Method and device for determining the validity of a vehicle inertial sensor output quantity

Abstract

The application provides a method and a device for determining the effectiveness of the output of a vehicle inertial sensor. The method comprises: obtaining a first standard output and a second standard output, the first standard output being the output of a first inertial sensor in a vehicle coordinate system, and the second standard output being the output of a second inertial sensor in the vehicle coordinate system; comparing the size of an output difference value and an output difference value threshold to obtain a comparison result, the output difference value being the difference between the first standard output and the corresponding second standard output; and determining the effectiveness of the first standard output and the effectiveness of the second standard output according to the comparison result. The method solves the problem that the effectiveness of the output of an inertial sensor in a vehicle cannot be determined in the prior art.

Description

Technical Field

[0001] The present application relates to the field of vehicle autonomous driving technology, and more specifically, to a method for determining the validity of a vehicle inertial sensor output, a determination device, a computer-readable storage medium, a processor, and a determination system. Background Art

[0002] High-level autonomous driving vehicles are generally equipped with two or more IMUs (inertial measurement units) to ensure the accuracy of dead reckoning during vehicle motion. In practical applications, it is necessary to compare the output of the corresponding axes of different IMUs to determine whether the output of the corresponding axes of different IMUs is consistent, thereby increasing the reliability of vehicle positioning results and motion posture judgment.

[0003] Different IMUs may have different installation positions, installation angles, and the number of axes of output. Before cross-checking the outputs of different IMU axes, a coordinate system transformation must be performed to make the corresponding axes parallel. Only then can the consistency of the corresponding axis output results be compared based on a preset threshold. Given that the sensitivity and minimum resolution of different IMU models are not the same, consistency judgment cannot require that the outputs are exactly the same. The existing technology lacks a specific method to solve the problem of being unable to determine whether the corresponding axis outputs of different IMU models are consistent due to different sensitivities or resolutions.

[0004] The above information disclosed in the background technology section is only used to enhance the understanding of the background technology of the technology described in this article. Therefore, the background technology may contain certain information that does not form the prior art known in this country to those skilled in the art. Summary of the Invention

[0005] The main purpose of this application is to provide a method, determination device, computer-readable storage medium, processor and determination system for determining the validity of the output of a vehicle inertial sensor, so as to solve the problem in the prior art of being unable to determine whether the output of an inertial sensor in a vehicle is valid.

[0006] According to one aspect of an embodiment of the present invention, a method for determining the validity of an inertial sensor output of a vehicle is provided. The vehicle includes a first inertial sensor and a second inertial sensor, wherein the first inertial sensor and the second inertial sensor are installed at different positions on the vehicle. The method includes: obtaining a first standard output and a second standard output, wherein the first standard output is the output of the first inertial sensor in a vehicle coordinate system, and the second standard output is the output of the second inertial sensor in the vehicle coordinate system; comparing an output difference with an output difference threshold to obtain a comparison result, wherein the output difference is the difference between the first standard output and the corresponding second standard output; and determining the validity of the first standard output and the second standard output based on the comparison result.

[0007] Optionally, obtaining the first standard output includes: obtaining a first vector, the first vector including multiple groups of first outputs, each group of the first outputs including a first acceleration and a first angular velocity, the first acceleration being the value of the acceleration output by the first inertial sensor in a first inertial sensor coordinate system, the first angular velocity being the value of the angular velocity output by the first inertial sensor in the first inertial sensor coordinate system, the first inertial sensor coordinate system including multiple first coordinate axes, and a group of the first outputs corresponding to one first coordinate axis; generating a first coordinate transformation matrix according to the pitch angle, roll angle, and yaw angle of the first inertial sensor; and calculating the product of the first vector and the first coordinate transformation matrix to obtain a first standard vector, the first standard vector including multiple groups of first standard outputs, each group of the first standard outputs including a first standard acceleration and a first standard angular velocity, the first standard acceleration corresponding to the first acceleration one-to-one, and the first standard angular velocity corresponding to the first angular velocity one-to-one.

[0008] Optionally, obtaining the second standard output includes: obtaining a second vector, the second vector including multiple groups of second outputs, each group of the second outputs including a second acceleration and a second angular velocity, the second acceleration being the value of the acceleration output by the second inertial sensor in a second inertial sensor coordinate system, the second angular velocity being the value of the angular velocity output by the second inertial sensor in the second inertial sensor coordinate system, the second inertial sensor coordinate system including multiple second coordinate axes, and a group of the second outputs corresponding to one second coordinate axis; generating a second coordinate transformation matrix according to the pitch angle, the roll angle, and the yaw angle of the second inertial sensor; and calculating the product of the second vector and the second coordinate transformation matrix to obtain a second standard vector, the second standard vector including multiple groups of second standard outputs, each group of the second standard outputs including a second standard acceleration and a second standard angular velocity, the second standard acceleration corresponding to the second acceleration one-to-one, and the second standard angular velocity corresponding to the second angular velocity one-to-one.

[0009] Optionally, when the first standard output is the first standard acceleration and the second standard output is the second standard acceleration, before comparing the output difference with the output difference threshold to obtain the comparison result, the method further includes: calculating the product of the missed detection probability expansion factor and the optimal acceleration to obtain the acceleration difference threshold, wherein the missed detection probability expansion factor is obtained by querying a normal distribution table based on the missed detection probability, and the optimal acceleration is the ratio of twice the positioning accuracy value to the square of the fault tolerance time.

[0010] Optionally, when the first standard output is the first standard angular velocity and the second standard output is the second standard angular velocity, before comparing the output difference with the output difference threshold to obtain the comparison result, the method further includes: calculating the product of the missed detection probability expansion factor and the optimal angular velocity to obtain the angular velocity difference threshold, where the optimal angular velocity is the ratio of the angle accuracy value to the fault tolerance time.

[0011] Optionally, determining the validity of the first standard output and the validity of the second standard output based on the comparison result includes: when the output difference is less than or equal to the output difference threshold, determining that both the first standard output and the second standard output are valid; when the output difference is greater than the output difference threshold, determining that both the first standard output and the second standard output are invalid.

[0012] According to another aspect of an embodiment of the present invention, a device for determining the validity of an inertial sensor output of a vehicle is provided. The vehicle includes a first inertial sensor and a second inertial sensor, wherein the first inertial sensor and the second inertial sensor are installed at different positions on the vehicle. The device includes: an acquisition unit for acquiring a first standard output and a second standard output, wherein the first standard output is the output of the first inertial sensor in a vehicle coordinate system, and the second standard output is the output of the second inertial sensor in the vehicle coordinate system; a comparison unit for comparing an output difference with an output difference threshold to obtain a comparison result, wherein the output difference is the difference between the first standard output and the corresponding second standard output; and a determination unit for determining the validity of the first standard output and the second standard output based on the comparison result.

