WO2021082790A1 - 一种基于IMU的uwb定位异常值处理方法 - Google Patents
一种基于IMU的uwb定位异常值处理方法 Download PDFInfo
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- 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
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- 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
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- the present invention relates to the technical field of uwb positioning, and in particular to an IMU-based method for processing abnormal values of uwb positioning.
- Uwb positioning technology is a wireless carrier communication technology that uses a frequency bandwidth of 1 GHz or more. It does not use a sinusoidal carrier, but uses nanosecond non-sine wave narrow pulses to transmit data, so it occupies a large spectrum range, although it uses Wireless communication, but its data transmission rate can reach hundreds of megabits per second. Because uwb has the characteristics of high-speed data transmission, low power consumption, high security, and high positioning accuracy, it is widely used in indoor positioning in various fields.
- the application background of uwb of this patent is to provide high-precision positioning data for indoor drones. Due to the complexity of the indoor environment and the differences of each uwb hardware, the original data of the uwb ranging input value jumps, is lost, and loses the real data. At this time, these abnormal data values need to be processed and filled to provide continuous positioning for uwb. And more accurate measurement data value.
- the current way to deal with outliers is to delete data containing outliers, treat the outliers as missing values, hand them over to the missing value processing method, use the average to correct them, or not to deal with them, etc.
- the value method has certain defects in the process of processing uwb positioning data. For example, the method of using the mean value to correct. When the drone is flying with a large acceleration, at this time, when the abnormal value is replaced by the mean value, the data is distorted.
- the processing method is the estimation of the latter algorithm, which brings the influence of error.
- the purpose of the present invention is to overcome the shortcomings of the prior art and provide an IMU-based uwb positioning abnormal value processing method, taking four uwb base stations for uwb positioning as an example, to solve the existing abnormal value discrimination in the original data preprocessing process Problems such as inaccuracy and the accuracy of outlier correction improve the accuracy of measurement hardware data.
- the invention does not require additional hardware equipment, enhances the stability of the uwb sensor's measurement data in a complex environment, and at the same time provides effective and accurate measurement output data for the subsequent uwb positioning solution, and improves the stability, rapidity and real-time of the uwb positioning Sex.
- An IMU-based uwb location abnormal value processing method including the following steps:
- step S3 According to the attitude angle of the UAV obtained in step S2, calculate the acceleration of the X, Y, and Z axes and the displacement on the X, Y, and Z axes within ⁇ t, so as to estimate the UAV's displacement value Q;
- step S4 Perform abnormal detection on the uwb measurement value according to the displacement value Q obtained in step S3 and the distance data of the uwb sensor; if the uwb measurement value is abnormal, proceed to step S5;
- step S2 is as follows:
- the drift error b g is subtracted, and the white noise measured by the gyroscope w g is subtracted.
- the drift noise can be modeled as Gaussian white noise, Is the noise of the gyroscope;
- T s is the sampling time
- E(X 0 ) represents the mathematical expectation value at zero time
- E[(X 0 -E(X 0 ))(X 0 -E(X 0 )) T ] represents the error covariance at zero time
- k-1 ⁇ k-1 P k-1
- H k [O 3 ⁇ 3 -gI]
- R T is the measurement noise variance matrix
- k X k
- Z is the observation data
- I is the identity matrix, and the precise attitude angle is obtained according to the state vector X k.
- step S3 the specific process of X, Y, Z axis acceleration calculation in step S3 is as follows:
- x k (i,j) represents the data in the i-th row and j-th column of x k , and the pitch angle ⁇ and roll angle ⁇ can be obtained; since the flying speed of the UAV is very small, its instantaneous acceleration can be ignored Don't count, that is, the measured acceleration is near g gravitational acceleration, according to the measured acceleration modulus a b :
- P t is the position calculated by the uwb positioning system at time t
- the average speed at the previous moment is regarded as the current The speed of time; and because of Approaching zero within ⁇ t time, that is:
- a is the acceleration in the navigation coordinate system of the precise acceleration obtained by the IMU solution, and t is the system running time. According to the above formula, the estimated displacement s t + ⁇ s at time t+ ⁇ t can be obtained;
- ⁇ s 1 , ⁇ s 2 , and ⁇ s 3 are the displacements of the X, Y, and Z axes in the navigation coordinate system within the sampling time ⁇ t, respectively.
