 also determines a third error value corresponding to the angular velocity sequence of each axis, based on the first angular velocity curve corresponding to the acquired angular velocity sequence of each axis and the second angular velocity curve corresponding to the yaw angle, and ; If there is a target error value equal to or greater than a preset threshold 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, based on an acceleration sequence corresponding to the advance axis and an acceleration sequence corresponding to the transverse displacement axis, a heading angle of the advance axis; The transformation information is determined based on the heading angle, the gravitational axis, the gravitational axis direction, the advancing axis, the advancing axis direction, the transverse displacement axis and the transverse 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 transverse displacement axis includes at least one second acceleration value; Specifically, the determination 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 a heading angle of the forward axis.

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

The location information determining apparatus provided in the present embodiment can perform the technical solution according to any one of the above-described method embodiments, and its implementation principle and technical effect remain unchanged, so a 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, at least one processor of the electronic device can read computer instructions from the readable storage medium, and at least one processor Executes a computer program to cause the electronic device to perform the 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. 6 is a block diagram of an electronic device according to an embodiment of the present application. The electronic device shown in Fig. 6 refers to various types of digital computers, such as laptop computers, desktop computers, work stations, personal information terminals, servers, blade servers, large computers, and other suitable computers. Electronic devices may refer to various types of mobile devices, such as personal information terminals, cell phones, smart phones, wearable devices, and other similar computing devices. The members disclosed herein, their connections and relationships, and their functions are merely exemplary, and are not intended to limit the implementation of the present application as disclosed and/or required by 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 mounted in other ways according to demand. The processor may process commands executed in the electronic device, and is stored in or on the memory to provide commands to display graphic information of the GUI on an external input/output device (eg, a display device coupled to an interface). Can include. In other embodiments, a plurality of processors and/or a plurality of buses and a plurality of memories may be used together, depending on demand. Likewise, it is possible to connect multiple electronic devices, each of which provides some necessary operation (eg, as a server array, a set of blade servers, or as a multiprocessor system). 6 illustrates one processor 601 as an example.

The 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 for determining location information according to the present application.

The memory 602 is a non-transitory computer-readable storage medium, such as a non-transitory software program, a non-transitory computer-executable program and module, for example, a program command/module corresponding to the method for determining location information according to the embodiment of the present application. For example, the acquisition module 501 and the determination 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, a method for determining location information 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 use of an electronic device that performs a location information determination device. Meanwhile, the memory 602 may include a high-speed random access memory, and may include, for example, a non-transitory memory such as at least one magnetic storage device, a flash memory, or other non-transitory solid state storage device. In some embodiments, memory 602 may optionally include memory that is installed remotely to processor 601. Such a remote memory may be connected to an electronic device that performs a method of determining location information through a network. Examples of the above-described network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

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

The input device 603 may receive input number or character code information, and may generate a key signal input for user setting and function control of the XXX electronic device. For example, there are input devices such as a touch screen, a keypad, a mouse, a track pad, a touch panel, an instruction lever, one or more mouse buttons, a track ball, and a control lever. The output device 604 may include a display device, an auxiliary lighting device (eg, an LED), a tactile feedback device (eg, a vibration motor), and the like. 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 technologies 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 a plurality of computer programs, and the one or a plurality of computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, and the corresponding programmable The processor may be a dedicated or general purpose programmable processor, and may receive data and commands from a storage system, at least one input device, and at least one output device, and transmit data and commands to the storage system and at least one input device. , And transmits to the at least one output device.

Such computer programs (also referred to as programs, software, software applications, or code) contain mechanical instructions of a programmable processor, and use high-level process and/or object-oriented programming languages, and/or assembly/mechanical languages to execute such computer programs. You can do it. For example, the terms "machine-readable medium" and "computer-readable medium" as used herein refer to any computer program product, device, and/or device (for example, for providing mechanical instructions and/or data to a programmable processor). A magnetic disk, an optical disk, a memory, a programmable logic device (PLD)) and a machine-readable medium for receiving mechanical instructions that are machine-readable signals. The term “machine-readable signal” refers to any signal for providing mechanical instructions and/or data to a programmable processor.