[0013] According to yet another aspect of the embodiments of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein the program executes any one of the methods described above.

[0014] According to yet another aspect of an embodiment of the present invention, a processor is provided, wherein the processor is configured to run a program, wherein any one of the methods is executed when the program is run.

[0015] According to one aspect of an embodiment of the present invention, a system for determining the validity of a vehicle inertial sensor output is also provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of the methods described.

[0016] In the above-mentioned method for determining the validity of the vehicle inertial sensor output, first, a first standard output and a second standard output are obtained, where the first standard output is the output of the first inertial sensor in the vehicle coordinate system, and the second standard output is the output of the second inertial sensor in the vehicle coordinate system. Then, an output difference is compared with an output difference threshold to obtain a comparison result, where the output difference is the difference between the first standard output and the corresponding second standard output. Finally, the validity of the first standard output and the validity of the second standard output are determined based on the comparison result. The method obtains a first standard output and a second standard output to obtain the output of the first inertial sensor and the output of the second inertial sensor in a vehicle coordinate system, that is, obtains the output of the first inertial sensor and the output of the second inertial sensor in the same coordinate system. Then, by comparing the difference between the output of the first inertial sensor and the corresponding output of the second inertial sensor with an output difference threshold, the validity of the output of the first inertial sensor and the validity of the corresponding output of the second inertial sensor are determined. In other words, the validity of the output of the first inertial sensor and the output of the coordinate axis of the second inertial sensor are determined. This method solves the problem in the prior art of being unable to determine the validity of the output of the inertial sensor in the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings that constitute part of this application are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0018] Figure 1 A flow chart showing a method for determining the validity of a vehicle inertial sensor output according to an embodiment of the present application is shown;

[0019] Figure 2 A schematic diagram showing a device for determining the validity of a vehicle inertial sensor output according to a specific embodiment of the present application is shown;

[0020] Figure 3 A schematic diagram of a device for determining the validity of a vehicle inertial sensor output according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0021] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0022] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] It should be understood that when an element (such as a layer, film, region, or substrate) is described as being "on" another element, the element may be directly on the other element or intervening elements may be present. Moreover, in the specification and claims, when it is described that an element is "connected to" another element, the element may be "directly connected to" the other element or "connected to" the other element through a third element.

[0025] As mentioned in the background technology, the prior art cannot determine whether the output of an inertial sensor in a vehicle is valid. To address this issue, a typical embodiment of the present application provides a method, device, computer-readable storage medium, processor, and system for determining the validity of the output of an inertial sensor in a vehicle.

[0026] According to an embodiment of the present application, a method for determining the validity of an output of a vehicle inertial sensor is provided.

[0027] Figure 1 FIG. 1 is a flow chart of a method for determining the validity of a vehicle inertial sensor output according to an embodiment of the present application. Figure 1 As shown, the method includes the following steps:

[0028] Step S101, obtaining a first standard output and a second standard output, wherein the first standard output is the output of the first inertial sensor in the vehicle coordinate system, and the second standard output is the output of the second inertial sensor in the vehicle coordinate system;

[0029] Step S102, comparing the output quantity difference value with the output quantity difference value threshold value to obtain a comparison result, the output quantity difference value being the difference between the first standard output quantity and the corresponding second standard output quantity;

[0030] Step S103, determining the validity of the first standard output quantity and the validity of the second standard output quantity according to the comparison result.

[0031] The method for determining the validity of the output quantity of the vehicle inertia sensor comprises the following steps: firstly, obtaining a first standard output quantity and a second standard output quantity, the first standard output quantity being the output quantity of the first inertia sensor in the vehicle coordinate system, and the second standard output quantity being the output quantity of the second inertia sensor in the vehicle coordinate system; then, comparing the output quantity difference value with the output quantity difference value threshold value to obtain a comparison result, the output quantity difference value being the difference between the first standard output quantity and the corresponding second standard output quantity; finally, determining the validity of the first standard output quantity and the validity of the second standard output quantity according to the comparison result. The method obtains the first standard output quantity and the second standard output quantity, and obtains the output quantity of the first inertia sensor and the output quantity of the second inertia sensor in the vehicle coordinate system, that is, obtains the output quantity of the first inertia sensor and the output quantity of the second inertia sensor in the same coordinate system, then, by comparing the difference between the output quantity of the first inertia sensor and the corresponding output quantity of the second inertia sensor with the output quantity difference value threshold value, the validity of the output quantity of the first inertia sensor and the validity of the corresponding output quantity of the second inertia sensor are determined, that is, whether the output quantity of the first inertia sensor and the output quantity of the second inertia sensor are valid is determined. The method solves the problem that the output quantity of the inertia sensor in the vehicle cannot be determined in the prior art.

[0032] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that shown herein.

[0033] In an optional embodiment of the present application, obtaining a first standard output includes: obtaining a first vector, the first vector including multiple groups of first outputs, each group of the first outputs including a first acceleration and a first angular velocity, the first acceleration being the value of the acceleration output by the first inertial sensor in a first inertial sensor coordinate system, the first angular velocity being the value of the angular velocity output by the first inertial sensor in the first inertial sensor coordinate system, the first inertial sensor coordinate system including multiple first coordinate axes, one group of the first outputs corresponding to one first coordinate axis; generating a first coordinate transformation matrix according to the pitch angle, roll angle, and yaw angle of the first inertial sensor; and calculating the product of the first vector and the first coordinate transformation matrix to obtain a first standard vector, the first standard vector including multiple groups of first standard outputs, each group of the first standard outputs including a first standard acceleration and a first standard angular velocity, the first standard acceleration corresponding to the first acceleration, and the first standard angular velocity corresponding to the first angular velocity. In this embodiment, since the installation positions and installation angles of different inertial sensors may be different, before determining whether the outputs of each inertial sensor are valid by checking whether the outputs of different inertial sensors are consistent, a coordinate system conversion must be performed first. The outputs corresponding to the coordinate axes of the inertial sensors are converted to the vehicle coordinate system so that the coordinate axes corresponding to the inertial sensors are parallel to each other. Taking the case of two inertial sensors and each inertial sensor's coordinate system including three coordinate axes: x-axis, y-axis, and z-axis as an example, the vehicle coordinate system includes three coordinate axes: longitudinal axis, transverse axis, and heading axis. The longitudinal axis of the vehicle coordinate system corresponds to the x-axis of the inertial sensor, the transverse axis of the vehicle coordinate system corresponds to the y-axis of the inertial sensor, and the heading axis of the vehicle coordinate system corresponds to the z-axis of the inertial sensor. The conversion from the first inertial sensor coordinate system to the vehicle coordinate system is completed. When the first output is the first acceleration, that is, the first vector V1 b Including the three first accelerations corresponding to the x-axis, the y-axis and the z-axis in the first inertial sensor coordinate system, through the coordinate conversion formula Convert the first vector to the first standard vector, the first standard vector V1 R Including the three first standard accelerations: the acceleration corresponding to the longitudinal axis, the acceleration corresponding to the horizontal axis, and the acceleration corresponding to the heading axis in the vehicle coordinate system. is the first coordinate transformation matrix, where

