CN110440797A - Vehicle attitude estimation method and system - Google Patents
Vehicle attitude estimation method and system Download PDFInfo
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- CN110440797A CN110440797A CN201910805006.9A CN201910805006A CN110440797A CN 110440797 A CN110440797 A CN 110440797A CN 201910805006 A CN201910805006 A CN 201910805006A CN 110440797 A CN110440797 A CN 110440797A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
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- 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
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Abstract
The present invention relates to technical field of vehicle, a kind of vehicle attitude estimation method and system are disclosed, comprising: resolve quaternary number to be optimized according to the gyro information of the Inertial Measurement Unit of vehicle acquisition；The measurement input data evaluated error quaternary number acquired according to Inertial Measurement Unit；Quaternary number to be optimized is corrected by error quaternion, obtains the vehicle attitude of vehicle.Implement the embodiment of the present invention, according to the gyro information that Inertial Measurement Unit acquires and input data can be measured, final measurement posture is calculated, data without being acquired by other oracles calculate the posture of vehicle, the case where avoiding the data of acquisition oracle acquisition not in time, improves the calculating speed of vehicle attitude estimation.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle attitude estimation method and system.
Background
At present, an existing vehicle attitude estimation method generally estimates the attitude of a vehicle by combining data acquired by an Inertial Measurement Unit (IMU) and data acquired by other external information sources, where the other external information sources may be Global Navigation Satellite Systems (GNSS), visual sensors, and the like. However, in practice, it is found that in the process of estimating the vehicle attitude, a communication connection needs to be established with an external information source before the data acquired by the external information source can be acquired, and therefore, the calculation speed of the vehicle attitude estimation is slow under the condition that the speed of acquiring the data acquired by the external information source is slow.
Disclosure of Invention
The embodiment of the invention discloses a vehicle attitude estimation method and a vehicle attitude estimation system, which can improve the calculation speed of vehicle attitude estimation.
The embodiment of the invention discloses a vehicle attitude estimation method in a first aspect, which comprises the following steps:
resolving a quaternion to be optimized according to gyro information acquired by an inertial measurement unit of the vehicle;
estimating an error quaternion according to measurement input data acquired by the inertial measurement unit;
and correcting the quaternion to be optimized through the error quaternion to obtain the vehicle attitude of the vehicle.
As an alternative implementation, in the first aspect of the embodiment of the present invention, the estimating an error quaternion according to the metrology input data collected by the inertial measurement unit includes:
determining a state equation of a preset filtering algorithm according to the measurement input data acquired by the inertia measurement unit to obtain a state variable;
determining a measurement equation of the preset filtering algorithm according to measurement input data collected by the inertia measurement unit to obtain observed quantity;
and calculating to obtain an error quaternion according to the state variable and the observed quantity.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the correcting the quaternion to be optimized by using the error quaternion to obtain the vehicle attitude of the vehicle includes:
correcting the quaternion to be optimized according to the error quaternion to obtain a target quaternion;
and calculating to obtain the vehicle attitude of the vehicle by taking the target quaternion as a basis.
As an alternative implementation, in the first aspect of the embodiment of the present invention, the calculating the vehicle attitude of the vehicle based on the target quaternion includes:
acquiring a first rotation attitude matrix of a carrier coordinate system relative to a navigation coordinate system;
and calculating a first attitude angle corresponding to the target quaternion according to the first rotation attitude matrix, and determining the first attitude angle as the vehicle attitude of the vehicle.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the resolving a quaternion to be optimized according to gyro information acquired by an inertial measurement unit of a vehicle includes:
acquiring a second attitude angle and an angular rate from gyro information acquired by an inertial measurement unit of the vehicle;
acquiring a second rotation attitude matrix of the navigation coordinate system relative to the carrier coordinate system, and calculating an initial quaternion corresponding to the second attitude angle according to the second rotation attitude matrix;
calculating an angle increment in a preset sampling time according to the angular rate;
and updating the initial quaternion by using the angle increment to obtain the quaternion to be optimized.
A second aspect of the embodiments of the present invention discloses a vehicle attitude estimation system, including:
the resolving unit is used for resolving the quaternion to be optimized according to the gyro information acquired by the inertial measurement unit of the vehicle;
the estimation unit is used for estimating an error quaternion according to the measurement input data collected by the inertial measurement unit;
and the correcting unit is used for correcting the quaternion to be optimized through the error quaternion to obtain the vehicle posture of the vehicle.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the estimation unit includes:
the determining subunit is used for determining a state equation of a preset filtering algorithm according to the measurement input data acquired by the inertia measuring unit to obtain a state variable;
the determining subunit is further configured to determine a measurement equation of the preset filtering algorithm according to measurement input data acquired by the inertial measurement unit, so as to obtain an observed quantity;
and the first calculating subunit is used for calculating to obtain an error quaternion according to the state variable and the observed quantity.
