Vehicle calibration device, method, computer equipment and storage medium

Abstract

The present application relates to a vehicle-mounted calibration device, method, computer equipment and storage medium. A vehicle-mounted calibration device includes a first GNSS antenna, a second GNSS antenna, a differential unit, an inertial navigation module and a terminal. The first GNSS antenna, the second GNSS antenna, the differential unit and the terminal are respectively connected to the inertial navigation module, and the differential unit is used to output differential corrections; the inertial navigation module is used to receive the installation position coordinate measurement values ​​of the first GNSS antenna, the second GNSS antenna and the inertial navigation module, the position dynamic data provided by the inertial sensor unit inside the inertial navigation module, the GNSS raw data provided by the first GNSS antenna and the second GNSS antenna, and the differential corrections; the terminal is used to output the vehicle-mounted calibration results. Through a high-precision positioning combination algorithm, a high-precision vehicle-mounted calibration result is obtained, the operation is simple, the calibration result is high in accuracy, and the compatibility is strong.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a vehicle-mounted calibration device, method, computer equipment and storage medium. Background Art

[0002] With the development of positioning technology, the global navigation satellite system (GNSS) technology has emerged, replacing ground-based radio navigation, traditional geodetic and astronomical measurement navigation and positioning. However, GNSS technology can only provide high-precision positioning in scenarios with good satellite conditions. Therefore, inertial navigation technology is introduced to achieve high-precision positioning in obstructed environments and high-frequency result update output in sports car environments, resulting in the traditional method of GNSS antenna and inertial navigation module positioning.

[0003] Before positioning, the relative position between the GNSS antenna and the inertial navigation module needs to be located. However, in the field of vehicle-mounted inertial navigation, in order to obtain the relative position of the two, the conventional method of obtaining the relative position of the GNSS antenna and the inertial navigation module is to directly measure them with a tape measure. This measurement method is often limited by space. Since the inertial navigation module and the GNSS antenna cannot be installed on the same plane, the relative position obtained by measuring the relative position coordinates in space with a tape measure is very inaccurate and cannot meet the requirements of high-precision application scenarios. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle-mounted calibration device, method, computer equipment and storage medium that can provide precise positioning function to address the above technical problems.

[0005] A vehicle-mounted calibration device comprises a first GNSS antenna, a second GNSS antenna, a differential unit, an inertial navigation module and a terminal, wherein the first GNSS antenna, the second GNSS antenna, the differential unit and the terminal are respectively connected to the inertial navigation module.

[0006] The differential unit is used to output a differential correction number;

[0007] The inertial navigation module is used to receive the coordinate measurement values ​​of the installation positions of the first GNSS antenna, the second GNSS antenna and the inertial navigation module, the position dynamic data provided by the inertial sensor unit inside the inertial navigation module, the GNSS raw data provided by the first GNSS antenna and the second GNSS antenna, and the differential correction number;

[0008] The terminal is used to output the vehicle calibration result.

[0009] In one embodiment, the differential unit is a DTU terminal device, which is disposed on the inertial navigation module 400 and connected to the inertial navigation module for outputting differential correction numbers.

[0010] In one embodiment, the first GNSS antenna and the second GNSS antenna are spaced apart from each other on the roof and are rigidly connected to the roof.

[0011] A vehicle-mounted inertial navigation module calibration method, the method comprising:

[0012] Receive the installation position coordinate measurement values ​​of the first GNSS antenna, the second GNSS antenna and the inertial navigation module, the position dynamic data of the inertial navigation module, the GNSS raw data provided by the first GNSS antenna and the second GNSS antenna, and the differential correction number;

[0013] A fusion calculation is performed based on the installation position coordinate measurement value, the position dynamic data, the GNSS original data and the differential correction number to obtain a calibration result of the inertial navigation module; wherein the calibration result of the inertial navigation module is used to calibrate the relative position between the first GNSS antenna, the second GNSS antenna and the inertial navigation module.

[0014] In one embodiment, the calibration result of the inertial navigation module is obtained by performing fusion calculation based on the installation position coordinate measurement value, the position dynamic data, the GNSS original data and the differential correction number, including:

[0015] Initializing the coordinates of the GNSS antenna in the inertial navigation module according to the installation position coordinate measurement values;

[0016] Obtaining a vehicle-mounted calibration result by using a combined positioning algorithm according to the initialized inertial navigation module according to the position dynamic data, the GNSS raw data provided by the first GNSS antenna and the second GNSS antenna, and the differential correction number;

[0017] The vehicle-mounted calibration result includes: the relative distance and installation deviation angle between the first GNSS antenna, the second GNSS antenna and the inertial navigation module.

[0018] In one embodiment, the method further comprises:

[0019] Receiving an initialization instruction, wherein the initialization instruction is used to initialize the installation position coordinate measurement values ​​of the first GNSS antenna, the second GNSS antenna and the inertial navigation module;

[0020] Receive an on-board calibration instruction; wherein the on-board calibration start statement instruction is used to load into the inertial navigation module, and the inertial navigation module enters a calibration mode.