[0034] C(1,1)=cos(theta1)*cos(psi1), C(1,2)=cos(theta1)*sin(psi1), C(1,3)=-sin(theta1), C(2,1)=-cos(phi1)*sin(psi1)+sin(phi1)*sin(theta1)*cos(psi1), C(2,2)=cos(phi 1)*cos(psi1)+sin(phi1)*sin(theta1)*sin(psi1), C(2,3)=sin(phi 1)*cos(theta1), C(3,1)=sin(phi1)*sin(psi1)+cos(phi1)*sin(theta1)*cos(psi1), C(3,2)=-sin(phi1)*cos(psi1)+cos(phi1)*sin(theta1)*sin(psi1), C(3,3)=cos(phi1)*cos(theta1), theta1 is the pitch angle value of the first inertial sensor, phi1 is the roll angle value of the first inertial sensor, psi1 is the yaw angle value of the first inertial sensor, and when the first output is the first angular velocity, that is, the first vector W1 b The three first angular velocities, including the angular velocity corresponding to the x-axis, the angular velocity corresponding to the y-axis, and the angular velocity corresponding to the z-axis in the first inertial sensor coordinate system, are converted by the coordinate conversion formula Convert the first vector to the first standard vector, the first standard vector W1 R The three first standard angular velocities include the angular velocity corresponding to the longitudinal axis, the angular velocity corresponding to the horizontal axis, and the angular velocity corresponding to the heading axis in the vehicle coordinate system, such as Figure 2 As shown, the IMU1 coordinate conversion module performs the above operations, converts the acceleration corresponding to the x-axis in the first inertial sensor coordinate system into the acceleration corresponding to the vertical axis in the vehicle coordinate system, converts the acceleration corresponding to the y-axis in the first inertial sensor coordinate system into the acceleration corresponding to the horizontal axis in the vehicle coordinate system, and converts the acceleration corresponding to the z-axis in the first inertial sensor coordinate system into the acceleration corresponding to the heading axis in the vehicle coordinate system.

[0035] In an optional embodiment of the present application, obtaining a second standard output includes: obtaining a second vector, the second vector including multiple groups of second outputs, each group of the second outputs including a second acceleration and a second angular velocity, the second acceleration being the value of the acceleration output by the second inertial sensor in a second inertial sensor coordinate system, the second angular velocity being the value of the angular velocity output by the second inertial sensor in the second inertial sensor coordinate system, the second inertial sensor coordinate system including multiple second coordinate axes, one group of the second outputs corresponding to one second coordinate axis; generating a second coordinate transformation matrix according to the pitch angle, the roll angle, and the yaw angle of the second inertial sensor; and calculating the product of the second vector and the second coordinate transformation matrix to obtain a second standard vector, the second standard vector including multiple groups of second standard outputs, each group of the second standard outputs including a second standard acceleration and a second standard angular velocity, the second standard acceleration corresponding to the second acceleration, and the second standard angular velocity corresponding to the second angular velocity. In this embodiment, taking the case where there are two inertial sensors and the coordinate system of each inertial sensor includes three coordinate axes: x-axis, y-axis and z-axis, the conversion of the second inertial sensor coordinate system to the vehicle coordinate system is completed. When the second output is the second acceleration, that is, the second vector V2 b Including the three second accelerations corresponding to the x-axis, the y-axis and the z-axis in the second inertial sensor coordinate system, through the coordinate conversion formula Convert the second vector to the second standard vector, the second standard vector V2 R Including the three second standard accelerations: the acceleration corresponding to the longitudinal axis, the acceleration corresponding to the horizontal axis, and the acceleration corresponding to the heading axis in the vehicle coordinate system. is the second coordinate transformation matrix, where

[0036] D(1,1)=cos(theta2)*cos(psi2), D(1,2)=cos(theta2)*sin(psi2), D(1,3)=-sin(theta2), D(2,1)=-cos(phi2)*sin(psi2)+sin(phi2)*sin(theta2)*cos(psi2), D(2,2)=cos(phi 2)*cos(psi2)+sin(phi2)*sin(theta2)*sin(psi2), D(2,3)=sin(phi 2)*cos(theta2), D(3,1)=sin(phi2)*sin(psi2)+cos(phi2)*sin(theta2)*cos(psi2), D(3,2)=-sin(phi2)*cos(psi2)+cos(phi2)*sin(theta2)*sin(psi2), D(3,3)=cos(phi2)*cos(theta2), theta2 is the pitch angle value of the second inertial sensor, phi2 is the roll angle value of the second inertial sensor, psi1 is the yaw angle value of the second inertial sensor, and when the second output is the second angular velocity, that is, the second vector W2 b Including the three angular velocities corresponding to the x-axis, the y-axis and the z-axis in the second inertial sensor coordinate system, through the coordinate conversion formula Convert the second vector to the second standard vector, the second standard vector W2 R The three second standard angular velocities include the angular velocity corresponding to the longitudinal axis, the angular velocity corresponding to the horizontal axis, and the angular velocity corresponding to the heading axis in the vehicle coordinate system. Figure 2 As shown, the IMU1 coordinate conversion module performs the above operations, converts the angular velocity corresponding to the x-axis in the first inertial sensor coordinate system into the angular velocity corresponding to the longitudinal axis in the vehicle coordinate system, converts the angular velocity corresponding to the y-axis in the first inertial sensor coordinate system into the angular velocity corresponding to the transverse axis in the vehicle coordinate system, and converts the angular velocity corresponding to the z-axis in the first inertial sensor coordinate system into the angular velocity corresponding to the heading axis in the vehicle coordinate system.