- calculation formula for the displacement value Q of the drone in the step S3 is as follows:
- x, y, z are the positioning values measured last time, Is the position value of the *th base station.
- the formula is among them They are the current measured distance value of uwb and the measured value at the last moment, Q is the displacement value within ⁇ t, mean is the standard deviation of n measured data, and k is the specific gravity parameter, which needs to be adjusted according to specific environmental parameters; Satisfaction See To measure outliers.
- step S5 corrects the uwb measurement value
- the formula is as follows:
- std is the average value of n measurement data.
- This scheme integrates the UAV's own IMU sensor to predict the displacement within ⁇ t of the UAV, which can well predict the fluctuation range of the distance value measured by uwb, and can accurately determine whether the data is abnormal.
- this solution can more accurately correct the abnormal value and better restore the original data value.
- Fig. 1 is a flow chart of the principle of a UWB positioning abnormal value processing method based on IMU of the present invention.
- the method for processing abnormal values of uwb positioning based on IMU in this embodiment includes the following steps:
- the drift error b g is subtracted, and the white noise measured by the gyroscope w g is subtracted.
- the drift noise can be modeled as Gaussian white noise, Is the noise of the gyroscope;
- T s is the sampling time
- E(X 0 ) represents the mathematical expectation value at the zero time
- E[(X 0 -E(X 0 ))(X 0 -E(X 0 )) T ] represents the calculation of the error covariance at the zero time
- k-1 ⁇ k-1 P k-1
- H k [O 3 ⁇ 3 -gI]
- R T is the measurement noise variance matrix
- k X k
- Z is the observation data
- I is the identity matrix, and the precise attitude angle is obtained according to the state vector X k.
- step S3 Calculate the acceleration of the X, Y, and Z axes according to the attitude angle of the UAV obtained in step S2:
- x k (i,j) represents the data in the i-th row and j-th column of x k , and the pitch angle ⁇ and roll angle ⁇ can be obtained; since the flying speed of the UAV is very small, its instantaneous acceleration can be ignored Don't count, that is, the measured acceleration is near g gravitational acceleration, according to the measured acceleration modulus a b :
- P t is the position calculated by the uwb positioning system at time t
- the average speed at the previous moment is regarded as the current The speed of time; and because of Approaching zero within ⁇ t time, that is:
- a is the acceleration in the navigation coordinate system of the precise acceleration obtained by the IMU solution, and t is the system running time. According to the above formula, the estimated displacement s t + ⁇ s at time t+ ⁇ t can be obtained;
- ⁇ s 1 , ⁇ s 2 , and ⁇ s 3 are the displacements of the X, Y, and Z axes in the navigation coordinate system within the sampling time ⁇ t, respectively.
- x, y, z are the positioning values measured last time, Is the position value of the *th base station.
- step S4 Perform abnormal detection on the uwb measurement value according to the displacement value Q obtained in step S3 and the distance data of the uwb sensor; if the uwb measurement value is abnormal, proceed to step S5;
- the formula is among them They are the current measured distance value of uwb and the measured value at the last moment, Q is the displacement value within ⁇ t, mean is the standard deviation of n measured data, and k is the specific gravity parameter, which needs to be adjusted according to specific environmental parameters; Satisfaction See To measure outliers.
- std is the average value of n measurement data.
- This embodiment uses four uwb base stations to perform uwb positioning as an example, which solves the problems of inaccurate determination of abnormal values and accuracy of abnormal value correction in the existing raw data preprocessing process, and improves the accuracy of measurement hardware data. Moreover, this embodiment does not require additional hardware equipment, which enhances the stability of the uwb sensor's measurement data in a complex environment, and at the same time provides effective and accurate measurement output data for the subsequent uwb positioning solution, and improves the stability and rapidity of uwb positioning. And real-time.