[0021] In one embodiment, the fusion calculation is performed according to the installation position coordinate measurement value, the position dynamic data, the GNSS original data and the differential correction number to obtain the calibration result of the inertial navigation module, which includes:

[0022] receiving a vehicle start instruction, wherein the vehicle start instruction is used to start the vehicle running;

[0023] Monitor the arm parameters, the deviation angle of the high-precision inertial navigation module, and the heading deviation angles of the first GNSS antenna and the second GNSS antenna;

[0024] When the monitoring lever arm parameters, the deviation angle of the high-precision inertial navigation module, and the heading deviation angles of the first GNSS antenna and the second GNSS antenna meet the preset convergence conditions, the calibration of the inertial navigation module is stopped.

[0025] In one embodiment, the statement instruction includes: performing fusion calculation according to the installation position coordinate measurement value, the position dynamic data, the GNSS original data and the differential correction number to obtain the calibration result of the inertial navigation module includes:

[0026] Reading a pre-stored calibration parameter configuration file, wherein the calibration parameter configuration file includes initial calibration parameters, wherein the initial calibration parameters include lever arm parameters, a deviation angle of a high-precision inertial navigation module, and a heading deviation angle of a first GNSS antenna and a second GNSS antenna;

[0027] Loading the calibration parameter configuration file to the CAN host computer;

[0028] receiving a vehicle start instruction, wherein the vehicle start instruction is used to start the vehicle running;

[0029] The change of the initial calibration parameters is detected, and when the initial calibration parameters meet the preset convergence conditions, the calibration is stopped to obtain the revised calibration parameters, and the revised calibration parameters are saved.

[0030] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of any one of the vehicle inertial navigation module calibration methods are implemented.

[0031] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of any one of the methods for calibrating a vehicle-mounted inertial navigation module.

[0032] The above-mentioned on-board calibration device, method, computer equipment and storage medium obtain high-precision on-board calibration results through the installation position coordinate measurement values ​​of the GNSS antenna and the inertial navigation module provided by different functional modules, the position dynamic data provided by the inertial sensor unit inside the inertial navigation module, the GNSS original data and differential correction numbers provided by the dual GNSS antennas, and the high-precision positioning combination algorithm. The operation is simple, the calibration result is high in accuracy, and the compatibility is strong. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a structural block diagram of a vehicle-mounted calibration device in one embodiment;

[0034] Figure 2 A schematic diagram of the interface structure of an inertial navigation module in an embodiment;

[0035] Figure 3 A schematic flow chart of the steps of a vehicle-mounted inertial navigation module calibration method in another embodiment;

[0036] Figure 4 A schematic diagram of a process flow of vehicle-mounted calibration results in one embodiment;

[0037] Figure 5 A schematic diagram of a flow chart of steps for receiving instructions in one embodiment;

[0038] Figure 6 A schematic diagram of a process flow of serial port statement calibration in one embodiment;

[0039] Figure 7 A schematic diagram of a flow chart of steps for CAN sentence calibration in one embodiment;

[0040] Figure 8 is an internal structure diagram of a computer device in one embodiment;

[0041] In which, the illustrations are as follows: 100 - first GNSS antenna, 200 - second GNSS antenna, 300 - differential unit, 400 - inertial navigation module, 500 - terminal. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0043] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0044] The vehicle-mounted calibration device provided by this application is Figure 1As shown, it includes a first GNSS antenna 100, a second GNSS antenna 200, a differential unit 300, an inertial navigation module 400 and a terminal 500, wherein the first GNSS antenna 100, the second GNSS antenna 200, the differential unit 300 and the terminal 500 are respectively connected to the inertial navigation module 400.

[0045] The inertial navigation module 400 can be arranged on the chassis frame of the vehicle, connected to the vehicle power supply through the power interface, and can be used after being powered on.

[0046] The inertial navigation module 400 is provided with a data connection line interface, including: a COM-RTK (carrier phase) interface for outputting combined positioning GINS data; a COM-DEBUG (terminal 500) interface for printing program debugging information; a 12V power input interface; an RS422 interface for differential data input and output of positioning data GGA data (a data format output by GPS), and a CAN-HPP bus interface for outputting positioning data and inputting vehicle ODB (on-board automatic diagnostic system) information. It also includes a PPS (pulse per second) signal line and a ground line for testing the PPS signal.

[0047] like Figure 2 As shown, the inertial navigation module 400 is also provided with two antenna interfaces, which are connected to the GNSS main antenna and the GNSS auxiliary antenna respectively. The GNSS main antenna is used for positioning, and the GNSS auxiliary antenna is used for orientation. The two antenna interfaces adopt FAKAR radio frequency interfaces, the main antenna as the first GNSS antenna is FAKRA type D, and the auxiliary antenna as the second GNSS antenna is FAKRA type A.