[0037] In an optional embodiment of the present application, when the first standard output is the first standard acceleration and the second standard output is the second standard acceleration, before comparing the output difference with the output difference threshold and obtaining the comparison result, the method further includes: calculating the product of a missed detection probability expansion factor and an optimal acceleration to obtain the acceleration difference threshold, wherein the missed detection probability expansion factor is obtained by querying a normal distribution table based on the missed detection probability, and the optimal acceleration is the ratio of twice the positioning accuracy value to the square of the fault tolerance time. In this embodiment, since the three parameters of the inertial sensor, namely, the acceleration corresponding to the longitudinal axis, the acceleration corresponding to the transverse axis, and the angular velocity corresponding to the heading axis, have a more significant impact on the calculation of subsequent dead reckoning or attitude control applications, it is only necessary to determine whether the acceleration corresponding to the longitudinal axis, the acceleration corresponding to the transverse axis, and the angular velocity corresponding to the heading axis of the inertial sensor are valid. That is, it is only necessary to determine the three output difference thresholds, namely, the acceleration difference threshold corresponding to the longitudinal axis, the acceleration difference threshold corresponding to the transverse axis, and the angular velocity difference threshold corresponding to the heading axis. According to the formula Δa'=K md *a', calculate the acceleration difference threshold Δa' corresponding to the vertical axis, where K md =N -1 (P md ) is the missed detection probability expansion factor, K md According to the missed detection probability P md By looking up the normal distribution table, we can get N -1 () is the inverse function of the standard normal distribution, a' is the optimal acceleration, i.e. the target longitudinal acceleration, L o is the longitudinal positioning accuracy value, t is the fault tolerance time, according to the formula Δa=K md *a, calculate the acceleration difference threshold Δa corresponding to the horizontal axis, a is the optimal acceleration, that is, the target lateral acceleration, L a is the lateral positioning accuracy value, such as Figure 2 As shown, the above calculation is performed by each axial threshold setting module to obtain the acceleration difference threshold Δa' corresponding to the longitudinal axis of the inertial sensor, that is, the longitudinal acceleration deviation threshold, and the acceleration difference threshold Δa corresponding to the transverse axis, that is, the transverse acceleration deviation threshold.

[0038] In an optional embodiment of the present application, when the first standard output is the first standard angular velocity and the second standard output is the second standard angular velocity, before comparing the output difference with the output difference threshold and obtaining the comparison result, the method further includes: calculating the product of the missed detection probability expansion factor and the optimal angular velocity to obtain the angular velocity difference threshold, where the optimal angular velocity is the ratio of the angle accuracy value to the fault tolerance time. In this embodiment, according to the formula Δw=K md*w, calculate the angular velocity difference threshold w corresponding to the heading axis, w is the optimal angular velocity, that is, the target heading angular velocity, Y a is the heading angle accuracy value, such as Figure 2 As shown, the above calculation is performed by each axial threshold setting module to obtain the angular velocity difference threshold Δw corresponding to the heading axis of the second inertial sensor, that is, the heading angular velocity deviation threshold.

[0039] In an optional embodiment of the present application, determining the validity of the first standard output and the validity of the second standard output based on the comparison result includes: when the output difference is less than or equal to the output difference threshold, determining that both the first standard output and the second standard output are valid; when the output difference is greater than the output difference threshold, determining that both the first standard output and the second standard output are invalid.In this embodiment, taking the case of two inertial sensors as an example, in a case where the first standard output is the acceleration corresponding to the vertical axis of the first inertial sensor, which is a first standard acceleration, and the second standard output is the acceleration corresponding to the vertical axis of the second inertial sensor, which is a second standard acceleration, at this time, the output difference is the difference between the acceleration corresponding to the vertical axis of the first inertial sensor and the acceleration corresponding to the vertical axis of the second inertial sensor, and the output difference threshold is the acceleration difference threshold Δa' corresponding to the vertical axis. When the difference between the acceleration corresponding to the vertical axis of the first inertial sensor and the second standard output is the acceleration corresponding to the vertical axis of the second inertial sensor is less than or equal to Δa', it is determined that the first inertial sensor The acceleration corresponding to the vertical axis of the first inertial sensor and the acceleration corresponding to the vertical axis of the second standard output of the second inertial sensor are consistent, that is, the acceleration corresponding to the vertical axis of the first inertial sensor and the acceleration corresponding to the vertical axis of the second inertial sensor are both valid. Otherwise, they are both invalid. In the case where the first standard output is the acceleration corresponding to the horizontal axis of the first inertial sensor, which is the first standard acceleration, and the second standard output is the acceleration corresponding to the horizontal axis of the second inertial sensor, which is the second standard acceleration, at this time, the output difference is the difference between the acceleration corresponding to the horizontal axis of the first inertial sensor and the acceleration corresponding to the horizontal axis of the second inertial sensor, and the output difference threshold is the acceleration difference threshold corresponding to the horizontal axis. Value Δa, when the difference between the acceleration corresponding to the transverse axis of the first inertial sensor and the acceleration corresponding to the transverse axis of the second inertial sensor, which is the second standard output, is less than or equal to Δa, it is determined that the acceleration corresponding to the transverse axis of the first inertial sensor and the acceleration corresponding to the transverse axis of the second inertial sensor, which is the second standard output, are consistent, that is, the acceleration corresponding to the transverse axis of the first inertial sensor and the acceleration corresponding to the transverse axis of the second inertial sensor are both valid, otherwise, they are both invalid. In the case where the first standard output is the angular velocity corresponding to the heading axis of the first inertial sensor, which is the first standard angular velocity, and the second standard output is the angular velocity corresponding to the heading axis of the second inertial sensor, which is the second standard angular velocity, at this time, the input The output difference is the difference between the angular velocity corresponding to the yaw axis of the first inertial sensor and the angular velocity corresponding to the yaw axis of the second inertial sensor, the output difference threshold is the angular velocity difference threshold Δw corresponding to the yaw axis, and when the difference between the angular velocity corresponding to the yaw axis of the first inertial sensor and the angular velocity corresponding to the yaw axis of the second standard output is less than or equal to Δw, it is determined that the angular velocity corresponding to the yaw axis of the first inertial sensor and the angular velocity corresponding to the yaw axis of the second standard output are consistent, that is, the angular velocity corresponding to the yaw axis of the first inertial sensor and the angular velocity corresponding to the yaw axis of the second standard output are both valid; otherwise, they are both invalid, such as. Figure 2As shown, the IMU axial output cross-check module performs the above operations to determine whether the acceleration corresponding to the longitudinal axis, the acceleration corresponding to the transverse axis, and the angular velocity corresponding to the heading axis of the first inertial sensor IMU1 and the second inertial sensor IMU2 are valid.

[0040] In an optional embodiment of the present application, Figure 2 As shown, after determining whether the acceleration corresponding to the longitudinal axis, the acceleration corresponding to the transverse axis, and the angular velocity corresponding to the yaw axis of the first inertial sensor IMU1 and the second inertial sensor IMU2 are valid, the IMU cross-check result logic processing module performs corresponding processing based on the consistency check result. Consistent axial output quantities can be used for calculations in dead reckoning or attitude control applications. Inconsistent axial output quantities prohibit the use of dead reckoning or attitude control applications for calculations, and the data can be destroyed.

[0041] The embodiments of the present application also provide a device for determining the validity of a vehicle inertial sensor output. It should be noted that the device for determining the validity of a vehicle inertial sensor output in the embodiments of the present application can be used to execute the method for determining the validity of a vehicle inertial sensor output provided in the embodiments of the present application. The following describes the device for determining the validity of a vehicle inertial sensor output provided in the embodiments of the present application.