As an alternative implementation, in a second aspect of the embodiment of the present invention, the correction unit includes:
the syndrome unit is used for correcting the quaternion to be optimized according to the error quaternion to obtain a target quaternion;
and the second calculating subunit is used for calculating the vehicle posture of the vehicle according to the target quaternion.
A third aspect of the embodiments of the present invention discloses a vehicle-mounted electronic device, including:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to perform part or all of the steps of any one of the methods of the first aspect.
A fourth aspect of the present embodiments discloses a computer-readable storage medium storing a program code, where the program code includes instructions for performing part or all of the steps of any one of the methods of the first aspect.
A fifth aspect of embodiments of the present invention discloses a computer program product, which, when run on a computer, causes the computer to perform some or all of the steps of any one of the methods of the first aspect.
A sixth aspect of the present embodiment discloses an application publishing platform, where the application publishing platform is configured to publish a computer program product, where the computer program product is configured to, when running on a computer, cause the computer to perform part or all of the steps of any one of the methods in the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, a quaternion to be optimized is calculated according to gyro information acquired by an inertial measurement unit of a vehicle; estimating an error quaternion according to measurement input data collected by an inertial measurement unit; and correcting the quaternion to be optimized through the error quaternion to obtain the vehicle attitude of the vehicle. Therefore, by implementing the embodiment of the invention, the final measurement attitude can be obtained by calculation according to the gyro information and the measurement input data acquired by the inertia measurement unit, the attitude of the vehicle does not need to be calculated through the data acquired by other external information sources, the condition that the data acquired by the external information sources is not timely acquired is avoided, and the calculation speed of the vehicle attitude estimation is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram illustrating a method for estimating vehicle attitude according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of another vehicle attitude estimation method disclosed in the embodiments of the present invention;
FIG. 3 is a schematic flow chart illustrating a further method for estimating vehicle attitude according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a vehicle attitude estimation system according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of another vehicle attitude estimation system disclosed in the embodiments of the present invention;
FIG. 6 is a schematic structural diagram of another vehicle attitude estimation system disclosed in the embodiments of the present invention;
fig. 7 is a schematic structural diagram of a vehicle-mounted electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
The embodiment of the invention discloses a vehicle attitude estimation method and a vehicle attitude estimation system, which can calculate to obtain a final measurement attitude according to gyro information and measurement input data acquired by an inertial measurement unit, and improve the calculation speed of vehicle attitude estimation. The following are detailed below.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart of a vehicle attitude estimation method according to an embodiment of the invention. As shown in fig. 1, the vehicle attitude estimation method may include the steps of:
101. and the vehicle-mounted electronic equipment calculates the quaternion to be optimized according to the gyro information acquired by the inertial measurement unit of the vehicle.
In the embodiment of the invention, the inertial measurement unit can acquire gyro information through an angular velocity detection device, and the angular velocity detection device can be a Gyroscope (Gyroscope) and the like; the gyro information acquired by the inertial measurement unit through the Angular Velocity detection device may include information such as Zero Offset (Zero Offset), noise, attitude angle (pitchattiute), Angular rate (Angular Velocity), and Angular Velocity (Angular Velocity) of the Angular Velocity detection device.
In the embodiment of the invention, the vehicle posture is changed all the time in the moving process of the vehicle, so that the accurate vehicle posture of the vehicle needs to be acquired to realize the automatic driving functions of self-adaptive cruising speed control, automatic ramp parking speed control and the like of the vehicle, so that the automatic driving of the vehicle can run safely. The vehicle attitude may be represented by an attitude angle in the gyro information, the attitude angle may include a pitch angle, a rotation angle, and a roll angle, and when the vehicle attitude is described by the attitude angle, a navigation Coordinate System and a carrier Coordinate System may be determined first, where the navigation Coordinate System may be a station center Coordinate System (a Global Positioning System), for example, the station center Coordinate System may be a Coordinate System based on a Global Positioning System (GPS), that is, a navigation Coordinate System having an x axis, a y axis, and a z axis with fixed orientations may be established in advance according to the GPS; in addition, the carrier coordinate system may be a coordinate system established according to the vehicle, the posture of the vehicle may be represented by a relationship of the carrier coordinate system with respect to the navigation coordinate system, an origin of the carrier coordinate system may be a center of mass (center of mass) of the vehicle, a positive direction of a y-axis of the carrier coordinate system may be directly in front of a traveling direction of the vehicle, a positive direction of an x-axis may be right of the y-axis, and a positive direction of a z-axis may be directly above the vehicle. The pitch angle in the attitude angle can be an included angle of an x-axis of the carrier coordinate system relative to an x-axis of the navigation coordinate system; the yaw angle in the attitude angle can be an included angle of a y axis of the carrier coordinate system relative to a y axis of the navigation coordinate system; the roll angle in the attitude angle may be an angle of a z-axis of the carrier coordinate system relative to a z-axis of the navigation coordinate system. The vehicle attitude of the vehicle can thus be described in the navigation coordinate system by the attitude angle. Because the vehicle attitude is described through the attitude angle, the calculation of a trigonometric function is usually involved, and the vehicle attitude is difficult to calculate, so that the attitude angle can be solved to obtain the quaternion to be optimized corresponding to the vehicle attitude.