[0048] The inertial navigation module 400 includes a three-axis accelerometer and a three-axis gyroscope, the X-axis of which is consistent with the direction of the vehicle body, so a three-dimensional coordinate system is established with the coordinates of the inertial navigation module 400 as the reference, that is, the center of the module is used as the origin of the coordinate system, and the direction of the antenna interface is set as the Y-axis direction, and the bottom of the inertial navigation module 400 is the Z-axis direction. The three-axis accelerometer and the three-axis gyroscope constitute an IMU (inertial measurement) module, which is used to provide position dynamic data and provide the whole second of UTC (universal standard time) through the PPS synchronization signal. The position dynamic data includes the position change data of the vehicle during movement.

[0049] In the vehicle-mounted calibration device, the differential unit 300 is used to output a differential correction number.

[0050] The differential correction number is the correction data of the satellite signal and the base station provided by the GNSS antenna, including the pseudo-range differential correction number and the carrier phase differential correction number of the GNSS original data, which is used to provide the pseudo-range differential correction number and the carrier phase differential correction number of the satellite signal for the inertial navigation module 400 to calculate the positioning.

[0051] Specifically, the differential unit 300 is a DTU (Data Transfer Unit, a wireless terminal device specially used to convert serial port data into IP data or convert IP data into serial port data for transmission through a wireless communication network) terminal device, wherein the DTU is arranged on the inertial navigation module 400 and connected to the inertial navigation module 400, and is used to input differential correction numbers. Optionally, differential correction data can be input through the RS422 interface on the inertial navigation module 400. Optionally, the differential data format is a standard RTCM3.2 format. An external DTU module or a networked device can be used to log in to the satellite augmentation system to obtain differential data.

[0052] The inertial navigation module 400 is used to receive the installation position coordinate measurement values ​​of the first GNSS antenna 100, the second GNSS antenna 200 and the inertial navigation module 400, the position dynamic data provided by the inertial sensor unit inside the inertial navigation module 400, the GNSS raw data provided by the first GNSS antenna 100 and the second GNSS antenna 200, and the differential correction number.

[0053] The measured values ​​of the installation position coordinates of the first GNSS antenna 100 , the second GNSS antenna 200 and the inertial navigation module 400 are spatial geometric coordinates in a coordinate system established by the inertial navigation module 400 .

[0054] Specifically, the dual GNSS antenna is connected to the antenna interface of the inertial navigation module 400 through the antenna feeder. The inertial navigation module 400 identifies the main antenna and the auxiliary antenna according to the connection port with the GNSS antenna. The GNSS antenna provides the GNSS raw data, i.e., the satellite signal, to the corresponding GNSS board in the inertial navigation module 400 to obtain satellite positioning. The spatial geometric coordinates of the main antenna and the auxiliary antenna are measured as the arm parameters of the main antenna and the auxiliary antenna. Optionally, the user uses a measuring tool to measure the installation position of the dual GNSS antenna and the inertial navigation module based on the coordinate system established by the inertial navigation module. Optionally, the measuring tool can select a tape measure. The coordinate measurement values ​​of the dual GNSS antenna are calculated according to the measured position. Optionally, the main antenna arm parameters can be marked as X1, Y1, and Z1, and the auxiliary antenna arm parameters can be marked as X2, Y2, and Z2. It also receives the position dynamic data provided by the IMU module inside the inertial navigation module 400, as well as the differential correction number provided by the difference unit.

[0055] The terminal 500 is used to output the vehicle calibration result.

[0056] The terminal 500 may be, but is not limited to, various personal computers, laptop computers, smart phones, tablet computers, and portable wearable devices.

[0057] Specifically, the terminal 500 receives the vehicle-mounted calibration result sent by the inertial navigation module 400 and outputs it, which is displayed on the terminal 500 interface, and the user can observe the vehicle-mounted calibration data in real time.

[0058] In the above-mentioned vehicle-mounted calibration device, through the installation position coordinate measurement values ​​of the GNSS antenna and the inertial navigation module 400 provided by different functional modules, the position dynamic data provided by the inertial sensor unit inside the inertial navigation module 400, the GNSS original data provided by the dual GNSS antennas and the differential correction number, a high-precision vehicle-mounted calibration result is obtained through a high-precision positioning combination algorithm. The operation is simple, the calibration result is highly accurate, and the compatibility is strong.

[0059] In one embodiment, the vehicle-mounted calibration device further includes: ending the calibration of the inertial navigation module 400 according to the output result of the terminal 500. Optionally, the calibration can be automatically completed according to the order of the calibration of the inertial navigation module 400, or when the calibration data meets the preset requirements, the user inputs a calibration end instruction in the terminal 500 to end the calibration and obtain the vehicle-mounted calibration result. The real-time preset requirement may be that the 3 digits after the decimal point of the calibration data do not change.

[0060] In the above-mentioned vehicle-mounted calibration device, the user can end the calibration by himself according to the calibration result displayed by the terminal 500, or can choose the inertial navigation module 400 to automatically end the calibration, which is simple to operate and flexible in-vehicle calibration.

[0061] In one embodiment, the spacing distance between the first GNSS antenna 100 and the second GNSS antenna 200 is greater than 0.5 m.