[0042] Figure 3 FIG is a schematic diagram of a device for determining the validity of a vehicle inertial sensor output according to an embodiment of the present application. Figure 3 As shown, the device includes:

[0043] An acquiring unit 10 acquires a first standard output and a second standard output, wherein the first standard output is an output of the first inertial sensor in a vehicle coordinate system, and the second standard output is an output of the second inertial sensor in the vehicle coordinate system;

[0044] A comparison unit 20 compares the output difference with an output difference threshold to obtain a comparison result, wherein the output difference is the difference between the first standard output and the corresponding second standard output;

[0045] The determining unit 30 determines the validity of the first standard output quantity and the validity of the second standard output quantity according to the comparison result.

[0046] In the above-mentioned device for determining the validity of the vehicle inertial sensor output, an acquisition unit acquires a first standard output and a second standard output, where the first standard output is the output of the first inertial sensor in the vehicle coordinate system, and the second standard output is the output of the second inertial sensor in the vehicle coordinate system; a comparison unit compares an output difference with an output difference threshold to obtain a comparison result, where the output difference is the difference between the first standard output and the corresponding second standard output; and a determination unit determines the validity of the first standard output and the validity of the second standard output based on the comparison result. The device acquires a first standard output and a second standard output to obtain the output of the first inertial sensor and the output of the second inertial sensor in a vehicle coordinate system, that is, obtains the output of the first inertial sensor and the output of the second inertial sensor in the same coordinate system. Then, by comparing the difference between the output of the first inertial sensor and the corresponding output of the second inertial sensor with an output difference threshold, the validity of the output of the first inertial sensor and the validity of the corresponding output of the second inertial sensor are determined. In other words, the output of the first inertial sensor and the output of the coordinate axis of the second inertial sensor are determined to be valid. This device solves the problem in the prior art of being unable to determine the validity of the output of the inertial sensor in the vehicle.

[0047] In an optional embodiment of the present application, the acquisition unit includes a first acquisition module, a first generation module, and a first calculation module. The first acquisition module is used to acquire a first vector, the first vector including multiple groups of first output quantities, each group of the first output quantities including a first acceleration and a first angular velocity, the first acceleration being the value of the acceleration output by the first inertial sensor in a first inertial sensor coordinate system, the first angular velocity being the value of the angular velocity output by the first inertial sensor in the first inertial sensor coordinate system, the first inertial sensor coordinate system including multiple first coordinate axes, and a group of the first output quantities corresponding to each first coordinate axis; the first generation module is used to generate a first coordinate transformation matrix based on the pitch angle, roll angle, and yaw angle of the first inertial sensor; and the first calculation module is used to calculate the product of the first vector and the first coordinate transformation matrix to obtain a first standard vector, the first standard vector including multiple groups of first standard output quantities, each group of the first standard output quantities including a first standard acceleration and a first standard angular velocity, the first standard acceleration corresponding to the first acceleration, and the first standard angular velocity corresponding to the first angular velocity. In this embodiment, since the installation positions and installation angles of different inertial sensors may be different, before determining whether the outputs of each inertial sensor are valid by checking whether the outputs of different inertial sensors are consistent, a coordinate system conversion must be performed first. The outputs corresponding to the coordinate axes of the inertial sensors are converted to the vehicle coordinate system so that the coordinate axes corresponding to the inertial sensors are parallel to each other. Taking the case of two inertial sensors and each inertial sensor's coordinate system including three coordinate axes: x-axis, y-axis, and z-axis as an example, the vehicle coordinate system includes three coordinate axes: longitudinal axis, transverse axis, and heading axis. The longitudinal axis of the vehicle coordinate system corresponds to the x-axis of the inertial sensor, the transverse axis of the vehicle coordinate system corresponds to the y-axis of the inertial sensor, and the heading axis of the vehicle coordinate system corresponds to the z-axis of the inertial sensor. The conversion from the first inertial sensor coordinate system to the vehicle coordinate system is completed. When the first output is the first acceleration, that is, the first vector V1 b Including the three first accelerations corresponding to the x-axis, the y-axis and the z-axis in the first inertial sensor coordinate system, through the coordinate conversion formula Convert the first vector to the first standard vector, the first standard vector V1 R Including the three first standard accelerations: the acceleration corresponding to the longitudinal axis, the acceleration corresponding to the horizontal axis, and the acceleration corresponding to the heading axis in the vehicle coordinate system. is the first coordinate transformation matrix, where

[0048] C(1,1)=cos(theta1)*cos(psi1), C(1,2)=cos(theta1)*sin(psi1), C(1,3)=-sin(theta1), C(2,1)=-cos(phi1)*sin(psi1)+sin(phi1)*sin(theta1)*cos(psi1), C(2,2)=cos(phi 1)*cos(psi1)+sin(phi1)*sin(theta1)*sin(psi1), C(2,3)=sin(phi 1)*cos(theta1), C(3,1)=sin(phi1)*sin(psi1)+cos(phi1)*sin(theta1)*cos(psi1), C(3,2)=-sin(phi1)*cos(psi1)+cos(phi1)*sin(theta1)*sin(psi1), C(3,3)=cos(phi1)*cos(theta1), theta1 is the pitch angle value of the first inertial sensor, phi1 is the roll angle value of the first inertial sensor, psi1 is the yaw angle value of the first inertial sensor, and when the first output is the first angular velocity, that is, the first vector W1 b The three first angular velocities, including the angular velocity corresponding to the x-axis, the angular velocity corresponding to the y-axis, and the angular velocity corresponding to the z-axis in the first inertial sensor coordinate system, are converted by the coordinate conversion formula Convert the first vector to the first standard vector, the first standard vector W1 R The three first standard angular velocities include the angular velocity corresponding to the longitudinal axis, the angular velocity corresponding to the horizontal axis, and the angular velocity corresponding to the heading axis in the vehicle coordinate system, such as Figure 2 As shown, the IMU1 coordinate conversion module performs the above operations, converts the acceleration corresponding to the x-axis in the first inertial sensor coordinate system into the acceleration corresponding to the vertical axis in the vehicle coordinate system, converts the acceleration corresponding to the y-axis in the first inertial sensor coordinate system into the acceleration corresponding to the horizontal axis in the vehicle coordinate system, and converts the acceleration corresponding to the z-axis in the first inertial sensor coordinate system into the acceleration corresponding to the heading axis in the vehicle coordinate system.