In the embodiment of the invention, the vehicle-mounted electronic equipment can construct an attitude angle estimator according to the gyro information collected in the past, the attitude angle estimator can estimate a quaternion to be optimized corresponding to the attitude angle of the vehicle after a preset time interval according to the attitude angle in the gyro information, and the quaternion to be optimized corresponding to the attitude angle of the vehicle can comprise a quaternion of a pitch angle, a quaternion of a yaw angle and a quaternion of a roll angle; the vehicle-mounted electronic device can read the current attitude angle of the vehicle from the gyro information, convert a trigonometric function used for expressing the current attitude angle into a quaternion used for expressing the current attitude angle according to the relation of a carrier coordinate system relative to a navigation coordinate system, and then input the quaternion used for expressing the current attitude angle into an attitude angle estimator to obtain a quaternion to be optimized used for expressing the attitude angle of the vehicle after a preset time interval.
102. And the vehicle-mounted electronic equipment estimates error quaternion according to the measurement input data acquired by the inertia measurement unit.
In the embodiment of the present invention, the inertial measurement unit may acquire measurement input data, where the measurement input data may be acceleration information acquired by an Accelerometer (Accelerometer), or may also be acquired gravity information, and the like, where the acceleration information may include information such as zero offset and noise of the Accelerometer; the gravity information may include information such as a current gravity vector.
In the embodiment of the invention, the measurement input data acquired by the inertial measurement unit can be calculated through a Kalman Filtering (KF) algorithm, the state variable and the observed quantity based on the measurement input data are calculated through a state equation and a measurement equation in the KF algorithm, and then the error quaternion is determined according to the state variable and the observed quantity.
In the embodiment of the invention, the quaternion which is input into the attitude angle estimator by the vehicle-mounted electronic equipment and is used for representing the current attitude angle is obtained according to the collected gyro information, since the quaternion of the current attitude angle does not take into account the error in the IMU due to the zero offset based on the angular velocity detection means and the zero offset of the accelerometer during the calculation, therefore, the quaternion to be optimized estimated by the attitude angle estimator also has errors, the vehicle-mounted electronic equipment needs to calculate the error quaternion by combining the zero offset of the angular velocity detection device and the zero offset of the accelerometer so as to correct the quaternion to be optimized by the error quaternion, therefore, errors generated by zero offset of the angular velocity detection device and zero offset of the accelerometer in the quaternion to be optimized are eliminated, and finally, a more accurate vehicle attitude can be calculated according to the quaternion to be optimized with the errors eliminated.
103. And the vehicle-mounted electronic equipment corrects the quaternion to be optimized through the error quaternion to obtain the vehicle posture of the vehicle.
In the embodiment of the invention, the error quaternion and the quaternion to be optimized can be calculated through the correction model to obtain the correction quaternion corresponding to the quaternion to be optimized, and the correction quaternion is subjected to normalization standardized calculation to realize the correction of the quaternion to be optimized; because the zero offset of the angular velocity detection device and the zero offset of the accelerometer cause errors to the quaternion to be optimized estimated by the attitude angle estimator, the quaternion to be optimized can be corrected through the error quaternion obtained through calculation based on the zero offset of the angular velocity detection device and the zero offset of the accelerometer, so that the influence of the zero offset of the angular velocity detection device and the zero offset of the accelerometer on the quaternion to be optimized is eliminated, the corrected quaternion to be optimized is more accurate, and the vehicle attitude obtained through calculation based on the corrected quaternion to be optimized is more accurate. In addition, the vehicle-mounted electronic device may convert the corrected quaternion to be optimized corresponding to the attitude angle of the vehicle attitude into a trigonometric function through the first rotation attitude matrix, and may also convert the trigonometric function corresponding to the attitude angle of the vehicle attitude into the quaternion to be optimized through the preset second rotation attitude matrix, where the first rotation attitude matrix and the second rotation attitude matrix may be stored in the vehicle attitude estimation system in advance.
In the method described in fig. 1, the final measurement attitude can be calculated according to the gyro information and the measurement input data acquired by the inertial measurement unit, so that the calculation speed of the vehicle attitude estimation is increased.