[0062] Optionally, the interval distance between the first GNSS antenna 100 and the second GNSS antenna 200 may be 1 m.

[0063] In the above-mentioned vehicle-mounted calibration device, by setting the spacing distance between the first GNSS antenna 100 and the second GNSS antenna 200, better heading accuracy can be achieved.

[0064] In one embodiment, the bottoms of the first GNSS antenna 100 and the second GNSS antenna 200 are both perpendicular to the vehicle window.

[0065] Optionally, the two GNSS antennas are at the same level.

[0066] In the above-mentioned vehicle-mounted calibration device, the GNSS antenna is installed in a manner such that its bottom is perpendicular to the vehicle window, so that the GNSS antenna can see the sky in a larger range and provide more accurate GNSS raw data.

[0067] In one of the embodiments, the inertial navigation module 400 is further used to send the on-board calibration result to the terminal 500 in real time; the terminal 500 is further used to display the on-board calibration result in real time.

[0068] In the above-mentioned vehicle-mounted calibration device, the calibration result is echoed through the terminal, so that the result of the vehicle-mounted calibration can be seen more intuitively, providing intuitive data for the subsequent completion of the calibration.

[0069] In one embodiment, the terminal 500 is connected to the inertial navigation module 400 via a serial port, and is used to receive data from the inertial navigation module 400 via the serial port.

[0070] In one embodiment, the terminal 500 is connected to the inertial navigation module 400 via a CAN bus, and is used to receive data of the inertial navigation module 400 via the CAN bus. The terminal 500 also includes a CAN analyzer, which is connected to the inertial navigation module 400 via a USB interface, and is used to parse the data of the inertial navigation module 400 represented by CAN statements.

[0071] Specifically, the terminal 500 may include a plurality of CAN analyzers. When the terminal 500 includes a plurality of CAN analyzers, the first CAN analyzer is set to be labeled 0, the second CAN analyzer is set to be labeled 1, and so on. The user needs to select the corresponding channel number when selecting the CAN analyzer to be used through the terminal, that is, the first CAN analyzer is set to be labeled 0, and its corresponding channel number is also 0.

[0072] In the above-mentioned vehicle-mounted calibration device, the installation position of the GNSS antenna can obtain more accurate positioning accuracy, and different data receiving methods make the operation of the vehicle-mounted calibration more convenient and have strong adaptability.

[0073] In one embodiment, in the vehicle-mounted calibration device, the RS422 interface of the inertial navigation module 400 is used as a differential data input interface, and also outputs 1Hz GPGGA data for reporting the position heartbeat to the satellite augmentation system server. The default baud rate of the RS422 interface is 115200. If the differential receiving module is an RS232 interface, an external RS422 to RS232 conversion module is required.

[0074] Based on the same inventive concept, the present application also includes a vehicle-mounted inertial navigation module 400 calibration method, such as Figure 3 As shown, the method includes:

[0075] Step S10: receiving the installation position coordinate measurement values ​​of the first GNSS antenna 100, the second GNSS antenna 200 and the inertial navigation module 400, the position dynamic data of the inertial navigation module 400, the GNSS raw data provided by the first GNSS antenna 100 and the second GNSS antenna 200, and the differential correction number.

[0076] Step S20: performing a fusion calculation according to the installation position coordinate measurement value, the position dynamic data, the GNSS original data and the differential correction number to obtain a calibration result of the inertial navigation module 400.

[0077] The calibration result of the inertial navigation module 400 is used to calibrate the relative positions between the first GNSS antenna 100 , the second GNSS antenna 200 and the inertial navigation module 400 .

[0078] Regarding the installation position coordinate measurement values ​​of the first GNSS antenna 100, the second GNSS antenna 200 and the inertial navigation module 400 in the calibration method of the vehicle-mounted inertial navigation module 400, the position dynamic data of the inertial navigation module 400, the GNSS original data provided by the first GNSS antenna 100 and the second GNSS antenna 200, and the acquisition of the differential correction number, please refer to the above definition of the vehicle-mounted calibration device, and will not be repeated here.

[0079] In the above-mentioned vehicle-mounted inertial navigation module 400 calibration method, when calculating the calibration result, the data provided by different functional modules and the high-precision positioning combination algorithm in the inertial navigation module 400 are used to obtain a high-precision vehicle-mounted calibration result, which is simple to operate, has high calibration result accuracy and strong compatibility.

[0080] In one embodiment, if Figure 4 As shown, step 20 includes:

[0081] Step S201: Initializing the coordinates of the GNSS antenna in the inertial navigation module 400 according to the installation position coordinate measurement values.

[0082] Specifically, before the on-board calibration, the vehicle is parked in an open environment, and the coordinates of the GNSS antenna in the inertial navigation module 400, i.e., the lever arm parameters, are initialized through the terminal 500 according to the installation position coordinate measurement values, and the initialization information is returned to the terminal 500 for display. Optionally, if the terminal 500 displays that the lever arm parameters are continuously updated, the initialization is completed.

