CN101368824A - System and method for measuring slope angle of moving object - Google Patents
System and method for measuring slope angle of moving object Download PDFInfo
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- CN101368824A CN101368824A CNA2008101565992A CN200810156599A CN101368824A CN 101368824 A CN101368824 A CN 101368824A CN A2008101565992 A CNA2008101565992 A CN A2008101565992A CN 200810156599 A CN200810156599 A CN 200810156599A CN 101368824 A CN101368824 A CN 101368824A
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- 230000001133 acceleration Effects 0.000 claims abstract description 90
- 230000005484 gravity Effects 0.000 claims description 9
- 230000006698 induction Effects 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 7
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- 238000010586 diagram Methods 0.000 description 10
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Abstract
The invention discloses a system and a measuring method for measuring the inclination angle of a mobile object. The system comprises at least a multi-axis acceleration sensor device and at least a controller; the controller is used to process the acceleration data produced by the multi-axis acceleration sensor device and/or calculate and evaluate the inclination angle alpha; the multi-axis acceleration sensor device is fixed on the object; each axis of the multi-axis acceleration sensor device and the forward axis of the object are in the same plane; and the axes of the multi-axis acceleration sensor device are vertical to each other and form a 45-degree angle with the forward axis of the object. The system is capable of measuring the inclination angle of the mobile object in the absence of acceleration compensation.
Description
Technical field
The present invention relates to a kind of system and the measuring method thereof of measuring slope angle of moving object in the navigational system, more particularly, relate to and a kind ofly not having under the situation of acceleration compensation, measure a kind of system and measuring method thereof of measuring slope angle of moving object of slope angle of moving object and tilt angle varied.
Background of invention
At present, adopt 3 D stereo traffic navigation system (as global location navigational system GPS) that vehicle acceleration is compensated usually, utilize speed pulse generator to produce velocity pulse, thereby determine the pitch angle of vehicle.Usually use the bussing technique Data transmission in the automobile making, as, use the CAN bus to connect velocity pulse is provided.In old sample car, often utilize frequency converter to produce velocity pulse.Another kind of common method is exactly a fixing magnet steel oblique line on a tire of vehicle, and the number of turns that receiver record tire turns over then produces a velocity of electrons pulse after reaching the predefined number of turns.
Therefore need a kind of system, can not rely on velocity pulse, promptly this system need not the acceleration compensation of object, just can measure the pitch angle of moving object.
Summary of the invention
Technical matters to be solved by this invention provides a kind of in the system that does not have to measure under the situation of acceleration compensation slope angle of moving object and tilt angle varied.
For solving the problems of the technologies described above, the invention provides a kind of system and measuring method thereof of measuring slope angle of moving object.This system comprises at least one multiaxis acceleration sensing, this device is fixed on the object, the forward direction axle of each of multiaxis acceleration sensing and object is in same plane, and is vertical mutually between each of multiaxis acceleration sensing, and and the forward direction axle of object be mutually 45.This system comprises that also at least one is used to handle the acceleration information of multiaxis acceleration sensing generation and/or the controller that inclined angle alpha is found the solution in calculating.
The present invention also provides a kind of said system to determine the method for slope angle of moving object, may further comprise the steps:
1) utilize the multiaxis acceleration sensing be fixed on the object to measure acceleration at each;
2) utilize formula
Calculate the inclined angle alpha of object, wherein, g is an acceleration of gravity, a
xBe the induction acceleration on the x axle, a
yBe the induction acceleration on the y axle.
The present invention also provides a kind of system of above-mentioned measurement slope angle of moving object that utilizes to determine that moving object is to go up a slope or the method for descending, may further comprise the steps in addition:
1) utilize the multiaxis acceleration sensing be fixed on the object to measure acceleration at each;
2) utilize formula
Calculate the inclined angle alpha of object, wherein, g is an acceleration of gravity, a
xBe the induction acceleration on the x axle, a
yBe the induction acceleration on the y axle;
3) utilize equation
a
1＝g*cosα
a
2＝g*sinα
Calculate instantaneous acceleration a
1And a
2
4) determine the moving object climb and fall: if value (a
x-a
1) value of approximating (a greatly
y-a
2), object 10 is for going up a slope so; If (a
y-a
1) value of approximating (a greatly
x-a
2), object 10 is a descending so.
Be described calculating principle below:
Fig. 1 is the acceleration condition synoptic diagram of moving object of the present invention when the level land.Quickening the acceleration of object 10 on direction 19 is a
c, being subjected to gravity effect, the acceleration on direction 18 is g.Among Fig. 1, gravitational vector 18 and direction 19 quadratures or near quadrature.
