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Error calibration method and device

An error calibration and error angle technology, which is applied in the field of error calibration methods and devices, and can solve problems such as unsatisfactory effects.

Active Publication Date: 2020-10-13
三一机器人科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The indirect calibration method usually calibrates the IMU to the coordinate system of another sensor on the car body, and then calculates the error between the sensor coordinate system and the car body coordinate system, which will introduce secondary errors, so the effect is not ideal

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  • Error calibration method and device

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Embodiment Construction

[0064] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

[0065] Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art wi...

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Abstract

An embodiment of the invention provides an error calibration method and device, and relates to the field of inertial navigation modules. The error calibration method comprises the steps of: collectingfirst acceleration when a vehicle is located at a first preset position in preset time; rotating a vehicle body of the vehicle by a preset angle to enable the vehicle to be located at a second presetposition, and acquiring second acceleration when the vehicle is located at the second preset position within preset time; calculating a roll error angle and a pitch error angle between a standard coordinate system and an actual coordinate system according to the first acceleration and the second acceleration; calculating a course error angle between the standard coordinate system and the actual coordinate system according to the roll error angle and the pitch error angle; and calibrating the installation error of an inertial navigation module according to the roll error angle, the pitch errorangle and the course error angle. According to the error calibration method and the device, the limitation of a vehicle body rotating method on the weight of the vehicle body is avoided, secondary errors caused by an indirect calibration method are avoided, the installation precision of the inertial navigation module is improved, and the positioning of the inertial navigation module is more accurate.

Description

technical field [0001] The present invention relates to the field of inertial navigation modules, in particular to an error calibration method and device. Background technique [0002] The equipment manufacturing industry is an industry supported by the state, and it is urgent to optimize its industrial structure. Intelligent manufacturing is an emerging manufacturing model in the process of industrial structure transformation. Among them, the automatic guided vehicle (Automated Guided Vehicle, AGV) is an important part of realizing intelligent manufacturing. [0003] The reason why AGV can operate automatically is that the positioning module plays a very important role. Many positioning methods of the positioning module are realized by the fusion of the inertial measurement unit (IMU) and other sensors. Except for the internal parameters of the IMU, the IMU coordinate system cannot be guaranteed to be completely consistent with the vehicle body coordinate system during the...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 孙国岐郭承志贾全
Owner 三一机器人科技有限公司
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