Example two
Referring to fig. 2, fig. 2 is a schematic flow chart of another vehicle attitude estimation method according to an embodiment of the invention. Compared with the first embodiment, the embodiment of the invention increases the calculation mode of the error quaternion, and improves the accuracy of the calculation of the error quaternion. As shown in fig. 2, the vehicle attitude estimation method may include the steps of:
201. and the vehicle-mounted electronic equipment calculates the quaternion to be optimized according to the gyro information acquired by the inertial measurement unit of the vehicle.
202. And the vehicle-mounted electronic equipment determines a state equation of a preset filtering algorithm according to the measurement input data acquired by the inertia measurement unit to obtain a state variable.
In the embodiment of the invention, the preset filtering algorithm can be a Kalman filtering algorithm, the vehicle-mounted electronic equipment can estimate the estimated value of the vehicle attitude through the measurement input data acquired by the inertia measurement unit, the mode of estimating the estimated value of the vehicle attitude can be that a state equation of the preset filtering algorithm is determined according to the measurement input data, the measurement input data is input into the state equation to obtain a state variable, then the observed quantity can be obtained through calculation, the state variable can be corrected through the observed quantity, and the obtained corrected state variable can be determined as the estimated value of the vehicle attitude.
In an embodiment of the present invention, the measurement input data collected by the inertial measurement unit may include a zero offset b of the angular velocity detection devicegNoise v of angular velocity detection devicegAnd angular velocity omega, the output model y of the angular velocity detection device can be obtained by calculating the data of the vehicle-mounted electronic equipmentg：
yg＝ω+bg+vg
Further derivation of error quaternion qeMay be determined by calculating the first derivative of the error quaternionTo realize that:
the state equation of the preset filtering algorithm can be determined according to the measured input data
Wherein,the noise corresponding to the zero point offset of the angular velocity detection apparatus may be considered, and the calculation formula of a may be:
wherein I may be an identity matrix, [ y ]g×]May be ygAgainstAnd (3) weighing the matrix, and further obtaining a state variable x according to the formula:
where R may be a real number.
203. And the vehicle-mounted electronic equipment determines a measurement equation of a preset filtering algorithm according to the measurement input data acquired by the inertia measurement unit to obtain the observed quantity.
In the embodiment of the invention, the time for acquiring each data can be simultaneously acquired from the measurement input data acquired by the inertia measurement unit, so that the vehicle-mounted electronic equipment can accurately select the measurement input data for calculating the observed quantity according to the time. The state variable may be a vehicle attitude at a target time after a preset sampling time interval is estimated according to the measurement input data corresponding to the current time, and the observed quantity may be a vehicle attitude calculated according to the measurement input data corresponding to the target time when it is detected that the time reaches the target time.
In an embodiment of the present invention, the measurement input data collected by the inertial measurement unit may include a zero offset b of the accelerometeraNoise v of accelerometeraAnd local gravity vectorAnd waiting for data, and calculating the observed quantity Z according to a state equation of a preset filtering algorithm, wherein the formula can be as follows:
wherein,for quaternion, y, to be optimizedaThe output model for the accelerometer can be:
further by the output model y of the accelerometeraAnd quaternion to be optimizedAnd jointly calculating to obtain the observed quantity Z.
204. And the vehicle-mounted electronic equipment calculates to obtain an error quaternion according to the state variable and the observed quantity.
In the embodiment of the invention, the estimation quaternion can be obtained through calculation of KF algorithmAnd by estimating quaternionError quaternion q obtained by derivation of comprehensive observed quantity Z and state variable xeCorrecting to make the error quaternion qeMore accurate, wherein, the error quaternion q iseThe correction may be performed by:
in the embodiment of the present invention, by implementing the steps 202 to 204, the state variable and the observed quantity can be calculated from the measurement input data collected by the inertial measurement unit, and then the error quaternion is calculated through the state variable and the observed quantity, so that the accuracy of calculating the error quaternion is improved.
205. And the vehicle-mounted electronic equipment corrects the quaternion to be optimized through the error quaternion to obtain the vehicle posture of the vehicle.
In the method described in fig. 2, the final measurement attitude can be calculated according to the gyro information and the measurement input data acquired by the inertial measurement unit, so that the calculation speed of the vehicle attitude estimation is increased. In addition, the method described in fig. 2 is implemented, and the accuracy of error quaternion calculation is improved.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic flow chart of another vehicle attitude estimation method according to an embodiment of the invention. Compared with the first embodiment, the embodiment of the invention explains the calculation mode of the quaternion to be optimized in more detail, refines the calculation mode of the vehicle attitude, further refines the mode of obtaining the vehicle attitude through calculation of the target quaternion, improves the calculation accuracy of the quaternion to be optimized, improves the accuracy of calculating the vehicle attitude, and ensures that the target quaternion can be accurately converted into the vehicle attitude. As shown in fig. 3, the vehicle attitude estimation method may include the steps of:
301. the vehicle-mounted electronic equipment acquires a second attitude angle and an angular rate from gyro information acquired by an inertial measurement unit of the vehicle.
