Method and device for calibrating lever arm between inertial measurement unit and global navigation system

A technology of inertial measurement unit and global navigation system, which is applied in the direction of measuring device, radio wave measurement system, satellite radio beacon positioning system, etc., and can solve the problems of non-estimation and large installation error angle

Active Publication Date: 2020-10-30
BEIJING MOMENTA TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Otherwise, if a high-precision GNSS board is used, or the installation error angle is large and not estimated, additional errors will be introduced

Method used

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  • Method and device for calibrating lever arm between inertial measurement unit and global navigation system
  • Method and device for calibrating lever arm between inertial measurement unit and global navigation system
  • Method and device for calibrating lever arm between inertial measurement unit and global navigation system

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Embodiment 1

[0069] see figure 1 , figure 1 It is a schematic flowchart of a calibration method for a lever arm between an inertial measurement unit and a global navigation system provided by an embodiment of the present invention. This method is applied in automatic driving, and can be executed by the calibration device of the lever arm between the inertial measurement unit and the global navigation system. This device can be realized by means of software and / or hardware, and generally can be integrated in the on-board computer, on-board industrial control computer In a vehicle-mounted terminal such as an Industrial personal Computer (IPC), the embodiments of the present invention are not limited. Such as figure 1 As shown, the method provided in this embodiment specifically includes:

[0070] 110. At the sampling time of the global navigation satellite system (GNSS), use the motion state information of the inertial measurement unit (IMU) as the data in the key frame to be optimized in...

Embodiment 3

[0107] see image 3 , image 3 It is a structural schematic diagram of a calibration device for a lever arm between an inertial measurement unit and a global navigation system provided by an embodiment of the present invention. Such as image 3 As shown, the device includes: a key frame determination module 310, a measurement equation construction module 320 and an optimization module 330; wherein,

[0108] The key frame determination module 310 is configured to use the motion state information of the inertial measurement unit IMU as the data in the key frame to be optimized in the preset sliding window at the sampling time of the global navigation satellite system GNSS, the motion state information includes position , posture and speed;

[0109] The measurement equation construction module 320 is configured to use the data in the key frame and the increment of the multi-frame sampling data of the IMU acquired between adjacent key frames to construct the IMU between adjacen...

Embodiment 4

[0132] see Figure 4 , Figure 4 It is a schematic structural diagram of a vehicle-mounted terminal provided by an embodiment of the present invention. Such as Figure 4 As shown, the vehicle terminal may include:

[0133] A memory 701 storing executable program codes;

[0134] a processor 702 coupled to the memory 701;

[0135] Wherein, the processor 702 invokes the executable program code stored in the memory 701 to execute the method for calibrating the lever arm between the inertial measurement unit and the global navigation system provided by any embodiment of the present invention.

[0136] The embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program enables the computer to execute the method for calibrating the lever arm between the inertial measurement unit and the global navigation system provided by any embodiment of the present invention.

[0137]The embodiment of the present inven...

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Abstract

The embodiment of the invention discloses a method and device for calibrating a lever arm between an inertial measurement unit and a global navigation system. The method comprises the steps of enabling the motion state information of an IMU to serve as the data in a to-be-optimized key frame in a preset sliding window at the sampling moment of GNSS; constructing a measurement equation containing IMU motion state increment residual errors between the adjacent key frames by utilizing the data in the key frames and the increment of the multi-frame sampling data of the IMU obtained between the adjacent key frames, the measurement equation further comprising a lever arm value between the IMU to be optimized and the GNSS and an installation angle of the IMU; and based on the GNSS data obtained by sampling, according to an optimization algorithm based on the preset sliding window and a constraint relationship between adjacent key frames, optimizing the to-be-optimized data in the measurementequation to obtain a target lever arm value and an installation angle meeting a preset convergence condition. By adopting the technical scheme, the measurement precision of the lever arm is improved.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a calibration method and device for a lever arm between an inertial measurement unit and a global navigation system. Background technique [0002] The inertial measurement unit (IMU) can provide high-frequency angular velocity and acceleration output without relying on external conditions, thus providing the possibility to obtain high-frequency position, velocity and attitude (position, velocity and attitude collectively referred to as POSE) . The IMU is placed somewhere in the car, and can obtain the angular velocity and acceleration measurement values ​​near the place where it is installed. The car is generally rigidly connected, so the angular velocity of the car body is generally considered to be consistent, but the linear velocity is not necessarily the same. Simply relying on The IMU cannot obtain the absolute position, velocity, and attitude of the car, but can ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01S19/23
CPCG01C25/005G01S19/23
Inventor 邵晓东
Owner BEIJING MOMENTA TECH CO LTD
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