In one embodiment of the invention, described multiaxis acceleration sensor is two axle acceleration sensors 15, and it is installed on and quickens on the object 10, and mutually orthogonal inductive axis 11 and 13 is (xy plane 12) in same plane.The inductive axis 11 and 13 of two axle acceleration sensors 15 is fixed on and quickens on the object 10, and forms the 45 degree respectively with the forward direction axle 14 of object 10, and wherein, the forward direction axle 14 of object 10 is also in same xy plane 12.
Described two axle acceleration sensors 15 can be single chip architecture, can fixedly connected daughter boards (PCB), and sub-PCB vertically is installed on the main PCB successively.
Among Fig. 1, in xy plane 12, draw the extended line 16 of a direction 18, the α angle is extended line 16 and represents acceleration x durection component a
x Axle 11 angle, the β angle is extended line 16 and represents acceleration y durection component a
y Axle 11 angle.
Fig. 2 is the acceleration condition synoptic diagram of moving object of the present invention when going up a slope.Object 10 on an acclivity with the acceleration a on the direction 19
cAdvance.If the pitch angle, slope is θ, then the angle of gravity and direction 19 be (90 °+θ); The α angle be (45 °-θ); The β angle be (45 °+θ).
Fig. 3 is the acceleration condition synoptic diagram of moving object of the present invention when descending.Object 10 on a downward slope 25 with the acceleration a on the direction 19
cAdvance.If the pitch angle, slope is θ, the angle of gravity and direction 19 be (90 °-θ); The α angle be (45 °+θ); The β angle be (45 °-θ).
The inductive axis 11 and 13 of two axle acceleration sensors 15 is fixed on and quickens on the object 10, and forms the 45 degree respectively with the forward direction axle 14 of object 10.Formula (1) has reflected x directional acceleration component a
xWith the acceleration a on 19 directions
cBetween relation, formula (2) has reflected y directional acceleration component a
yWith the acceleration a on 19 directions
cBetween relation.
Formula (3) has reflected x directional acceleration component a
xAnd the relation between the gravity acceleration g, formula (2) has reflected y directional acceleration component a
yAnd the relation between the gravity acceleration g.
Because β=90 °-α, equation (4) also can be expressed as
According to equation (1)～(4)
∑(a
x+a
y)＝g*cosα+a
c*cos45°+g*sinα-a
c*cos45°[6]
Promptly
∑(a
x+a
y)＝g*cosα+g*sinα[7].
Like this,
a
x+a
y＝g(cosα+sinα)[8]，
Or
Thereby obtain angle [alpha] be
Thereby angle [alpha] and acceleration a as can be seen,
cIrrelevant, so just need not velocity pulse equipment.
Shown in Fig. 2 and 3, when object 10 went up a slope, angle [alpha] was less than angle beta, the acceleration a of x direction
xAcceleration a greater than the y direction
yWhen object 10 descendings, angle [alpha] is greater than angle beta, the acceleration a of x direction
xAcceleration a less than the y direction
y
After determining angle [alpha], be to go up a slope or descending instantaneous acceleration a in order to determine object 10
1And a
2Determine by following equation:
a
1＝g*cosα [11]
a
2＝g*sinα [12].
If value (a
x-a
1) value of approximating (a greatly
y-a
2), object 10 is for going up a slope so; If (a
y-a
1) value of approximating (a greatly
x-a
2), object 10 is a descending so.
Description of drawings
Fig. 1 is the acceleration condition synoptic diagram of moving object of the present invention when the level land;
Fig. 2 is the acceleration condition synoptic diagram of moving object of the present invention when going up a slope;
Fig. 3 is the acceleration condition synoptic diagram of moving object of the present invention when descending;
Fig. 4 is a kind of tilt angle varied situation of moving object of the present invention synoptic diagram;
Fig. 5 measures the process flow diagram of pitch angle and tilt angle varied for the present invention.
Embodiment
Fig. 4 is a kind of tilt angle varied situation of moving object of the present invention synoptic diagram.
The signal of multiaxis acceleration transducer reduces noise by the low-pass filter that joins with it, thereby improves signal to noise ratio (snr).In addition, in order to improve signal to noise ratio (S/N ratio), except using one two axle acceleration sensor, can also use a pair of two axle acceleration sensors, be vertically mounted on them on the object 10 mutually in reverse direction, that is to say that an acceleration transducer is installed on the forward direction axle of object 10, and another acceleration transducer is installed in the back on axle of object 10.With respect to one two axis accelerometer only is installed, the purpose of doing like this is in order to produce the signal of twice, further to reduce The noise.