In the embodiment of the present invention, the second attitude angle of the gyro information acquired by the inertial measurement unit may include an initial Pitch angle Pitch0Initial rotation angle Roll0And initial roll angle Yaw0And an initial Pitch angle Pitch in the second attitude angle0Initial rotation angle Roll0And initial roll angle Yaw0Can be represented by a trigonometric function. Further, the angular rates may respectively represent the initial Pitch angles Pitch in the second attitude angles0Initial rotation angle Roll0And initial roll angle Yaw0The angular velocity and the direction of the angular velocity are different from that of the carrier coordinate system, so that the vehicle-mounted electronic equipment can convert the angular velocity from the current coordinate system to the carrier coordinate system, the angular velocity and the initial quaternion obtained through calculation according to the attitude angle are in the same coordinate system, and the accuracy of calculating the quaternion to be optimized is guaranteed.
302. And the vehicle-mounted electronic equipment acquires a second rotation attitude matrix of the navigation coordinate system relative to the carrier coordinate system, and calculates an initial quaternion corresponding to a second attitude angle according to the second rotation attitude matrix.
In the embodiment of the present invention, the second rotation attitude matrix may be used to represent a mapping relationship between coordinates in the navigation coordinate system and coordinates in the carrier coordinate system, so that the second attitude angle represented by a trigonometric function may be converted into an initial quaternion that is not represented by a trigonometric function by using the second attitude rotation matrix.
In the embodiment of the invention, the method is used for converting the second attitude angle into the initial quaternion q0、q1、q2And q is3The second attitude rotation matrix of (a) may be:
q0+q1i+q2j+q3＝[q0 q1 q2 q3]T
wherein q is0、q1、q2And q is3The calculation method of (d) may be:
303. and the vehicle-mounted electronic equipment calculates the angular increment within the preset sampling time according to the angular rate.
In the embodiment of the invention, the angular velocity ω can be obtained from the angular velocity, and the preset sampling time Δ T can be a preset time interval for acquiring the gyro information, that is, the vehicle-mounted electronic device can acquire the gyro information through the inertia measurement unit at intervals of a time corresponding to the preset sampling time.
In the embodiment of the present invention, the calculation manner of the angle increment Δ θ may be:
Δθ＝(ω-bg)×ΔT
the angular increment Δ θ may include angular increments corresponding to a pitch angle, a rotation angle, and a roll angle.
304. And the vehicle-mounted electronic equipment updates the initial quaternion by using the angle increment to obtain the quaternion to be optimized.
In the embodiment of the present invention, the time interval corresponding to the preset sampling time Δ T may be [ T [ ]k,tk+1]Quaternion to be optimizedIt can be calculated by a differential equation:
wherein,for quaternions to be optimizedFirst derivative of, omegaxMay be the component of the angular velocity ω on the x-axis in the carrier coordinate system, ωyMay be the component of the angular velocity ω on the y-axis in the carrier coordinate system, ωzThe component of the angular velocity ω on the z-axis in the carrier coordinate system may be considered, and the vehicle-mounted electronic device may solve the differential equation through a fourth-order bicard:
to obtain the first derivative of the quaternion to be optimizedAnd the first derivative of the quaternion to be optimized obtained by calculationCarrying out normalization calculation to generate final quaternion to be optimized
In the embodiment of the present invention, by implementing steps 301 to 304, a second rotation attitude matrix of the navigation coordinate system relative to the carrier coordinate system may be obtained, and the second attitude angle obtained according to the gyro information may be converted into the initial quaternion according to the second rotation attitude matrix, and an angle increment obtained by calculation according to an angle rate in the gyro information may be updated to the initial quaternion to obtain the quaternion to be optimized, so that the calculation accuracy of the quaternion to be optimized is improved.
305. And the vehicle-mounted electronic equipment estimates error quaternion according to the measurement input data acquired by the inertia measurement unit.
306. And the vehicle-mounted electronic equipment corrects the quaternion to be optimized according to the error quaternion to obtain a target quaternion.
In the embodiment of the invention, the error quaternion q can be obtained according to calculationeAnd quaternion to be optimized
Calculating to obtain a corrected correction quaternion q ', wherein the calculation formula of the correction quaternion q' can be as follows:
further, normalization and standardization calculation can be carried out on the corrected quaternion q' obtained through calculation, so that a final target quaternion q is obtained.
307. And the vehicle-mounted electronic equipment calculates the vehicle posture of the vehicle according to the target quaternion.
In the embodiment of the present invention, the expression manner of the target quaternion q may be:
q＝q0+q1i+q2j+q3k
wherein i, j and k are constants obtained in the calculation process of the target quaternion q.