[0083] Step S202: the initialized inertial navigation module 400 obtains a vehicle calibration result by using a combined positioning algorithm according to the position dynamic data, the GNSS raw data provided by the first GNSS antenna 100 and the second GNSS antenna 200, and the differential correction number;

[0084] The vehicle-mounted calibration result includes: the relative distance and installation deviation angle between the first GNSS antenna 100, the second GNSS antenna 200 and the inertial navigation module 400.

[0085] Specifically, after the initialization is completed, the calibration mode is started, and the vehicle starts running in an open environment for calibration. The running mode can be a 4×100-meter square field, and the speed is unlimited. Optionally, the driving speed can be selected within a range, or it can be driven at different speeds. Optionally, the speed can be 30-40 kilometers per hour. In the straight driving section, the user manually accelerates and decelerates the vehicle, which can accelerate the convergence of the calibration data. The inertial navigation module 400 sends the real-time calibration data to the terminal 500 through the connecting line, and the terminal 500 displays the real-time calibration data on the terminal 500 interface in the form of calibration statements.

[0086] In the above-mentioned vehicle-mounted calibration device, the calibration data can be quickly converged by the user's acceleration and deceleration during driving, thereby shortening the calibration time.

[0087] In one embodiment, if Figure 5 As shown, the vehicle-mounted inertial navigation module 400 calibration method further includes:

[0088] Step S30 : receiving an initialization instruction, wherein the initialization instruction is used to initialize the installation position coordinate measurement values ​​of the first GNSS antenna 100 , the second GNSS antenna 200 and the inertial navigation module 400 .

[0089] Step S40: receiving a vehicle-mounted calibration instruction; wherein the vehicle-mounted calibration start statement instruction is used to load into the inertial navigation module 400, and the inertial navigation module 400 enters a calibration mode.

[0090] Specifically, the user inputs the initialization instructions, vehicle-mounted calibration instructions and the installation position coordinate measurement values ​​of the first GNSS antenna 100, the second GNSS antenna 200 and the inertial navigation module 400, that is, the arm parameters of the first GNSS antenna 100, the second GNSS antenna 200 and the inertial navigation module 400 in the form of statements through the terminal 500, and sends them to the inertial navigation module 400. The inertial navigation module 400 converts the input statements into corresponding instructions through the corresponding interface.

[0091] In one embodiment, step 20 further includes obtaining the calibration result of the inertial navigation module 400 in the form of a serial port statement, such as Figure 6 As shown, the specific implementation steps are as follows:

[0092] Step S203: receiving a vehicle start instruction, wherein the vehicle start instruction is used to start the vehicle running.

[0093] Specifically, when the vehicle start command is received, the inertial navigation module 400 sends the installation position coordinate measurement values ​​of the first GNSS antenna 100, the second GNSS antenna 200 and the inertial navigation module 400, that is, the initialization status of the lever arm parameters, to the terminal 500. Optionally, when the initialization statement in the serial port statement displayed by the terminal 500 corresponds to 0, it indicates that the lever arm parameters are being obtained. If the initialization statement in the serial port statement corresponds to 1, the lever arm parameters are successfully obtained and the car starts running.

[0094] Step S204: monitor the lever arm parameters, the deviation angle of the high-precision inertial navigation module 400 , and the heading deviation angles of the first GNSS antenna 100 and the second GNSS antenna 200 .

[0095] Specifically, the lever arm parameters, the deviation angle of the high-precision inertial navigation module 400 , and the heading deviation angles of the first GNSS antenna 100 and the second GNSS antenna 200 are monitored through the serial port statements of the terminal 500 .

[0096] Step S205: When the monitoring lever arm parameters, the deviation angle of the high-precision inertial navigation module 400, the heading deviation angles of the first GNSS antenna 100 and the second GNSS antenna 200 meet preset conditions, the calibration of the inertial navigation module 400 is stopped.

[0097] Among them, the preset convergence condition is that the value of the lever arm parameter does not change to 3 decimal places, and the deviation angle of the high-precision inertial navigation module 400, the heading deviation angle of the first GNSS antenna 100 and the second GNSS antenna 200 complete convergence.

[0098] Specifically, the three digits after the decimal point of the calibration data of the monitoring lever arm parameters displayed on the terminal 500 do not change. When the deviation angle of the high-precision inertial navigation module 400 and the heading deviation angle of the first GNSS antenna 100 and the second GNSS antenna 200 have converged, the calibration end command is input using the serial port statement to stop the calibration of the inertial navigation module 400.

[0099] Optionally, the user may also choose to automatically calibrate the inertial navigation module 400. First, the car starts running. In the first stage, the lever arm parameters and the heading deviation angles of the first GNSS antenna 100 and the second GNSS antenna 200 are calibrated. After the first stage of calibration, the second stage begins to calibrate the deviation angle of the high-precision inertial navigation module 400. After the second stage of calibration, the on-board calibration is completed and the calibration parameters are obtained.

[0100] After the vehicle calibration is completed, the parameters of the vehicle calibration are saved and the vehicle can enter the navigation mode.