[0049] In an optional embodiment of the present application, the acquisition unit includes a second acquisition module, a second generation module, and a second calculation module. The second acquisition module is used to acquire a second vector, the second vector including multiple groups of second output quantities, each group of the second output quantities including a second acceleration and a second angular velocity, the second acceleration being the value of the acceleration output by the second inertial sensor in a second inertial sensor coordinate system, the second angular velocity being the value of the angular velocity output by the second inertial sensor in the second inertial sensor coordinate system, the second inertial sensor coordinate system including multiple second coordinate axes, and a group of the second output quantities corresponding to each second coordinate axis; the second generation module is used to generate a second coordinate transformation matrix based on the pitch angle, the roll angle, and the yaw angle of the second inertial sensor; and the second calculation module is used to calculate the product of the second vector and the second coordinate transformation matrix to obtain a second standard vector, the second standard vector including multiple groups of second standard output quantities, each group of the second standard output quantities including a second standard acceleration and a second standard angular velocity, the second standard acceleration corresponding to the second acceleration, and the second standard angular velocity corresponding to the second angular velocity. In this embodiment, taking the case where there are two inertial sensors and the coordinate system of each inertial sensor includes three coordinate axes: x-axis, y-axis and z-axis, the conversion of the second inertial sensor coordinate system to the vehicle coordinate system is completed. When the second output is the second acceleration, that is, the second vector V2 b Including the three second accelerations corresponding to the x-axis, the y-axis and the z-axis in the second inertial sensor coordinate system, through the coordinate conversion formula Convert the second vector to the second standard vector, the second standard vector V2 R Including the three second standard accelerations: the acceleration corresponding to the longitudinal axis, the acceleration corresponding to the horizontal axis, and the acceleration corresponding to the heading axis in the vehicle coordinate system. is the second coordinate transformation matrix, where

[0050] D(1,1)=cos(theta2)*cos(psi2), D(1,2)=cos(theta2)*sin(psi2), D(1,3)=-sin(theta2), D(2,1)=-cos(phi2)*sin(psi2)+sin(phi2)*sin(theta2)*cos(psi2), D(2,2)=cos(phi 2)*cos(psi2)+sin(phi2)*sin(theta2)*sin(psi2), D(2,3)=sin(phi 2)*cos(theta2), D(3,1)=sin(phi2)*sin(psi2)+cos(phi2)*sin(theta2)*cos(psi2), D(3,2)=-sin(phi2)*cos(psi2)+cos(phi2)*sin(theta2)*sin(psi2), D(3,3)=cos(phi2)*cos(theta2), theta2 is the pitch angle value of the second inertial sensor, phi2 is the roll angle value of the second inertial sensor, psi1 is the yaw angle value of the second inertial sensor, and when the second output is the second angular velocity, that is, the second vector W2 b Including the three angular velocities corresponding to the x-axis, the y-axis and the z-axis in the second inertial sensor coordinate system, through the coordinate conversion formula Convert the second vector to the second standard vector, the second standard vector W2 R The three second standard angular velocities include the angular velocity corresponding to the longitudinal axis, the angular velocity corresponding to the horizontal axis, and the angular velocity corresponding to the heading axis in the vehicle coordinate system. Figure 2 As shown, the IMU1 coordinate conversion module performs the above operations, converts the angular velocity corresponding to the x-axis in the first inertial sensor coordinate system into the angular velocity corresponding to the longitudinal axis in the vehicle coordinate system, converts the angular velocity corresponding to the y-axis in the first inertial sensor coordinate system into the angular velocity corresponding to the transverse axis in the vehicle coordinate system, and converts the angular velocity corresponding to the z-axis in the first inertial sensor coordinate system into the angular velocity corresponding to the heading axis in the vehicle coordinate system.

[0051] In an optional embodiment of the present application, the apparatus for determining the validity of the vehicle inertial sensor output further includes a first calculation unit, configured to calculate the product of a missed detection probability expansion factor and an optimal acceleration to obtain an acceleration difference threshold, wherein the missed detection probability expansion factor is obtained by querying a normal distribution table based on the missed detection probability, and the optimal acceleration is the ratio of twice the positioning accuracy value to the square of the fault tolerance time. In this embodiment, since the three parameters of the inertial sensor, namely, the acceleration corresponding to the longitudinal axis, the acceleration corresponding to the transverse axis, and the angular velocity corresponding to the heading axis, have a more significant impact on the calculation of subsequent dead reckoning or attitude control applications, it is only necessary to determine whether the acceleration corresponding to the longitudinal axis, the acceleration corresponding to the transverse axis, and the angular velocity corresponding to the heading axis of the inertial sensor are valid, that is, it is only necessary to determine the three output difference thresholds, namely, the acceleration difference threshold corresponding to the longitudinal axis, the acceleration difference threshold corresponding to the transverse axis, and the angular velocity difference threshold corresponding to the heading axis. According to the formula Δa'=K md *a', calculate the acceleration difference threshold Δa' corresponding to the vertical axis, where K md =N -1 (P md ) is the missed detection probability expansion factor, K md According to the missed detection probability P md By looking up the normal distribution table, we can get N -1 () is the inverse function of the standard normal distribution, a' is the optimal acceleration, i.e. the target longitudinal acceleration, L o is the longitudinal positioning accuracy value, t is the fault tolerance time, according to the formula Δa=K md *a, calculate the acceleration difference threshold Δa corresponding to the horizontal axis, a is the optimal acceleration, that is, the target lateral acceleration, L a is the lateral positioning accuracy value, such as Figure 2 As shown, the above calculation is performed by each axial threshold setting module to obtain the acceleration difference threshold Δa' corresponding to the longitudinal axis of the inertial sensor, that is, the longitudinal acceleration deviation threshold, and the acceleration difference threshold Δa corresponding to the transverse axis, that is, the transverse acceleration deviation threshold.

[0052] In an optional embodiment of the present application, the device for determining the validity of the vehicle inertial sensor output further includes a second calculation unit, which is used to calculate the product of the missed detection probability expansion factor and the optimal angular velocity to obtain the angular velocity difference threshold, where the optimal angular velocity is the ratio of the angle accuracy value to the fault tolerance time. In this embodiment, according to the formula Δw=K md *w, calculate the angular velocity difference threshold w corresponding to the heading axis, w is the optimal angular velocity, that is, the target heading angular velocity, Y a is the heading angle accuracy value, such as Figure 2As shown, the above calculation is performed by each axial threshold setting module to obtain the angular velocity difference threshold Δw corresponding to the heading axis of the second inertial sensor, that is, the heading angular velocity deviation threshold.

