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Speedometer rapid calibration method and system based on FPGA time synchronization

A technology of time synchronization and calibration method, which is applied in the direction of measuring devices, instruments, etc., to achieve the effect of accurate estimation results

Pending Publication Date: 2021-01-15
深兰人工智能(深圳)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] In order to solve the problem of accurate calibration of the scale factor of the odometer, the present invention proposes a fast calibration method for the odometer based on FPGA time synchronization

Method used

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  • Speedometer rapid calibration method and system based on FPGA time synchronization
  • Speedometer rapid calibration method and system based on FPGA time synchronization
  • Speedometer rapid calibration method and system based on FPGA time synchronization

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Embodiment

[0061] Such as Figure 1-2 , a kind of fast calibration method of odometer based on FPGA time synchronization according to the present invention, after the GNSS / IMU integrated navigation system completes the initial static alignment (generally self-driving vehicles use GNSS RTK service, the initial alignment position and course alignment Accuracy is high), and the output data of the odometer and GNSS / IMU integrated navigation system are collected at the same time, and the entire driving distance is divided into multiple segments, and then the odometer scale coefficient is estimated by the recursive least square method. The functional structure of the method mainly includes: an FPGA time synchronization module, a GNSS / IMU integrated navigation module, and a calibration data processing module. The steps of data collection and calibration are as follows:

[0062] 1) Drive the self-driving vehicle to a relatively open environment, power on the vehicle, and ensure that the GNSS ca...

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Abstract

The invention discloses a speedometer rapid calibration method based on FPGA time synchronization. The method comprises the following steps: an initial static alignment step: completing initial staticalignment by a GNSS / IMU integrated navigation system; a driving distance division step: dividing the driving distance by using a trajectory similarity principle, and respectively calculating the pulse equivalent in mileage scoring segment time and the displacement increment of the GNSS / IMU integrated navigation system in segment time; and a calibration step: calibrating the odometer scale coefficient through a recursive least square method. According to the invention, a rapid and accurate estimation result can be realized.

Description

technical field [0001] The present application relates to the field of automatic driving, and more specifically relates to a fast calibration method of an odometer based on FPGA time synchronization. Background technique [0002] With the development and maturity of autonomous driving technology, autonomous driving will become an important means of future travel. The functional modules of the automatic driving system at this stage mainly include a perception module, a positioning module, a planning and decision-making module, a control module, a high-precision map module and a cloud computing module. As the core module of the automatic driving system, the positioning module is used for path planning and precise control of the vehicle on the one hand; at the same time, it also assists the perception system to obtain more accurate detection and tracking results. Most of the existing autonomous vehicle positioning technology solutions use multi-sensor fusion positioning techno...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 陈海波褚之恒张保群
Owner 深兰人工智能(深圳)有限公司
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