Calibration method and device for lever arm between inertial measurement unit and global navigation system

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

Active Publication Date: 2022-05-17
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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  • Calibration method and device for lever arm between inertial measurement unit and global navigation system
  • Calibration method and device for lever arm between inertial measurement unit and global navigation system
  • Calibration method and device for 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 present invention discloses a method and device for calibrating the lever arm between the inertial measurement unit and the global navigation system. The data in the key frame; use the data in the key frame and the increment of the multi-frame sampling data of the IMU obtained between adjacent key frames to construct the residual error containing the IMU motion state increment between adjacent key frames The measurement equation, which also includes the lever arm value between the IMU and GNSS to be optimized and the installation angle of the IMU; based on the GNSS data obtained by sampling, and according to the optimization algorithm based on the preset sliding window, and adjacent The constraint relationship between key frames optimizes the data to be optimized in the measurement equation, and obtains the target lever arm value and installation angle that meet the preset convergence conditions. By adopting the above technical solution, the measurement accuracy 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 Patents(China)
IPC IPC(8): G01C25/00G01S19/23
CPCG01C25/005G01S19/23
Inventor 邵晓东
Owner BEIJING MOMENTA TECH CO LTD
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