[0053] In an optional embodiment of the present application, the above-mentioned determination unit includes a first determination module and a second determination module. The above-mentioned first determination module is used to determine that the first standard output quantity and the second standard output quantity are both valid when the output quantity difference is less than or equal to the output quantity difference threshold; the above-mentioned second determination module is used to determine that the first standard output quantity and the second standard output quantity are both invalid when the output quantity difference is greater than the output quantity difference threshold.In this embodiment, taking the case of two inertial sensors as an example, in a case where the first standard output is the acceleration corresponding to the vertical axis of the first inertial sensor, which is a first standard acceleration, and the second standard output is the acceleration corresponding to the vertical axis of the second inertial sensor, which is a second standard acceleration, at this time, the output difference is the difference between the acceleration corresponding to the vertical axis of the first inertial sensor and the acceleration corresponding to the vertical axis of the second inertial sensor, and the output difference threshold is the acceleration difference threshold Δa' corresponding to the vertical axis. When the difference between the acceleration corresponding to the vertical axis of the first inertial sensor and the second standard output is the acceleration corresponding to the vertical axis of the second inertial sensor is less than or equal to Δa', it is determined that the first inertial sensor The acceleration corresponding to the vertical axis of the first inertial sensor and the acceleration corresponding to the vertical axis of the second standard output of the second inertial sensor are consistent, that is, the acceleration corresponding to the vertical axis of the first inertial sensor and the acceleration corresponding to the vertical axis of the second inertial sensor are both valid. Otherwise, they are both invalid. In the case where the first standard output is the acceleration corresponding to the horizontal axis of the first inertial sensor, which is the first standard acceleration, and the second standard output is the acceleration corresponding to the horizontal axis of the second inertial sensor, which is the second standard acceleration, at this time, the output difference is the difference between the acceleration corresponding to the horizontal axis of the first inertial sensor and the acceleration corresponding to the horizontal axis of the second inertial sensor, and the output difference threshold is the acceleration difference threshold corresponding to the horizontal axis. Value Δa, when the difference between the acceleration corresponding to the transverse axis of the first inertial sensor and the acceleration corresponding to the transverse axis of the second inertial sensor, which is the second standard output, is less than or equal to Δa, it is determined that the acceleration corresponding to the transverse axis of the first inertial sensor and the acceleration corresponding to the transverse axis of the second inertial sensor, which is the second standard output, are consistent, that is, the acceleration corresponding to the transverse axis of the first inertial sensor and the acceleration corresponding to the transverse axis of the second inertial sensor are both valid, otherwise, they are both invalid. In the case where the first standard output is the angular velocity corresponding to the heading axis of the first inertial sensor, which is the first standard angular velocity, and the second standard output is the angular velocity corresponding to the heading axis of the second inertial sensor, which is the second standard angular velocity, at this time, the input The output difference is the difference between the angular velocity corresponding to the yaw axis of the first inertial sensor and the angular velocity corresponding to the yaw axis of the second inertial sensor, the output difference threshold is the angular velocity difference threshold Δw corresponding to the yaw axis, and when the difference between the angular velocity corresponding to the yaw axis of the first inertial sensor and the angular velocity corresponding to the yaw axis of the second standard output is less than or equal to Δw, it is determined that the angular velocity corresponding to the yaw axis of the first inertial sensor and the angular velocity corresponding to the yaw axis of the second standard output are consistent, that is, the angular velocity corresponding to the yaw axis of the first inertial sensor and the angular velocity corresponding to the yaw axis of the second standard output are both valid; otherwise, they are both invalid, such as. Figure 2As shown, the IMU axial output cross-check module performs the above operations to determine whether the acceleration corresponding to the longitudinal axis, the acceleration corresponding to the transverse axis, and the angular velocity corresponding to the heading axis of the first inertial sensor IMU1 and the second inertial sensor IMU2 are valid.

[0054] In an optional embodiment of the present application, Figure 2 As shown, after determining whether the acceleration corresponding to the longitudinal axis, the acceleration corresponding to the transverse axis, and the angular velocity corresponding to the yaw axis of the first inertial sensor IMU1 and the second inertial sensor IMU2 are valid, the IMU cross-check result logic processing module performs corresponding processing based on the consistency check result. Consistent axial output quantities can be used for calculations in dead reckoning or attitude control applications. Inconsistent axial output quantities prohibit the use of dead reckoning or attitude control applications for calculations, and the data can be destroyed.

[0055] The above-mentioned device for determining the validity of the vehicle inertial sensor output includes a processor and a memory. The above-mentioned acquisition unit, comparison unit and determination unit are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize the corresponding functions.

[0056] The processor includes a core, which retrieves the corresponding program unit from the memory. One or more cores can be provided, and by adjusting the core parameters, the problem of the existing technology of not being able to determine whether the output of the inertial sensor in the vehicle is valid can be solved.

[0057] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0058] An embodiment of the present invention provides a storage medium having a program stored thereon, which, when executed by a processor, implements the above-mentioned method for determining the validity of the output of the vehicle inertial sensor.

[0059] An embodiment of the present invention provides a processor, which is configured to run a program, wherein the program, when running, executes the method for determining the validity of the output of the vehicle inertial sensor.

[0060] An embodiment of the present invention provides a system for determining the validity of vehicle inertial sensor output, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include instructions for executing any of the above-described methods. When the processor executes the program, at least the following steps are performed:

[0061] Step S101, obtaining a first standard output and a second standard output, wherein the first standard output is the output of the first inertial sensor in the vehicle coordinate system, and the second standard output is the output of the second inertial sensor in the vehicle coordinate system;

[0062] Step S102, comparing the output difference with an output difference threshold to obtain a comparison result, wherein the output difference is the difference between the first standard output and the corresponding second standard output;

[0063] Step S103 : determining the validity of the first standard output quantity and the validity of the second standard output quantity according to the comparison result.

[0064] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0065] The present application also provides a computer program product, which, when executed on a data processing device, is adapted to execute a program for initializing at least the following method steps:

[0066] Step S101, obtaining a first standard output and a second standard output, wherein the first standard output is the output of the first inertial sensor in the vehicle coordinate system, and the second standard output is the output of the second inertial sensor in the vehicle coordinate system;

[0067] Step S102, comparing the output difference with an output difference threshold to obtain a comparison result, wherein the output difference is the difference between the first standard output and the corresponding second standard output;

[0068] Step S103 : determining the validity of the first standard output quantity and the validity of the second standard output quantity according to the comparison result.

[0069] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0070] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the above-mentioned units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0071] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0072] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0073] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the above-mentioned methods of each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0074] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0075] 1) In the method for determining the validity of a vehicle inertial sensor output of the present application, first, a first standard output and a second standard output are obtained, where the first standard output is the output of the first inertial sensor in a vehicle coordinate system, and the second standard output is the output of the second inertial sensor in the vehicle coordinate system. Then, an output difference is compared with an output difference threshold to obtain a comparison result, where the output difference is the difference between the first standard output and the corresponding second standard output. Finally, the validity of the first standard output and the validity of the second standard output are determined based on the comparison result. The method obtains a first standard output and a second standard output to obtain the output of the first inertial sensor and the output of the second inertial sensor in a vehicle coordinate system, that is, obtains the output of the first inertial sensor and the output of the second inertial sensor in the same coordinate system. Then, by comparing the difference between the output of the first inertial sensor and the corresponding output of the second inertial sensor with an output difference threshold, the validity of the output of the first inertial sensor and the validity of the corresponding output of the second inertial sensor are determined. In other words, the validity of the output of the first inertial sensor and the output of the coordinate axis of the second inertial sensor are determined. This method solves the problem in the prior art of being unable to determine the validity of the output of the inertial sensor in the vehicle.