Fig. 5 measures the process flow diagram of pitch angle and tilt angle varied for the present invention, finds the solution inclined angle alpha in order to handle acceleration information and/or the calculating that two axle acceleration sensors 15 produce, and this system comprises at least one controller 29.Controller 29 comprises easily losing property storer (random access memory), nonvolatile memory (ROM (read-only memory)), processor or microprocessor.Processor or microprocessor are carried out hardware/software application program, driver, algorithm etc., calculate the pitch angle, and can determine that object is to go up a slope or descending.The pitch angle data that obtain can be used for three-dimension navigation system, GPS navigation system etc.
The measuring method of the system of measurement slope angle of moving object of the present invention, although the present invention is described on two bases that are in the xy plane of hypothesis two axle acceleration sensors, the present invention also can be installed on two of two axle acceleration sensors in xz or the yz plane.In above-mentioned back two kinds of mounting meanss, the acceleration produces owing to tilting or the common-mode signal of deceleration can be replaced by the common-mode signal of normal enforcement direction, thereby minimizing is from the signal noise on road surface.
Although acceleration object of the present invention is a wheeled vehicle, acceleration object involved in the present invention is not limited to this, and for example, moving object can be endless-track vehicle, sea or ocean ship, aircraft, airship, satellite, digital camera etc.
Claims (6)
1. system of measuring slope angle of moving object, it is characterized in that: comprise that at least one multiaxis acceleration sensing and at least one are used to handle the acceleration information of multiaxis acceleration sensing generation and/or the controller that inclined angle alpha is found the solution in calculating, described multiaxis acceleration sensing is fixed on the object 10, the forward direction axle of each of multiaxis acceleration sensing and object is in same plane, mutually vertical between each of multiaxis acceleration sensing, and and the forward direction axle of object be mutually 45.
2. the system of measurement slope angle of moving object according to claim 1 is characterized in that: described multiaxis acceleration sensing is two axle acceleration sensors.
3. the system of measurement slope angle of moving object according to claim 2, it is characterized in that: described two axle acceleration sensors are provided with two, one two axle acceleration sensor is installed on the forward direction axle of object 10, and another two axle acceleration sensor is installed in the back on axle of object 10.
4. the system of measurement slope angle of moving object according to claim 1 is characterized in that: also comprise the low-pass filter that joins, is used to improve signal to noise ratio (S/N ratio) with the multiaxis sensing device.
5. the measuring method of the system of measurement slope angle of moving object according to claim 1 is characterized in that: may further comprise the steps:
1) utilize the multiaxis acceleration sensing be fixed on the object to measure acceleration at each;
2) utilize formula
Calculate the inclined angle alpha of object, wherein, g is an acceleration of gravity, a
xBe the induction acceleration on the x axle, a
yBe the induction acceleration on the y axle.
6. definite moving object of the system of measurement slope angle of moving object according to claim 1 is to go up a slope or the method for descending, it is characterized in that: may further comprise the steps:
1) utilize the multiaxis acceleration sensing be fixed on the object to measure acceleration at each;
2) utilize formula
Calculate the inclined angle alpha of object, wherein, g is an acceleration of gravity, a
xBe the induction acceleration on the x axle, a
yBe the induction acceleration on the y axle;
3) utilize equation
a
1＝g*cosa
a
2＝g*sinα
Calculate instantaneous acceleration a
1And a
2
4) determine the moving object climb and fall: if value (a
x-a
1) value of approximating (a greatly
y-a
2), object 10 is for going up a slope so; If (a
y-a
1) value of approximating (a greatly
x-a
2), object 10 is a descending so.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008101565992A CN101368824A (en) | 2008-10-13 | 2008-10-13 | System and method for measuring slope angle of moving object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008101565992A CN101368824A (en) | 2008-10-13 | 2008-10-13 | System and method for measuring slope angle of moving object |
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| Publication Number | Publication Date |
|---|---|
| CN101368824A true CN101368824A (en) | 2009-02-18 |