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Abstract
一种基于IMU的uwb定位异常值处理方法,包括步骤:S1.获取无人机的IMU数据;S2.将加速度计和陀螺仪进行融合,计算无人机的姿态角度;S3.依据步骤S2得到的无人机的姿态角度,计算X、Y、Z轴的加速度以及△t时间内X、Y、Z轴上的位移,估计出无人机的位移值Q;S4.依据步骤S3得到的位移值Q以及uwb传感器的距离数据,对uwb测量值进行异常检测;若uwb测量值异常,进入步骤S5;S5.对异常的uwb测量值进行数据融合,修正uwb测量值。可解决现有的原始数据预处理过程中的异常值判别不准确以及异常值修正的精度地等问题,提高测量硬件数据准确度。同时不需要外加额外硬件设备,增强了uwb传感器在复杂环境下测量数据的稳定性,同时为后面的uwb定位解算提供有效精确的测量输出数据,提高uwb定位的稳定性,快速性以及实时性。
Description
本申请要求2019年10月29日提交中国专利局、申请号为201911038648.7、发明名称为“一种基于IMU的uwb定位异常值处理方法”的发明专利申请的优先权,其全部内容通过引用结合在本申请中。
本发明涉及uwb定位的技术领域,尤其涉及到一种基于IMU的uwb定位异常值处理方法。
Uwb定位技术是一种使用1GHz以上频率带宽的无线载波通信技术,它不采用正弦载波,而是利用纳秒级的非正弦波窄脉冲传输数据,因此其所占的频谱范围很大,尽管使用无线通信,但其数据传输速率可以达到几百兆比特每秒以上。由于uwb具有高速的数据传输、低功耗、安全性高、定位精度高的特点被广泛应用于各个领域室内定位中,本专利uwb应用背景在于给室内无人机提供高精度的定位数据。由于室内环境的复杂以及各个uwb硬件差异性,导致uwb测距输入值的原始数据发生跳变,丢失,失去真实数据,此时即需要对这些异常数据值进行处理、填充,为uwb定位提供连续而且较为准确的测量数据值。
目前对异常值常处理的方式是删除含有异常值的数据、将异常值视为缺失值,交给缺失值处理方法来处理、用平均值来修正或者是不做处理等,然而以上这些处理异常值的方法在处理uwb定位数据过程中均有定的缺陷,例如使用均值来修正的方法,当无人机进行较大加 速度飞行,此时当异常值用均值代替明显地到时数据失真而其他处理方法均为后面算法作估计带来误差影响。
发明内容
本发明的目的在于克服现有技术的不足,提供一种基于IMU的uwb定位异常值处理方法,以四个uwb基站进行uwb定位为例,解决现有的原始数据预处理过程中的异常值判别不准确以及异常值修正的精度地等问题,提高了测量硬件数据准确度。本发明不需要外加额外硬件设备,增强了uwb传感器在复杂环境下测量数据的稳定性,同时为后面的uwb定位解算提供有效精确的测量输出数据,提高uwb定位的稳定性,快速性以及实时性。
为实现上述目的,本发明所提供的技术方案为:
一种基于IMU的uwb定位异常值处理方法,包括以下步骤:
S1.获取无人机的IMU数据;
S2.将加速度计和陀螺仪进行融合,计算无人机的姿态角度;
S3.依据步骤S2得到的无人机的姿态角度,计算X、Y、Z轴的加速度以及△t时间内X、Y、Z轴上的位移,从而估计出无人机的位移值Q;
S4.依据步骤S3得到的位移值Q以及uwb传感器的距离数据,对uwb测量值进行异常检测;若uwb测量值异常,则进入步骤S5;
S5.对异常的uwb测量值进行数据融合,修正uwb测量值。
进一步地,所述步骤S2的具体过程如下:
通过离散化后,得到:
其中,T
s为采样时间;
通过简化分离出状态变量得:
简化:X