[0101] In one embodiment, step 20 further includes obtaining the calibration result of the inertial navigation module 400 in the form of a serial port statement, such as Figure 7 As shown, the specific implementation steps are as follows:

[0102] Step S206: Read a pre-stored calibration parameter configuration file, wherein the calibration parameter configuration file includes initial calibration parameters, and the initial calibration parameters include lever arm parameters, the deviation angle of the high-precision inertial navigation module 400, and the heading deviation angle of the first GNSS antenna 100 and the second GNSS antenna 200.

[0103] Specifically, the terminal uses a CAN upper statement to set a command for reading a pre-stored calibration parameter configuration file. After the inertial navigation module 400 reads the calibration parameter configuration file, it sends the file information to the terminal 500 for display.

[0104] Step S207: Load the calibration parameter configuration file to the CAN host computer.

[0105] Specifically, the terminal 500 receives the calibration parameter configuration file information sent by the inertial navigation module 400 and displays the information. The user obtains the calibration parameter configuration file information through the terminal, sets the lever arm parameters according to the installation position coordinate measurement values, and loads the lever arm parameters into the inertial navigation module 400.

[0106] Step S208: receiving a vehicle start instruction, wherein the vehicle start instruction is used to start the vehicle running.

[0107] Specifically, after the lever arm parameters are loaded into the inertial navigation module 400, as shown in the figure, the user uses the CAN upper statement to set the start calibration instruction through the terminal 500, and starts the vehicle to start running.

[0108] Step S209: Detect changes in the initial calibration parameters. When the initial calibration parameters meet preset convergence conditions, stop calibration, obtain revised calibration parameters, and save the revised calibration parameters.

[0109] Specifically, the inertial navigation module 400 sends the on-board calibration result to the terminal 500, and the terminal 500 displays it in real time using the CAN host statement. The three digits after the decimal point of the calibration data of the monitoring lever arm parameters displayed on the terminal 500 do not change. When the deviation angle of the high-precision inertial navigation module 400 and the heading deviation angle of the first GNSS antenna 100 and the second GNSS antenna 200 converge, the calibration end instruction is input using the CAN host statement to stop the calibration of the inertial navigation module 400.

[0110] Optionally, the user may select the inertial navigation module 400 to automatically calibrate the module in the same manner as the serial port calibration method. For automatic calibration, please refer to the above.

[0111] After the vehicle calibration is completed, the vehicle calibration parameters are saved and the vehicle can enter the navigation mode.

[0112] In the above-mentioned vehicle-mounted calibration device, the user can end the calibration by setting the instruction statement, or the inertial navigation module can automatically complete the calibration, which is simple and operable, making the calibration method operable and more practical.

[0113] It should be understood that although Figure 3-7 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 3-7 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0114] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 8 As shown. The computer device includes a processor, a memory, and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store vehicle calibration result data. The network interface of the computer device is used to communicate with an external terminal 500 through a network connection. When the computer program is executed by the processor, a vehicle calibration method is implemented.

[0115] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0116] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0117] Receive the installation position coordinate measurement values ​​of the first GNSS antenna, the second GNSS antenna and the inertial navigation module, the position dynamic data of the inertial navigation module, the GNSS raw data provided by the first GNSS antenna and the second GNSS antenna, and the differential correction number;

[0118] A fusion calculation is performed based on the installation position coordinate measurement value, the position dynamic data, the GNSS original data and the differential correction number to obtain a calibration result of the inertial navigation module; wherein the calibration result of the inertial navigation module is used to calibrate the relative position between the first GNSS antenna, the second GNSS antenna and the inertial navigation module.

[0119] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0120] The calibration result of the inertial navigation module is obtained by performing fusion calculation according to the installation position coordinate measurement value, the position dynamic data, the GNSS original data and the differential correction number, including:

[0121] Initializing the coordinates of the GNSS antenna in the inertial navigation module according to the installation position coordinate measurement values;

[0122] Obtaining a vehicle-mounted calibration result by using a combined positioning algorithm according to the initialized inertial navigation module according to the position dynamic data, the GNSS raw data provided by the first GNSS antenna and the second GNSS antenna, and the differential correction number;

[0123] The vehicle-mounted calibration result includes: the relative distance and installation deviation angle between the first GNSS antenna, the second GNSS antenna and the inertial navigation module.

[0124] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0125] The method further comprises:

[0126] Receiving an initialization instruction, wherein the initialization instruction is used to initialize the installation position coordinate measurement values ​​of the first GNSS antenna, the second GNSS antenna and the inertial navigation module;

[0127] Receive an on-board calibration instruction; wherein the on-board calibration start statement instruction is used to load into the inertial navigation module, and the inertial navigation module enters a calibration mode.