In order to provide interaction with the user, the systems and technologies described herein can be implemented on a computer, and the computer can be used with a display device (e.g., CRT (cathode tube) or LCD ( Liquid crystal display) monitor); And a keyboard and a pointing device (eg, a mouse or a trackball), and a user may provide an input to the computer through the keyboard and the corresponding pointing device. Other types of devices may also provide interactions with users. For example, the feedback provided to the user can be any form of sensing feedback (eg, 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 technologies described herein include computing systems including background members (e.g., as a data server), or computing systems including intermediate members (e.g., application servers), or computing including front-end members. A system (e.g., a user computer with a graphical user interface or an Internet browser, the user may interact with the embodiments of the systems and technologies described herein through a corresponding graphical user interface or a corresponding Internet browser), or such a background It can be implemented in any combination of computing systems including members, intermediate members, or front end members. The members of the system can be interconnected through digital data communication (eg, a communication network) in any form or medium. Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

The computer system can include clients and servers. Clients and servers are generally far apart from each other and typically interact over a communication network. A client-server relationship is created through a computer program that runs on the corresponding computer and has 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, may be performed sequentially, or may be performed in a different order, and if the technical solution disclosed in the present application can obtain the desired result, the text is It is not limited about.

The specific embodiments described above are not limited to the scope of protection of the present application. Those of ordinary skill in the art will appreciate 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 principle of this application should be regarded as falling within the scope of protection of this application.

Claims (21)