In the embodiment of the invention, by implementing the steps 306 to 307, the target quaternion can be obtained by calculation according to the error quaternion, and then calculation is performed according to the target quaternion, so that the vehicle attitude of the vehicle is finally obtained, and the accuracy of calculating the vehicle attitude is improved.
As an alternative implementation, the manner of calculating the vehicle posture of the vehicle by the vehicle-mounted electronic device based on the target quaternion may include the following steps:
the vehicle-mounted electronic equipment acquires a first rotation attitude matrix of a carrier coordinate system relative to a navigation coordinate system;
the vehicle-mounted electronic equipment calculates a first attitude angle corresponding to the target quaternion according to the first rotation attitude matrix, and determines the first attitude angle as the vehicle attitude of the vehicle.
By implementing the implementation mode, the first rotation attitude matrix of the carrier coordinate system relative to the navigation coordinate system can be obtained, the first attitude angle corresponding to the target quaternion is calculated according to the first rotation attitude matrix, and the first attitude angle is determined as the vehicle attitude, so that the target quaternion can be accurately converted into the vehicle attitude.
Optionally, the vehicle-mounted electronic device may obtain a first rotation attitude matrix of the carrier coordinate system relative to the navigation coordinate system, and the first rotation attitude matrix may have two expression modes: therefore, the first attitude angle of the vehicle may be calculated from the euler angle representation and the quaternion representation of the first rotation attitude matrix, the first attitude angle may include the target Pitch angle Pitch, the target rotation angle Roll, and the target Roll angle Yaw, and the target Pitch angle Pitch, the target rotation angle Roll, and the target Roll angle Yaw may be represented by:
Pitch＝arcsin(2(q2·q3-q0·q1))
still further, the target Pitch angle Pitch, the target rotation angle Roll, and the target rollover angle Yaw may be collectively determined as the vehicle attitude of the vehicle.
In the method described in fig. 3, the final measurement attitude can be calculated according to the gyro information and the measurement input data acquired by the inertial measurement unit, so that the calculation speed of the vehicle attitude estimation is increased. In addition, the method described in fig. 3 is implemented, so that the calculation accuracy of the quaternion to be optimized is improved. In addition, implementing the method described in FIG. 3 improves the accuracy of calculating the vehicle attitude. In addition, the method described in fig. 3 is implemented, so that the target quaternion can be accurately converted into the vehicle attitude.
Example four
Referring to fig. 4, fig. 4 is a schematic structural diagram of a vehicle attitude estimation system according to an embodiment of the present invention. As shown in fig. 4, the vehicle attitude estimation system may include:
and the calculating unit 401 is used for calculating the quaternion to be optimized according to the gyro information acquired by the inertial measurement unit of the vehicle.
An estimation unit 402, configured to estimate an error quaternion from the metrology input data collected by the inertial measurement unit.
And the correcting unit 403 is configured to correct the quaternion to be optimized calculated by the calculating unit 401 through the error quaternion estimated by the estimating unit 402, so as to obtain the vehicle attitude of the vehicle.
Therefore, in the system described in fig. 4, the final measurement attitude can be calculated according to the gyro information and the measurement input data acquired by the inertial measurement unit, and the calculation speed of the vehicle attitude estimation is increased.
EXAMPLE five
Referring to fig. 5, fig. 5 is a schematic structural diagram of another vehicle attitude estimation system according to an embodiment of the present invention. The vehicle attitude estimation system shown in fig. 5 is optimized by the vehicle attitude estimation system shown in fig. 4. Compared with the vehicle attitude estimation system shown in fig. 4, the vehicle attitude estimation system shown in fig. 5 further increases the calculation manner of the error quaternion, and improves the accuracy of the calculation of the error quaternion, and the estimation unit 402 of the vehicle attitude estimation system shown in fig. 5 may include:
the determining subunit 4021 is configured to determine a state equation of a preset filtering algorithm according to measurement input data acquired by the inertia measurement unit to obtain a state variable.
The determining subunit 4021 is further configured to determine a measurement equation of a preset filtering algorithm according to measurement input data acquired by the inertia measurement unit, so as to obtain an observed quantity.
The first calculating subunit 4022 is configured to calculate an error quaternion from the state variables and the observed quantities obtained by the determining subunit 4021.
In the embodiment of the invention, the state variable and the observed quantity can be calculated from the measurement input data collected by the inertial measurement unit, and the error quaternion is further calculated through the state variable and the observed quantity, so that the accuracy of calculating the error quaternion is improved.
Therefore, in the system described in fig. 5, the final measurement attitude can be calculated according to the gyro information and the measurement input data acquired by the inertial measurement unit, and the calculation speed of the vehicle attitude estimation is increased. Furthermore, in the system depicted in FIG. 5, the accuracy of the error quaternion calculation is improved.
