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Odometer scale error calibration method and system, and computer storage medium
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A technology of scaling error and calibration method, applied in the field of metrology, can solve the problems of not very good calibration effect, unsatisfactory, inconvenient to use, etc.
Active Publication Date: 2021-01-29
株洲菲斯罗克光电科技股份有限公司
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However, this method requires periodic parking to achieve calibration, which is inconvenient to use and cannot meet the needs of practical applications; the trajectory similarity calibration method uses a high-precision reference trajectory to compare the odometer trajectory to achieve calibration of the scale factor error. The accuracy of this method is good, but the difficulty lies in the acquisition of high-precision reference trajectory; GPS-assisted calibration uses the high-precision position information provided by GPS as a reference, but is limited by unreliability, where the GPS signal is weak or absent Calibration is not very good
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Embodiment 1
[0074] This embodiment discloses a method for calibrating the odometer scale error, which establishes the inertial navigation coordinate system, the navigation coordinate system and the odometer measurement coordinate system respectively, and maps the data in the inertial navigation coordinate system and the odometer measurement coordinate system to the navigation coordinates The system solves the following reference trajectory, horizontal trajectory and scale error.
[0075] Such as figure 1 Shown, the inventive method comprises:
[0076] Step S1, obtain the reference trajectory through the combination of inertial navigation and RTK.
[0077] In this step, the solution process of the preferred reference trajectory includes:
[0078] Define the inertial navigation carrier roll axis as y b axis, pointing to the front of the inertial navigation system, and the pitch axis is x b Axis, pointing to the right of the inertial navigation, the heading axis is z b axis, pointing to...
Embodiment 2
[0137] Corresponding to the above method, this embodiment discloses an odometer scale error calibration system, including a memory, a processor, and a computer program stored in the memory and operable on the processor, wherein the processor executes the The computer program implements the steps of the above-mentioned method.
Embodiment 3
[0139] Similarly, corresponding to the above-mentioned method embodiments, this embodiment discloses a computer storage medium on which a computer program is stored, wherein, when the program is executed by a processor, the steps in the above-mentioned method are implemented.
[0140] To sum up, the odometer scale error calibration method, system and computer storage medium respectively disclosed in the above-mentioned embodiments of the present invention can scientifically calculate the odometer scale error, thereby effectively improving the positioning accuracy of the odometer, providing The realization of high-precision navigation provides a guarantee.
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Abstract
The invention relates to the technical field of metering, and discloses an odometerscale error calibration method and system, and a computer storage medium, which are used for realizing high-precision navigation. The odometerscale error calibration method comprises the following steps of: acquiring a reference track through combination of inertial navigation and RTK; calculating a vehicle carrying horizontal track through using an odometer; and comparing the reference track with the horizontal track, and estimating a scale error of the odometer.
Description
technical field [0001] The invention relates to the technical field of metering, in particular to a method, system and computer storage medium for calibrating the scale error of an odometer. Background technique [0002] In self-driving vehicles, the combination of inertial navigation and odometer is often used to provide higher navigation accuracy and avoid the growth of pure inertial navigation error over time. The odometer can realize completely autonomous navigation by outputting position incremental information and using the dead reckoningalgorithm, but the odometer itself is affected by factors such as vehicle tire wear, tire pressure, and vehicle load, which will cause changes in the scale error and affect integrated navigation. Therefore, it is necessary to calibrate the scale error of the odometer. [0003] Traditional calibration methods are mainly divided into zero-speed correction, trajectory similarity correction and GPS-assisted calibration. The zero-speed c...
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