In a method for determining location information applied to a carrier and in which an inertial navigation system is installed on the carrier, the method comprising:
Acquiring 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;
And determining 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 method of claim 1,
The inertial navigation system has a gravity axis, a forward axis and a transverse displacement axis; Based on the acceleration, the angular velocity, the velocity, and the yaw angle, determining conversion information,
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;
Based on the gravitational axis, the gravitational axis direction, the advancing axis, the advancing axis direction, the transverse displacement axis, the transverse displacement axis direction, the acceleration on the advancing axis, and the acceleration on the transverse displacement axis, the conversion information is determined A method comprising the step of. The method of claim 2,
Based on the acceleration, the angular velocity, the velocity, and the yaw angle, 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,
Determining the gravitational axis and the gravitational axis direction based on the acceleration and a preset acceleration;
Determining the forward axis and the forward axis direction based on the acceleration and the speed;
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-hand coordinate system, the gravitational axis, the gravitational axis direction, the advancing axis and the advancing axis direction, the And determining a transverse displacement axis and a direction of the transverse displacement axis. The method of claim 3,
The acceleration comprises a 3-axis acceleration sequence; Based on the acceleration and a preset acceleration, determining the gravitational axis and the gravitational axis direction,
Determining a first error value corresponding to the acceleration sequence of each axis based on the first acceleration curve corresponding to the obtained 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 a first error value corresponding to the first acceleration sequence is smallest;
And determining an axis corresponding to the first acceleration sequence as the axis of gravity, and determining a direction of the axis of gravity based on an acceleration value included in the first acceleration sequence. The method of claim 3,
Based on the acceleration and the speed, determining the forward axis and the forward axis direction,
Determining a second error value corresponding to the acceleration sequence of each axis based on the obtained acceleration sequence of each axis based on the 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 a second error value corresponding to the second acceleration sequence is the smallest;
And determining an axis corresponding to the second acceleration sequence as an advance axis, and determining the direction of the advance axis based on an acceleration value included in the second acceleration sequence. The method of claim 3,
The angular velocity comprises a triaxial angular velocity sequence; 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,
Determining a third error value corresponding to the angular velocity sequence of each axis 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;
And if there is a target error value equal to or greater than a preset threshold among the third error values corresponding to the angular velocity sequence of each axis, determining that the axis of gravity and the axis corresponding to the yaw angle are the same; . The method of claim 2,
Based on the gravitational axis, the gravitational axis direction, the advancing axis, the advancing axis direction, the transverse displacement axis, the transverse displacement axis direction, the acceleration on the advancing axis, and the acceleration on the transverse displacement axis, the conversion information is determined The steps to do are,
Determining a heading angle of the advance axis based on an acceleration sequence corresponding to the advance axis and an acceleration sequence corresponding to the transverse displacement axis;
And determining the conversion information based on the heading angle, the gravitational axis, the gravitational axis direction, the advancing axis, the advancing axis direction, the transverse displacement axis and the transverse displacement axis direction; How to. The method of claim 7,
The acceleration sequence corresponding to the forward axis includes at least one first acceleration value, and the acceleration sequence corresponding to the transverse displacement axis includes at least one second acceleration value; Based on an acceleration sequence corresponding to the forward axis and an acceleration sequence corresponding to the transverse displacement axis, determining a heading angle of the advance axis,
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;
And obtaining a heading angle of the forward axis by processing the first average value and the second average value through a preset model. The method according to any one of claims 1 to 8,
The inertial navigation system includes an inertial measuring device, a speed measuring device and a navigation measuring device; The step of obtaining the acceleration, angular velocity, velocity and yaw angle collected by the inertial navigation system,
A method comprising the step of acquiring the acceleration and the angular velocity collected by the inertial measurement device, the velocity collected by the velocity measurement device, and the yaw angle collected by the navigation measurement device within a preset time period. . In the position information determination device applied to the carrier, the inertial navigation system is installed on the carrier, the device comprises an acquisition module and a determination module,
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;
And the determination module further determines, based on the transformation information and the first position information of the carrier in the inertial coordinate system, second position information of the carrier in the navigation coordinate system. The method of claim 10,
The determination module is specifically,
Based on the acceleration, the angular velocity, the velocity, and the yaw angle, 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 gravitational axis, the gravitational axis direction, the advancing axis, the advancing axis direction, the transverse displacement axis, the transverse displacement axis direction, the acceleration on the advancing axis, and the acceleration on the transverse displacement axis, the conversion information is determined A device, characterized in that. The method of claim 11,
The determination module is specifically,
Determining the gravitational axis and the gravitational axis direction based on the acceleration and a preset acceleration;
Determining the forward axis and the forward axis direction based on the acceleration and the speed;
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-hand coordinate system, the gravitational axis, the gravitational axis direction, the advancing axis and the advancing axis direction, the The device, characterized in that for determining a transverse displacement axis and a direction of the transverse displacement axis. The method of claim 12,
The determination 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, and the first error value corresponding to the first acceleration sequence is the smallest;
And determining an axis corresponding to the first acceleration sequence as the axis of gravity, and determining a direction of the axis of gravity based on an acceleration value included in the first acceleration sequence. The method of claim 12,
The determination module is specifically,
Determining a second error value corresponding to the acceleration sequence of each axis on the basis of 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, and a second error value corresponding to the second acceleration sequence is the smallest;
And determining an axis corresponding to the second acceleration sequence as an advance axis, and determining the direction of the advance axis based on an acceleration value included in the second acceleration sequence. The method of claim 12,
The angular velocity comprises a triaxial angular velocity sequence; The determination 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;
If there is a target error value equal to or greater than a preset threshold among the third error values corresponding to the angular velocity sequence of each axis, it is determined that the axis of gravity and the axis corresponding to the yaw angle are the same. The method of claim 11,
The determination module is specifically,
Determining a heading angle of the advance axis based on an acceleration sequence corresponding to the advance axis and an acceleration sequence corresponding to the transverse displacement axis;
And determining the conversion information based on the heading angle, the gravitational axis, the gravitational axis direction, the advancing axis, the advancing axis direction, the transverse displacement axis and the transverse displacement axis direction. The method of claim 16,
The acceleration sequence corresponding to the forward axis includes at least one first acceleration value, and the acceleration sequence corresponding to the transverse displacement axis includes at least one second acceleration value; The determination module is specifically,
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;
The apparatus according to claim 1, wherein the first average value and the second average value are processed through a preset model to obtain a heading angle of the forward axis. The method according to any one of claims 10 to 17,
The inertial navigation system includes an inertial measuring device, a speed measuring device and a navigation measuring device; The acquisition module is specifically,
An apparatus, characterized in that acquiring the acceleration and the angular velocity collected by the inertial measurement device, the velocity collected by the velocity measurement device, and the yaw angle collected by the navigation measurement device within a preset time period. Electronics,
At least one processor; And
Including; a memory communicatively connected to the at least one processor,
An instruction that can be executed 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 is Electronic device, characterized in that to enable the method to be performed. 9. A storage medium in which computer instructions are stored in a non-transitory computer-readable storage medium, wherein the computer instructions cause the computer to perform the method according to any one of claims 1 to 8. In the computer program stored in a computer-readable storage medium,
A computer program implementing the method according to any one of claims 1 to 8 when the computer program is executed by a processor.

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