EXAMPLE six
Referring to fig. 6, fig. 6 is a schematic structural diagram of another vehicle attitude estimation system according to an embodiment of the present invention. The vehicle attitude estimation system shown in fig. 6 is optimized by the vehicle attitude estimation system shown in fig. 5. Compared with the vehicle attitude estimation system shown in fig. 5, the vehicle attitude estimation system shown in fig. 6 illustrates the calculation method of the quaternion to be optimized in more detail, and refines the calculation method of the vehicle attitude, and further refines the method of obtaining the vehicle attitude through calculation of the target quaternion, so as to improve the calculation accuracy of the quaternion to be optimized, improve the accuracy of calculating the vehicle attitude, and ensure that the target quaternion can be accurately converted into the vehicle attitude, and the correction unit 403 of the vehicle attitude estimation system shown in fig. 6 may include:
and the syndrome unit 4031 is used for correcting the quaternion to be optimized according to the error quaternion to obtain a target quaternion.
And a second calculating subunit 4032, configured to calculate a vehicle posture of the vehicle based on the target quaternion obtained by the correcting subunit 4031.
In the embodiment of the invention, the target quaternion can be obtained by calculating according to the error quaternion, and then the calculation is carried out according to the target quaternion, so that the vehicle attitude of the vehicle is finally obtained, and the accuracy of calculating the vehicle attitude is improved.
As an alternative embodiment, the second calculation subunit 4032 of the vehicle attitude estimation system shown in fig. 6 may include:
an obtaining module 40321, configured to obtain a first rotation attitude matrix of the carrier coordinate system relative to the navigation coordinate system;
a calculating module 40322, configured to calculate a first attitude angle corresponding to the target quaternion according to the first rotation attitude matrix acquired by the acquiring module 40321, and determine the first attitude angle as a vehicle attitude of the vehicle.
By implementing the implementation mode, the first rotation attitude matrix of the carrier coordinate system relative to the navigation coordinate system can be obtained, the first attitude angle corresponding to the target quaternion is calculated according to the first rotation attitude matrix, and the first attitude angle is determined as the vehicle attitude, so that the target quaternion can be accurately converted into the vehicle attitude.
As an alternative embodiment, the solution unit 401 of the vehicle attitude estimation system shown in fig. 6 may include:
the obtaining sub-unit 4011 is configured to obtain a second attitude angle and an angular rate from gyro information collected by an inertial measurement unit of the vehicle;
the obtaining sub-unit 4011 is further configured to obtain a second rotation attitude matrix of the navigation coordinate system relative to the carrier coordinate system, and calculate an initial quaternion corresponding to the second attitude angle according to the second rotation attitude matrix;
the third calculating sub-unit 4012 is configured to calculate an angle increment within a preset sampling time according to the angle rate acquired by the acquiring sub-unit 4011;
and the updating sub-unit 4013 is configured to update the initial quaternion obtained by the obtaining sub-unit 4011 by using the angle increment obtained by the third calculating sub-unit 4012, so as to obtain a quaternion to be optimized.
By implementing the implementation mode, a second rotation attitude matrix of the navigation coordinate system relative to the carrier coordinate system can be acquired, a second attitude angle acquired according to the gyro information can be converted into an initial quaternion by taking the second rotation attitude matrix as a basis, an angle increment obtained by calculation according to an angular rate in the gyro information can be updated into the initial quaternion, and a quaternion to be optimized is obtained, so that the calculation accuracy of the quaternion to be optimized is improved.
Therefore, in the system described in fig. 6, the final measurement attitude can be calculated according to the gyro information and the measurement input data acquired by the inertial measurement unit, and the calculation speed of the vehicle attitude estimation is increased. In addition, in the system described in fig. 6, the accuracy of the quaternion to be optimized is improved. Further, in the system described in fig. 6, the accuracy of calculating the vehicle attitude is improved. Furthermore, in the system described in fig. 6, accurate conversion of the target quaternion into the vehicle attitude is ensured.
EXAMPLE seven
Referring to fig. 7, fig. 7 is a schematic structural diagram of a vehicle-mounted electronic device according to an embodiment of the present invention. As shown in fig. 7, the in-vehicle electronic apparatus may include:
a memory 701 in which executable program code is stored;
a processor 702 coupled to the memory 701;
wherein, the processor 702 calls the executable program code stored in the memory 701 to execute part or all of the steps of the method in the above method embodiments.
The embodiment of the invention also discloses a computer readable storage medium, wherein the computer readable storage medium stores program codes, wherein the program codes comprise instructions for executing part or all of the steps of the method in the above method embodiments.
Embodiments of the present invention also disclose a computer program product, wherein, when the computer program product is run on a computer, the computer is caused to execute part or all of the steps of the method as in the above method embodiments.
