Installation error estimation method and adjustment method of double-antenna course angle and related equipment
A technology of installation error and heading angle, applied in the field of automatic driving, can solve problems such as error and inaccurate installation position, and achieve the effect of improving installation error
Pending Publication Date: 2022-05-27
文远苏行(江苏)科技有限公司
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Problems solved by technology
[0004] The main purpose of the present invention is to solve the technical problem that the existing dual-antenna heading angle is used for system heading angle estimation and calculation, and there is an error due to the installation position is not accurate enough
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[0029] Embodiments of the present invention provide a method for estimating and adjusting an installation error of a dual-antenna heading angle, and related equipment. The invention relates to the field of automatic driving, and discloses a method for estimating and adjusting an installation error of a dual-antenna heading angle, and related equipment. . The installation error estimation method includes: acquiring a plurality of system state variables including installation error variables of dual-antenna heading angles, and constructing a state relationship between the installation error variables and at least one system state variable; performing state propagation on each system state variable, And according to the result of state propagation and state relationship, the state update is performed on the installation error variable, and the error update result is obtained; based on the error update result, the installation error value corresponding to the installation error var...
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The invention relates to the field of automatic driving, and discloses a double-antenna course angle installation error estimation method, a double-antenna course angle installation error adjustment method and related equipment. The installation error estimation method comprises the following steps: acquiring a plurality of system state variables including an installation error variable of a dual-antenna course angle, and constructing a state relationship between the installation error variable and at least one system state variable; performing state propagation on each system state variable, and performing state updating on the installation error variable according to a state propagation result and a state relationship to obtain an error updating result; and based on the error updating result, determining an installation error value corresponding to the installation error variable. According to the invention, the installation error of the double-antenna course angle is estimated, and the course angle of the double antennas is adjusted.
Description
technical field [0001] The invention relates to the field of automatic driving, in particular to an installation error estimation method and adjustment method of a dual antenna heading angle and related equipment. Background technique [0002] Unmanned vehicle positioning technology is mainly based on the fusion of IMU (Inertial Measurement Unit, inertial measurement unit), wheel speedometer, RTK (Real-Time Kinematic, real-time differential positioning), lidar and camera sensors for multi-source sensor fusion positioning. When the map or laser point cloud map is valid, the heading angle of the fusion positioning module is mainly converged based on the matching results of the visual or laser point cloud map. When the map is invalid, the heading angle of the fusion positioning module is mainly observed by RTK and IMU indirectly, or by RTK dual antenna for attitude determination (locating the heading angle attitude of the unmanned vehicle). When both map and RTK are valid, mul...
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IPC IPC(8): G01C21/16G01S19/41G01S19/43
CPCG01C21/165G01C21/1652G01C21/166G01C21/183G01S19/41G01S19/43
Inventor 范云飞韩旭
Owner 文远苏行(江苏)科技有限公司