WO2008142757A1 - Procédé de mesure de l'angle de posture par un simple gps et des données inertielles (accélération, vitesse angulaire) - Google Patents

Procédé de mesure de l'angle de posture par un simple gps et des données inertielles (accélération, vitesse angulaire) Download PDF

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Publication number
WO2008142757A1
WO2008142757A1 PCT/JP2007/060245 JP2007060245W WO2008142757A1 WO 2008142757 A1 WO2008142757 A1 WO 2008142757A1 JP 2007060245 W JP2007060245 W JP 2007060245W WO 2008142757 A1 WO2008142757 A1 WO 2008142757A1
Authority
WO
WIPO (PCT)
Prior art keywords
acceleration
estimated
angle
determined
angular speed
Prior art date
Application number
PCT/JP2007/060245
Other languages
English (en)
Japanese (ja)
Inventor
Kenji Takahata
Koichi Okamura
Tomoaki Higuchi
Ryu Tanaka
Tadashi Itou
Morio Takahama
Original Assignee
Churyo Engineering Co., Ltd.
National University Corporation Nagoya University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Churyo Engineering Co., Ltd., National University Corporation Nagoya University filed Critical Churyo Engineering Co., Ltd.
Priority to PCT/JP2007/060245 priority Critical patent/WO2008142757A1/fr
Priority to JP2008544597A priority patent/JP4527171B2/ja
Publication of WO2008142757A1 publication Critical patent/WO2008142757A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B60G17/01908—Acceleration or inclination sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/05—Attitude
    • B60G2400/051—Angle
    • B60G2400/0511—Roll angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/05—Attitude
    • B60G2400/051—Angle
    • B60G2400/0512—Pitch angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/05—Attitude
    • B60G2400/051—Angle
    • B60G2400/0513—Yaw angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/102—Acceleration; Deceleration vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/106—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/16—GPS track data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/28—Gyroscopes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/012—Rolling condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/014—Pitch; Nose dive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/016—Yawing condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/70—Estimating or calculating vehicle parameters or state variables
    • B60G2800/702—Improving accuracy of a sensor signal

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Navigation (AREA)
  • Gyroscopes (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

Selon l'invention, lors du montage d'un système de localisation géographique par satellite (GPS), d'un gyroscope et d'un capteur d'accélération sur un véhicule (objet mobile), on détermine l'accélération estimée (AˆX, AˆY, AˆZ) et l'accélération observée (a~x, a~y, a~z), un angle de roulis φ~, un angle de pas ϑ~ et un angle de lacet ψ~ d'après une mesure de vitesse angulaire (p~, q~, r~) au moyen du gyroscope et on détermine l'accélération (A~X, A~Y, A~Z) du système de coordonnées mondial par l'accélération observée (a~x, a~y, a~z) et une matrice de transformation des coordonnées E-1. En supposant que la différence entre l'accélération estimée (AˆX, AˆY, AˆZ) et l'accélération observée (A~X, A~Y, A~Z) est une erreur d'accélération estimée (δAˆX, δAˆY, δAˆZ), δφ=tan-1 |δAYZ|/|AYZ|, δϑ=tan-1|δAXZ|/|AXZ| et δψ=tan-1|δAXY|/|AXY|, la polarité de δφ, δϑ et de δψ sont déterminées par un produit externe de l'accélération estimée AYZ et de l'erreur d'accélération estimée δAYZ, et chaque angle de posture est déterminé selon l'angle de roulis estimé φ= angle de roulis φ~-δφ, angle de pas estimé ϑ= angle de pas ϑ~-δϑ, et l'angle de lacet estimé ψ= angle de lacet ψ~-δψ en utilisant la différence d'angle de posture angle (δφ, δϑ, δψ) prenant en compte la polarité.
PCT/JP2007/060245 2007-05-18 2007-05-18 Procédé de mesure de l'angle de posture par un simple gps et des données inertielles (accélération, vitesse angulaire) WO2008142757A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2007/060245 WO2008142757A1 (fr) 2007-05-18 2007-05-18 Procédé de mesure de l'angle de posture par un simple gps et des données inertielles (accélération, vitesse angulaire)
JP2008544597A JP4527171B2 (ja) 2007-05-18 2007-05-18 単一ｇｐｓと慣性データ（加速度，角速度）によるビークル姿勢角の計測方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2007/060245 WO2008142757A1 (fr) 2007-05-18 2007-05-18 Procédé de mesure de l'angle de posture par un simple gps et des données inertielles (accélération, vitesse angulaire)