The embodiment of the present invention also discloses an application publishing platform, wherein the application publishing platform is used for publishing a computer program product, and when the computer program product runs on a computer, the computer is caused to execute part or all of the steps of the method in the above method embodiments.
It should be appreciated that reference throughout this specification to "an embodiment of the present invention" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrase "in embodiments of the invention" appearing in various places throughout the specification are not necessarily all referring to the same embodiments. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are exemplary and alternative embodiments, and that the acts and modules illustrated are not required in order to practice the invention.
In various embodiments of the present invention, it should be understood that the sequence numbers of the above-mentioned processes do not imply an inevitable order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
In addition, the terms "system" and "network" are often used interchangeably herein. It should be understood that the term "and/or" herein is merely one type of association relationship describing an associated object, meaning that three relationships may exist, for example, a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood, however, that determining B from a does not mean determining B from a alone, but may also be determined from a and/or other information.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by instructions associated with a program, which may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), compact disc-Read-Only Memory (CD-ROM), or other Memory, magnetic disk, magnetic tape, or magnetic tape, Or any other medium which can be used to carry or store data and which can be read by a computer.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present invention, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of each embodiment of the present invention.
The vehicle attitude estimation method and system disclosed in the embodiments of the present invention are described in detail above, and the principle and the implementation of the present invention are explained in the present document by applying specific examples, and the description of the above embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A vehicle attitude estimation method, characterized by comprising:
resolving a quaternion to be optimized according to gyro information acquired by an inertial measurement unit of the vehicle;
estimating an error quaternion according to measurement input data acquired by the inertial measurement unit;
and correcting the quaternion to be optimized through the error quaternion to obtain the vehicle attitude of the vehicle.
2. The method of claim 1, wherein estimating an error quaternion from metrology input data collected by the inertial measurement unit comprises:
determining a state equation of a preset filtering algorithm according to the measurement input data acquired by the inertia measurement unit to obtain a state variable;
determining a measurement equation of the preset filtering algorithm according to measurement input data collected by the inertia measurement unit to obtain observed quantity;
and calculating to obtain an error quaternion according to the state variable and the observed quantity.
3. The method according to claim 1 or 2, wherein the correcting the quaternion to be optimized by the error quaternion to obtain the vehicle attitude of the vehicle comprises:
correcting the quaternion to be optimized according to the error quaternion to obtain a target quaternion;
and calculating to obtain the vehicle attitude of the vehicle by taking the target quaternion as a basis.
4. The method of claim 3, wherein calculating the vehicle attitude of the vehicle based on the target quaternion comprises:
acquiring a first rotation attitude matrix of a carrier coordinate system relative to a navigation coordinate system;
and calculating a first attitude angle corresponding to the target quaternion according to the first rotation attitude matrix, and determining the first attitude angle as the vehicle attitude of the vehicle.
5. The method according to claim 3 or 4, wherein the resolving quaternion to be optimized from the gyro information acquired by the inertial measurement unit of the vehicle comprises:
acquiring a second attitude angle and an angular rate from gyro information acquired by an inertial measurement unit of the vehicle;
acquiring a second rotation attitude matrix of the navigation coordinate system relative to the carrier coordinate system, and calculating an initial quaternion corresponding to the second attitude angle according to the second rotation attitude matrix;
calculating an angle increment in a preset sampling time according to the angular rate;
and updating the initial quaternion by using the angle increment to obtain the quaternion to be optimized.
6. A vehicle attitude estimation system, characterized by comprising:
the resolving unit is used for resolving the quaternion to be optimized according to the gyro information acquired by the inertial measurement unit of the vehicle;
the estimation unit is used for estimating an error quaternion according to the measurement input data collected by the inertial measurement unit;
and the correcting unit is used for correcting the quaternion to be optimized through the error quaternion to obtain the vehicle posture of the vehicle.
7. The vehicle attitude estimation system according to claim 6, characterized in that the estimation unit includes:
the determining subunit is used for determining a state equation of a preset filtering algorithm according to the measurement input data acquired by the inertia measuring unit to obtain a state variable;
the determining subunit is further configured to determine a measurement equation of the preset filtering algorithm according to measurement input data acquired by the inertial measurement unit, so as to obtain an observed quantity;
and the first calculating subunit is used for calculating to obtain an error quaternion according to the state variable and the observed quantity.
8. The vehicle attitude estimation system according to claim 6 or 7, characterized in that the correction unit includes:
the syndrome unit is used for correcting the quaternion to be optimized according to the error quaternion to obtain a target quaternion;
and the second calculating subunit is used for calculating the vehicle posture of the vehicle according to the target quaternion.
9. An in-vehicle electronic apparatus, characterized by comprising:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute the vehicle attitude estimation method according to any one of claims 1 to 5.
10. A computer-readable storage medium characterized by storing a computer program that causes a computer to execute the vehicle attitude estimation method according to any one of claims 1 to 5.
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