[0128] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0129] The step of performing fusion calculation according to the installation position coordinate measurement value, the position dynamic data, the GNSS original data and the differential correction number to obtain the calibration result of the inertial navigation module includes:

[0130] receiving a vehicle start instruction, wherein the vehicle start instruction is used to start the vehicle running;

[0131] Monitor the arm parameters, the deviation angle of the high-precision inertial navigation module, and the heading deviation angles of the first GNSS antenna and the second GNSS antenna;

[0132] When the monitoring lever arm parameters, the deviation angle of the high-precision inertial navigation module, and the heading deviation angles of the first GNSS antenna and the second GNSS antenna meet the preset convergence conditions, the calibration of the inertial navigation module is stopped.

[0133] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0134] The statement instruction includes: performing fusion calculation according to the installation position coordinate measurement value, the position dynamic data, the GNSS original data and the differential correction number to obtain the calibration result of the inertial navigation module includes:

[0135] Reading a pre-stored calibration parameter configuration file, wherein the calibration parameter configuration file includes initial calibration parameters, wherein the initial calibration parameters include lever arm parameters, a deviation angle of a high-precision inertial navigation module, and a heading deviation angle of a first GNSS antenna and a second GNSS antenna;

[0136] Loading the calibration parameter configuration file to the CAN host computer;

[0137] receiving a vehicle start instruction, wherein the vehicle start instruction is used to start the vehicle running;

[0138] The change of the initial calibration parameters is detected, and when the initial calibration parameters meet the preset convergence conditions, the calibration is stopped to obtain the revised calibration parameters, and the revised calibration parameters are saved.

[0139] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0140] Receive the installation position coordinate measurement values ​​of the first GNSS antenna, the second GNSS antenna and the inertial navigation module, the position dynamic data of the inertial navigation module, the GNSS raw data provided by the first GNSS antenna and the second GNSS antenna, and the differential correction number;

[0141] A fusion calculation is performed based on the installation position coordinate measurement value, the position dynamic data, the GNSS original data and the differential correction number to obtain a calibration result of the inertial navigation module; wherein the calibration result of the inertial navigation module is used to calibrate the relative position between the first GNSS antenna, the second GNSS antenna and the inertial navigation module.

[0142] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0143] The calibration result of the inertial navigation module is obtained by performing fusion calculation according to the installation position coordinate measurement value, the position dynamic data, the GNSS original data and the differential correction number, including:

[0144] Initializing the coordinates of the GNSS antenna in the inertial navigation module according to the installation position coordinate measurement values;

[0145] Obtaining a vehicle-mounted calibration result by using a combined positioning algorithm according to the initialized inertial navigation module according to the position dynamic data, the GNSS raw data provided by the first GNSS antenna and the second GNSS antenna, and the differential correction number;

[0146] The vehicle-mounted calibration result includes: the relative distance and installation deviation angle between the first GNSS antenna, the second GNSS antenna and the inertial navigation module.

[0147] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0148] The method further comprises:

[0149] Receiving an initialization instruction, wherein the initialization instruction is used to initialize the installation position coordinate measurement values ​​of the first GNSS antenna, the second GNSS antenna and the inertial navigation module;

[0150] Receive an on-board calibration instruction; wherein the on-board calibration start statement instruction is used to load into the inertial navigation module, and the inertial navigation module enters a calibration mode.

[0151] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0152] The step of performing fusion calculation according to the installation position coordinate measurement value, the position dynamic data, the GNSS original data and the differential correction number to obtain the calibration result of the inertial navigation module includes:

[0153] receiving a vehicle start instruction, wherein the vehicle start instruction is used to start the vehicle running;

[0154] Monitor the arm parameters, the deviation angle of the high-precision inertial navigation module, and the heading deviation angles of the first GNSS antenna and the second GNSS antenna;

[0155] When the monitoring lever arm parameters, the deviation angle of the high-precision inertial navigation module, and the heading deviation angles of the first GNSS antenna and the second GNSS antenna meet the preset convergence conditions, the calibration of the inertial navigation module is stopped.

[0156] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0157] The statement instruction includes: performing fusion calculation according to the installation position coordinate measurement value, the position dynamic data, the GNSS original data and the differential correction number to obtain the calibration result of the inertial navigation module includes:

[0158] Reading a pre-stored calibration parameter configuration file, wherein the calibration parameter configuration file includes initial calibration parameters, wherein the initial calibration parameters include lever arm parameters, a deviation angle of a high-precision inertial navigation module, and a heading deviation angle of a first GNSS antenna and a second GNSS antenna;

[0159] Loading the calibration parameter configuration file to the CAN host computer;

[0160] receiving a vehicle start instruction, wherein the vehicle start instruction is used to start the vehicle running;

[0161] The change of the initial calibration parameters is detected, and when the initial calibration parameters meet the preset convergence conditions, the calibration is stopped to obtain the revised calibration parameters, and the revised calibration parameters are saved.

