A method of mileage measurement based on inertial sensor
A mileage and wheel technology, applied in the fields of inertia and navigation, can solve problems such as complex operation, and achieve the effect of small size, low cost, and easy installation and operation
Active Publication Date: 2020-06-23
LEADOR SPATIAL INFORMATION TECH CORP
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[0006] In view of this, the present invention provides a mileage measurement method based on an inertial sensor, in order to solve or at least partially solve the technical problem of complicated operation existing in the method in the prior art
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[0042] The purpose of the present invention is to provide a mileage measurement method based on an inertial sensor to solve the technical problems of large space occupation and complicated operation in the prior art method, so as to improve the measurement accuracy, meet the requirements of small volume, low cost, and easy installation. The purpose of easy operation and other needs.
[0043] In order to achieve the above object, the main idea of the present invention is as follows:
[0044] Place the inertial unit on the XOY plane (as attached figure 1As shown) and the wheel plane are supported by rigid fixed structural members to form a certain angle, and the installation angle relationship between the vehicle POS-IMU and MEMS-IMU is obtained through static calibration, and the output of the MEMS accelerometer and the vehicle POS-IMU are used Calculate a set of wheel speed information together, and then use the MEMS gyroscope to calculate another set of wheel speed informa...
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The invention discloses a mileage measuring method based on an inertial sensor. The mileage measuring method comprises the following steps of: firstly, fixedly connecting and mounting an MEMS-IMU (Micro-Electro-Mechanical System-Inertial Measurement Unit) at the center of a wheel through a pre-designed structural member; then, obtaining an installation angle relation between a vehicle-mounted POS-IMU (Position and Orientation System-Inertial Measurement Unit) and the MEMS-IMU through adoption of a static calibration method; after the MEMS-IMU is powered on, obtaining first gyro data and firstacceleration information, and receiving IMU data output by a vehicle-mounted POS system in real time; calculating the first mileage speed of the wheel according to the first acceleration information,the IMU data output by the vehicle-mounted POS system and the installation angle relation between the vehicle-mounted POS system and the MEMS-IMU; calculating the second mileage speed of the wheel according to Y-axis gyro output information in the first gyro data and a preset included angle; and fusing the first mileage speed and the second mileage speed to obtain a target mileage speed. Accordingto the method, the problem of complex installation of a conventional vehicle-mounted odometer can be avoided, and the measurement precision is improved.
Description
technical field [0001] The invention relates to the technical field of inertia and navigation, in particular to a mileage measurement method based on an inertial sensor. Background technique [0002] A traditional magnetic odometer usually consists of a magnetic sensor and a magnetic strip, and an encoder installed inside the wheel. The encoder triggers a fixed number of pulses per revolution to record the number of revolutions of the corresponding wheel. Thanks to the pre-knowledge of the wheel diameter and wheel spacing, the encoder can convert the recorded data into the distance traveled by the wheel. [0003] In the process of implementing the present invention, the inventor of the present application found that the method of the prior art has at least the following technical problems: [0004] The traditional magnetic odometer requires a large space for installing the wheels, and the installation operation is complicated and the cost is high, which is not conducive to ...
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IPC IPC(8): G01C22/00
CPCG01C22/00
Inventor 郭晟阮双双郭向欣刘建
Owner LEADOR SPATIAL INFORMATION TECH CORP