Publications (1)

Publication Number Publication Date
WO2008142757A1 true WO2008142757A1 (fr) 2008-11-27

Family

ID=40031484

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/060245 WO2008142757A1 (fr) 2007-05-18 2007-05-18 Procédé de mesure de l'angle de posture par un simple gps et des données inertielles (accélération, vitesse angulaire)

Country Status (2)

Country Link
JP (1) JP4527171B2 (fr)
WO (1) WO2008142757A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015510587A (ja) * 2012-01-31 2015-04-09 クゥアルコム・インコーポレイテッドＱｕａｌｃｏｍｍ Ｉｎｃｏｒｐｏｒａｔｅｄ 移動デバイスの向きを使用して移動デバイスの位置を特定するための方法および装置
KR101880940B1 (ko) * 2017-10-31 2018-07-23 드로젠(주) 자세 제어 방법 및 그를 적용한 드론
US10203259B2 (en) * 2015-12-14 2019-02-12 Hyundai Autron Co., Ltd. Apparatus for detecting vehicle pitch angle using acceleration sensor and gyro sensor and method therof
CN110023716A (zh) * 2017-05-25 2019-07-16 深圳市大疆创新科技有限公司 用于控制无人飞行器的方法和设备
CN113870367A (zh) * 2021-12-01 2021-12-31 腾讯科技（深圳）有限公司 相机外参的生成方法、装置、设备、存储介质和程序产品

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07239236A (ja) * 1994-02-28 1995-09-12 Hitachi Ltd 移動体の状態量計測方法と装置および移動体の姿勢角演算装置
JPH10148499A (ja) * 1996-11-18 1998-06-02 Mitsubishi Heavy Ind Ltd 飛しょう体の姿勢角検出装置
JP2004239643A (ja) * 2003-02-03 2004-08-26 Furuno Electric Co Ltd ハイブリッド航法装置
JP2006126148A (ja) * 2004-11-01 2006-05-18 Tokimec Inc 方位姿勢検出装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07239236A (ja) * 1994-02-28 1995-09-12 Hitachi Ltd 移動体の状態量計測方法と装置および移動体の姿勢角演算装置
JPH10148499A (ja) * 1996-11-18 1998-06-02 Mitsubishi Heavy Ind Ltd 飛しょう体の姿勢角検出装置
JP2004239643A (ja) * 2003-02-03 2004-08-26 Furuno Electric Co Ltd ハイブリッド航法装置
JP2006126148A (ja) * 2004-11-01 2006-05-18 Tokimec Inc 方位姿勢検出装置

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
JANG J.: "Performance Enhancement of Attitude Determination System by Combining Single and Multiple Antennas", ION GNSS 2004, 2004, pages 2066 - 2073, XP003024097 *
KWANGJIN KIM: "INS/GPS Tightly Coupled Approach Using an INS Error Predictor", ION GNSS 2005, 2005, pages 488 - 493, XP003024096 *
LE A.Q.: "Combining Inertial Navigation System with GPS Precise Positioning: Flight Trial Results", ION GNSS 2006, 2006, pages 3035 - 3042, XP003024095 *
WENDEL J.: "Enhancement of a Tightly Coupled GPS/INS System for High Precision Attitude Determination of Land Vehicles", ION AM 2003, 2003, pages 200 - 208, XP003024098 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015510587A (ja) * 2012-01-31 2015-04-09 クゥアルコム・インコーポレイテッドＱｕａｌｃｏｍｍ Ｉｎｃｏｒｐｏｒａｔｅｄ 移動デバイスの向きを使用して移動デバイスの位置を特定するための方法および装置
US10203259B2 (en) * 2015-12-14 2019-02-12 Hyundai Autron Co., Ltd. Apparatus for detecting vehicle pitch angle using acceleration sensor and gyro sensor and method therof
CN110023716A (zh) * 2017-05-25 2019-07-16 深圳市大疆创新科技有限公司 用于控制无人飞行器的方法和设备
KR101880940B1 (ko) * 2017-10-31 2018-07-23 드로젠(주) 자세 제어 방법 및 그를 적용한 드론
CN113870367A (zh) * 2021-12-01 2021-12-31 腾讯科技（深圳）有限公司 相机外参的生成方法、装置、设备、存储介质和程序产品

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Publication number Publication date
JPWO2008142757A1 (ja) 2010-08-05
JP4527171B2 (ja) 2010-08-18

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