[0162] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0163] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0164] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A vehicle-mounted calibration device, characterized in that: The system comprises a first GNSS antenna, a second GNSS antenna, a differential unit, an inertial navigation module and a terminal, wherein the first GNSS antenna, the second GNSS antenna, the differential unit and the terminal are respectively connected to the inertial navigation module. The differential unit is used to output a differential correction number; The inertial navigation module is used to receive the installation position coordinate measurement value, the position dynamic data provided by the inertial sensor unit inside the inertial navigation module, the GNSS original data and the differential correction number; the inertial navigation module is installed on the chassis frame of the vehicle; the position dynamic data includes the position change data of the vehicle during movement; the installation position coordinate measurement value is the measurement value of the first GNSS antenna, the second GNSS antenna and the inertial navigation module; The GNSS raw data is provided by the first GNSS antenna and the second GNSS antenna; Initializing the coordinates of the GNSS antenna according to the measured values ​​of the installation position coordinates, The initialized inertial navigation module uses the position dynamic data, the GNSS raw data provided by the first GNSS antenna and the second GNSS antenna, and the differential correction number to obtain a vehicle-mounted calibration result through a combined positioning algorithm; the vehicle-mounted calibration result includes a relative distance and an installation deviation angle between the first GNSS antenna, the second GNSS antenna and the inertial navigation module; The terminal is used to output the vehicle calibration result.

2. The device according to claim 1, characterized in that The differential unit is a DTU terminal device, connected to the inertial navigation module, and is used to output differential correction numbers.

3. The device according to claim 1, characterized in that The first GNSS antenna and the second GNSS antenna are arranged on the roof at intervals and are rigidly connected to the roof.

4. The device according to claim 1, characterized in that The inertial navigation module includes a three-axis accelerometer and a three-axis gyroscope, and the X-axis of the three-axis accelerometer and the three-axis gyroscope is consistent with the direction in which the vehicle body moves.

5. A vehicle-mounted inertial navigation module calibration method, characterized in that: The method comprises: Receive the installation position coordinate measurement value, the position dynamic data of the inertial navigation module, the GNSS raw data and the differential correction number; the inertial navigation module is installed on the chassis frame of the vehicle; the position dynamic data includes the position change data of the vehicle during movement; the installation position coordinate measurement value is the measurement value of the first GNSS antenna, the second GNSS antenna and the inertial navigation module; the GNSS raw data is provided by the first GNSS antenna and the second GNSS antenna; the differential correction number is output by the differential unit; Performing a fusion calculation based on the installation position coordinate measurement value, the position dynamic data, the GNSS original data and the differential correction number to obtain a calibration result of the inertial navigation module; The step of performing fusion calculation according to the installation position coordinate measurement value, the position dynamic data, the GNSS original data and the differential correction number to obtain the calibration result of the inertial navigation module includes: Initializing the coordinates of the GNSS antenna in the inertial navigation module according to the installation position coordinate measurement values; Obtaining a vehicle-mounted calibration result using a combined positioning algorithm according to the initialized inertial navigation module, the position dynamic data, the GNSS raw data provided by the first GNSS antenna and the second GNSS antenna, and the differential correction number; The vehicle-mounted calibration result includes: the relative distance and installation deviation angle between the first GNSS antenna, the second GNSS antenna and the inertial navigation module.

6. The method according to claim 5, characterized in that The method further comprises: Receiving an initialization instruction, wherein the initialization instruction is used to initialize the installation position coordinate measurement values ​​of the first GNSS antenna, the second GNSS antenna and the inertial navigation module; Receive an on-board calibration instruction; wherein the on-board calibration start statement instruction is used to load into the inertial navigation module, and the inertial navigation module enters a calibration mode.

7. The method according to claim 5, characterized in that The step of performing fusion calculation according to the installation position coordinate measurement value, the position dynamic data, the GNSS original data and the differential correction number to obtain the calibration result of the inertial navigation module includes: receiving a vehicle start instruction, wherein the vehicle start instruction is used to start the vehicle running; Monitoring lever arm parameters, the deviation angle of the high-precision inertial navigation module, and the heading deviation angles of the first GNSS antenna and the second GNSS antenna; the lever arm parameters are the spatial geometric coordinates of the first GNSS antenna and the second GNSS antenna; When the monitoring lever arm parameters, the deviation angle of the high-precision inertial navigation module, and the heading deviation angles of the first GNSS antenna and the second GNSS antenna meet the preset convergence conditions, the calibration of the inertial navigation module is stopped.

8. The method according to claim 5, characterized in that The step of performing fusion calculation according to the installation position coordinate measurement value, the position dynamic data, the GNSS original data and the differential correction number to obtain the calibration result of the inertial navigation module includes: Reading a pre-stored calibration parameter configuration file, wherein the calibration parameter configuration file includes initial calibration parameters, wherein the initial calibration parameters include lever arm parameters, a deviation angle of a high-precision inertial navigation module, and a heading deviation angle of a first GNSS antenna and a second GNSS antenna; Loading the calibration parameter configuration file to the CAN host computer; receiving a vehicle start instruction, the vehicle start instruction being used to cause the vehicle to start running according to the calibration parameter configuration file; The change of the initial calibration parameters is detected through the CAN bus. When the changed calibration parameters meet the preset convergence conditions, the calibration is stopped to obtain the corrected calibration parameters, and the corrected calibration parameters are saved to the CAN host computer.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 5 to 8 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 5 to 8 are implemented.

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