k=Φ
k-1X
k-1+Γ
k-1w
k-1;
其中:
k-1时刻的系统转移矩阵:
观测模型:
综上所述,简化后的过程模型与观测模型如下:
得到过程模型与观测模型后,进行初始化
其中,E(X
0)表示零时刻的数学期望值,E[(X
0-E(X
0))(X
0-E(X
0))
T]表示计算零时刻的误差协方差;
状态估计预测:
X
k|k-1=Φ
k-1X
k-1;
误差协方差预测:
P
k|k-1=Φ
k-1P
k-1|k-1Φ
k-1
T+Γ
k-1Q
k-1Γ
k-1
T,Q
k-1表示系统噪声方差矩阵;
卡尔曼增益矩阵:
其中:H
k=[O
3×3 -gI],R
T为测量噪声方差矩阵;
状态估计更新:
X
k|k=X
k|k-1+K
k(Z-H
kX
k|k-1);
其中:Z为观测数据;
误差协方差更新:
P
k|k=(I-K
kH
k)P
k|k-1;
I为单位矩阵,根据状态向量X
k从而得到精确的姿态角度。
进一步地,所述步骤S3中X、Y、Z轴加速度计算的具体过程如下:
进一步地,所述步骤S3中△t时间内X、Y、Z轴上的位移的计算过程如下:
Δs=v
tΔt+atΔt;
式中,a为通过IMU解算所得的精确加速度在导航坐标系下的加速度,t为系统运行时间,根据上式可得t+Δt时刻的估算位移s
t+Δs;
进一步地,所述步骤S3中无人机的位移值Q的计算公式如下:
进一步地,所述步骤S4中,检测判断异常值时,公式为
其中
分别为uwb的当前测量距离值和上一时刻的测量值,Q为Δt时间内的位移值,mean为n个测量数据的标准方差值,k为比重参数,需要根据具体环境参数调整;当满足式子
则视
为测量异常值。
其中,std为n个测量数据的平均值。
与现有技术相比,本方案原理及优点如下:
1.本方案融合无人机自带的IMU传感器来预测无人机Δt时间内的 位移,能很好地预测到uwb测量的距离值的波动范围,能准确地判别出数据是否为异常。
2.本方案在判断出异常值数据以及估计出无人机在Δt时间内的位移的基础上,能更加准确地对异常值进行修正,更好地恢复原始数据值。
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的服务作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1为本发明一种基于IMU的uwb定位异常值处理方法的原理流程图。
下面结合具体实施例对本发明作进一步说明:
如图1所示,本实施例所述的一种基于IMU的uwb定位异常值处理方法,包括以下步骤:
S1.获取无人机的IMU数据;
S2.将加速度计和陀螺仪进行融合,计算无人机的姿态角度,具体如下:
通过离散化后,得到:
其中,T
s为采样时间;
通过简化分离出状态变量得:
简化:X
k=Φ
k-1X
k-1+Γ
k-1w
k-1;
其中:
k-1时刻的系统转移矩阵:
观测模型:
综上所述,简化后的过程模型与观测模型如下:
其中:E(X
0)表示零时刻的数学期望值,E[(X
0-E(X
0))(X
0-E(X
0))
T]表示计算零时刻的误差协方差;
状态估计预测:
X
k|k-1=Φ
k-1X
k-1;
误差协方差预测:
P
k|k-1=Φ
k-1P
k-1|k-1Φ
k-1
T+Γ
k-1Q
k-1Γ
k-1
T,Q
k-1表示系统噪声方差矩阵;
卡尔曼增益矩阵:
其中:H
k=[O
3×3 -gI],R
T为测量噪声方差矩阵;
状态估计更新:
X
k|k=X
k|k-1+K
k(Z-H
kX
k|k-1);
其中:Z为观测数据;
误差协方差更新:
P
k|k=(I-K
kH
k)P