Family
ID=40412748
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|---|---|---|---|
| CNA2008101565992A Pending CN101368824A (en) | 2008-10-13 | 2008-10-13 | System and method for measuring slope angle of moving object |
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| WO2011075983A1 (en) * | 2009-12-24 | 2011-06-30 | 湖南三一智能控制设备有限公司 | Angle measuring apparatus and method thereof and engineering machinery |
| CN102331252A (en) * | 2010-07-13 | 2012-01-25 | 曼卡车和巴士股份公司 | Method and device for recognising and compensating for a vehicle being angled across a roadway |
| CN102927942A (en) * | 2011-08-08 | 2013-02-13 | 联想(北京)有限公司 | Electronic equipment and method for measuring length by using electronic equipment |
| CN103702884A (en) * | 2011-08-12 | 2014-04-02 | 迪尔公司 | Method and system for determining the tilt of a vehicle |
| CN104215224A (en) * | 2014-09-10 | 2014-12-17 | 西南大学 | Device and method for detecting inclination angle and acceleration by utilizing linear Hall sensor |
| CN104792323A (en) * | 2015-04-01 | 2015-07-22 | 北京爱科迪通信技术股份有限公司 | Dynamic gradienter and attitude-angle calculating method |
| CN104807443A (en) * | 2015-04-01 | 2015-07-29 | 北京爱科迪通信技术股份有限公司 | Level meter |
| CN104897135A (en) * | 2014-03-05 | 2015-09-09 | 上海通用汽车有限公司 | Road surface slope acquisition method and road surface slope acquisition system |
| CN105783921A (en) * | 2014-12-17 | 2016-07-20 | 高德软件有限公司 | Method for correcting automobile attitude data, and apparatus thereof |
| CN108871327A (en) * | 2017-05-10 | 2018-11-23 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of double redundancy inertia sensing assembly platform body structure |
| CN109917411A (en) * | 2019-04-17 | 2019-06-21 | 重庆大学 | Obstacle detection device and method based on laser ranging and three-axis accelerometer |
| CN118882601A (en) * | 2024-10-08 | 2024-11-01 | 江苏蓝策电子科技有限公司 | A method and device for measuring horizontal inclination angle of a mining robot |
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2008
- 2008-10-13 CN CNA2008101565992A patent/CN101368824A/en active Pending
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| WO2011075983A1 (en) * | 2009-12-24 | 2011-06-30 | 湖南三一智能控制设备有限公司 | Angle measuring apparatus and method thereof and engineering machinery |
| CN101800834A (en) * | 2010-04-13 | 2010-08-11 | 美新半导体（无锡）有限公司 | Device and method for compensating exchangeable image file information of digital image |
| CN102331252A (en) * | 2010-07-13 | 2012-01-25 | 曼卡车和巴士股份公司 | Method and device for recognising and compensating for a vehicle being angled across a roadway |
| CN102331252B (en) * | 2010-07-13 | 2014-12-17 | 曼卡车和巴士股份公司 | Method and device for recognising and compensating for a vehicle being angled across a roadway |
| CN102927942B (en) * | 2011-08-08 | 2015-12-09 | 联想(北京)有限公司 | Electronic equipment and utilize the length measurement method of electronic equipment |
| CN102927942A (en) * | 2011-08-08 | 2013-02-13 | 联想(北京)有限公司 | Electronic equipment and method for measuring length by using electronic equipment |
| CN103702884B (en) * | 2011-08-12 | 2016-08-31 | 迪尔公司 | For determining the method and system at vehicle inclination angle |
| CN103702884A (en) * | 2011-08-12 | 2014-04-02 | 迪尔公司 | Method and system for determining the tilt of a vehicle |
| CN104897135A (en) * | 2014-03-05 | 2015-09-09 | 上海通用汽车有限公司 | Road surface slope acquisition method and road surface slope acquisition system |
| CN104215224A (en) * | 2014-09-10 | 2014-12-17 | 西南大学 | Device and method for detecting inclination angle and acceleration by utilizing linear Hall sensor |
| CN105783921A (en) * | 2014-12-17 | 2016-07-20 | 高德软件有限公司 | Method for correcting automobile attitude data, and apparatus thereof |
| CN105783921B (en) * | 2014-12-17 | 2019-02-19 | 高德软件有限公司 | A kind of method and device correcting automobile attitude data |
| CN104792323A (en) * | 2015-04-01 | 2015-07-22 | 北京爱科迪通信技术股份有限公司 | Dynamic gradienter and attitude-angle calculating method |
| CN104807443A (en) * | 2015-04-01 | 2015-07-29 | 北京爱科迪通信技术股份有限公司 | Level meter |
| CN104792323B (en) * | 2015-04-01 | 2018-10-23 | 北京爱科迪通信技术股份有限公司 | Dynamic Water level and attitude angle computational methods |
| CN108871327A (en) * | 2017-05-10 | 2018-11-23 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of double redundancy inertia sensing assembly platform body structure |
| CN109917411A (en) * | 2019-04-17 | 2019-06-21 | 重庆大学 | Obstacle detection device and method based on laser ranging and three-axis accelerometer |
| CN109917411B (en) * | 2019-04-17 | 2023-04-18 | 重庆大学 | Obstacle detection device and method based on laser ranging and triaxial accelerometer |
| CN118882601A (en) * | 2024-10-08 | 2024-11-01 | 江苏蓝策电子科技有限公司 | A method and device for measuring horizontal inclination angle of a mining robot |
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Open date: 20090218 |