k|k-1;
I为单位矩阵,根据状态向量X
k从而得到精确的姿态角度。
S3.依据步骤S2得到的无人机的姿态角度,计算X、Y、Z轴的加速度:
计算△t时间内X、Y、Z轴上的位移:
Δs=v
tΔt+atΔt;
式中,a为通过IMU解算所得的精确加速度在导航坐标系下的加速度,t为系统运行时间,根据上式可得t+Δt时刻的估算位移s
t+Δs;
估计出无人机的位移值Q,公式如下:
S4.依据步骤S3得到的位移值Q以及uwb传感器的距离数据,对uwb测量值进行异常检测;若uwb测量值异常,则进入步骤S5;
检测判断异常值时,公式为
其中
分别为uwb的当前测量距离值和上一时刻的测量值,Q为Δt时间内的位移值,mean为n个测量数据的标准方差值,k为比重参数,需要根据具体环境参数调整;当满足式子
则视
为测量异常值。
其中,std为n个测量数据的平均值。
本实施例以四个uwb基站进行uwb定位为例,解决了现有的原始数据预处理过程中的异常值判别不准确以及异常值修正的精度地等问题,提高了测量硬件数据准确度。而且本实施例不需要外加额外硬件设备,增强了uwb传感器在复杂环境下测量数据的稳定性,同时为后面的uwb定位解算提供有效精确的测量输出数据,提高uwb定位的稳定性,快速性以及实时性。
以上所述之实施例子只为本发明之较佳实施例,并非以此限制本发明的实施范围,故凡依本发明之形状、原理所作的变化,均应涵盖在本发明的保护范围内。
Claims (7)
- 一种基于IMU的uwb定位异常值处理方法,其特征在于,包括以下步骤:S1.获取无人机的IMU数据;S2.将加速度计和陀螺仪进行融合,计算无人机的姿态角度;S3.依据步骤S2得到的无人机的姿态角度,计算X、Y、Z轴的加速度以及△t时间内X、Y、Z轴上的位移,从而估计出无人机的位移值Q;S4.依据步骤S3得到的位移值Q以及uwb传感器的距离数据,对uwb测量值进行异常检测;若uwb测量值异常,则进入步骤S5;S5.对异常的uwb测量值进行数据融合,修正uwb测量值。
- 根据权利要求1所述的一种基于IMU的uwb定位异常值处理方法,其特征在于,所述步骤S2的具体过程如下:通过离散化后,得到:其中,T s为采样时间;通过简化分离出状态变量得:简化:X k=Φ k-1X k-1+Γ k-1w k-1;其中:k-1时刻的系统转移矩阵:观测模型:综上所述,简化后的过程模型与观测模型如下:得到过程模型与观测模型后,进行初始化其中,E(X 0)表示零时刻的数学期望值,E[(X 0-E(X 0))(X 0-E(X 0)) T]表示计算零时刻的误差协方差;状态估计预测:X k|k-1=Φ k-1X k-1;误差协方差预测:P k|k-1=Φ k-1P k-1|k-1Φ k-1 T+Γ k-1Q k-1Γ k-1 T,Q k-1表示系统噪声方差矩阵;卡尔曼增益矩阵:其中:H k=[O 3×3-gI],R T为测量噪声方差矩阵;状态估计更新:X k|k=X k|k-1+K k(Z-H kX k|k-1);其中:Z为观测数据;误差协方差更新:P k|k=(I-K kH k)P k|k-1;I为单位矩阵,根据状态向量X k从而得到精确的姿态角度。
- 根据权利要求3所述的一种基于IMU的uwb定位异常值处理方法,其特征在于,所述步骤S3中△t时间内X、Y、Z轴上的位移的计算过程如下:Δs=v tΔt+atΔt;式中,a为通过IMU解算所得的精确加速度在导航坐标系下的加速度,t为系统运行时间,根据上式可得t+Δt时刻的估算位移s t+Δs;
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