[0076] 2) In the device for determining the validity of the vehicle inertial sensor output of the present application, an acquisition unit acquires a first standard output and a second standard output, where the first standard output is the output of the first inertial sensor in the vehicle coordinate system, and the second standard output is the output of the second inertial sensor in the vehicle coordinate system; a comparison unit compares the output difference with an output difference threshold to obtain a comparison result, where the output difference is the difference between the first standard output and the corresponding second standard output; and a determination unit determines the validity of the first standard output and the validity of the second standard output based on the comparison result. The device acquires a first standard output and a second standard output to obtain the output of the first inertial sensor and the output of the second inertial sensor in a vehicle coordinate system, that is, obtains the output of the first inertial sensor and the output of the second inertial sensor in the same coordinate system. Then, by comparing the difference between the output of the first inertial sensor and the corresponding output of the second inertial sensor with an output difference threshold, the validity of the output of the first inertial sensor and the validity of the corresponding output of the second inertial sensor are determined. In other words, the output of the first inertial sensor and the output of the coordinate axis of the second inertial sensor are determined to be valid. This device solves the problem in the prior art of being unable to determine the validity of the output of the inertial sensor in the vehicle.

[0077] 3) The system for determining the validity of vehicle inertial sensor outputs of the present application includes: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include instructions for executing any of the above methods. The system obtains a first standard output and a second standard output to obtain the output of the first inertial sensor and the output of the second inertial sensor in the vehicle coordinate system, that is, the output of the first inertial sensor and the output of the second inertial sensor in the same coordinate system. Then, by comparing the difference between the output of the first inertial sensor and the corresponding output of the second inertial sensor with the output difference threshold, the validity of the output of the first inertial sensor and the validity of the corresponding output of the second inertial sensor are determined, that is, whether the output of the first inertial sensor and the output of the coordinate axis of the second inertial sensor are both valid. This system solves the problem in the prior art of being unable to determine whether the output of the inertial sensor in the vehicle is valid.

[0078] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A method for determining the validity of a vehicle inertial sensor output, characterized in that: The vehicle includes a first inertial sensor and a second inertial sensor, wherein the first inertial sensor and the second inertial sensor are installed at different positions of the vehicle, and the determining method includes: Obtaining a first standard output and a second standard output, wherein the first standard output is an output of the first inertial sensor in a vehicle coordinate system, and the second standard output is an output of the second inertial sensor in the vehicle coordinate system; Comparing the output difference with an output difference threshold to obtain a comparison result, wherein the output difference is the difference between the first standard output and the corresponding second standard output; determining the validity of the first standard output quantity and the validity of the second standard output quantity according to the comparison result; When the first standard output is a first standard acceleration and the second standard output is a second standard acceleration, before comparing the output difference with the output difference threshold to obtain a comparison result, the method further includes: calculating a product of a missed detection probability expansion factor and an optimal acceleration to obtain the acceleration difference threshold, wherein the missed detection probability expansion factor is obtained by querying a normal distribution table based on the missed detection probability, and the optimal acceleration is a ratio of twice the positioning accuracy value to the square of the fault tolerance time; When the first standard output is a first standard angular velocity and the second standard output is a second standard angular velocity, before comparing the output difference with the output difference threshold to obtain a comparison result, the method further includes: calculating a product of the missed detection probability expansion factor and an optimal angular velocity to obtain an angular velocity difference threshold, where the optimal angular velocity is a ratio of an angle accuracy value to the fault tolerance time; Obtaining a first standard output includes: obtaining a first vector, the first vector including multiple groups of first outputs, each group of the first outputs including a first acceleration and a first angular velocity, the first acceleration being a value of the acceleration output by the first inertial sensor in a first inertial sensor coordinate system, the first angular velocity being a value of the angular velocity output by the first inertial sensor in the first inertial sensor coordinate system, the first inertial sensor coordinate system including multiple first coordinate axes, each group of the first outputs corresponding to one first coordinate axis; generating a first coordinate transformation matrix based on the pitch angle, roll angle, and yaw angle of the first inertial sensor; and calculating the product of the first vector and the first coordinate transformation matrix to obtain a first standard vector, the first standard vector including multiple groups of first standard outputs, each group of the first standard outputs including a first standard acceleration and a first standard angular velocity, the first standard acceleration corresponding to the first acceleration, and the first standard angular velocity corresponding to the first angular velocity.

2. The method according to claim 1, characterized in that Obtaining the second standard output includes: Obtaining a second vector, where the second vector includes multiple groups of second output quantities, each group of the second output quantities includes a second acceleration and a second angular velocity, the second acceleration is a value of the acceleration output by the second inertial sensor in a second inertial sensor coordinate system, the second angular velocity is a value of the angular velocity output by the second inertial sensor in the second inertial sensor coordinate system, the second inertial sensor coordinate system includes multiple second coordinate axes, and each group of the second output quantities corresponds to one second coordinate axis; generating a second coordinate transformation matrix according to the pitch angle, the roll angle, and the yaw angle of the second inertial sensor; The product of the second vector and the second coordinate transformation matrix is ​​calculated to obtain a second standard vector, where the second standard vector includes multiple groups of second standard output quantities, each group of the second standard output quantities includes a second standard acceleration and a second standard angular velocity, the second standard acceleration corresponds to the second acceleration one-to-one, and the second standard angular velocity corresponds to the second angular velocity one-to-one.

3. The method according to claim 1, characterized in that Determining the validity of the first standard output quantity and the validity of the second standard output quantity according to the comparison result includes: When the output difference is less than or equal to the output difference threshold, determining that both the first standard output and the second standard output are valid; When the output quantity difference is greater than the output quantity difference threshold, it is determined that both the first standard output quantity and the second standard output quantity are invalid.

4. A device for determining the validity of a vehicle inertial sensor output, characterized in that: The vehicle includes a first inertial sensor and a second inertial sensor, wherein the first inertial sensor and the second inertial sensor are installed at different positions of the vehicle, and the determining device includes: an acquiring unit configured to acquire a first standard output quantity and a second standard output quantity, wherein the first standard output quantity is an output quantity of the first inertial sensor in a vehicle coordinate system, and the second standard output quantity is an output quantity of the second inertial sensor in the vehicle coordinate system; a comparing unit, configured to compare the output difference with an output difference threshold to obtain a comparison result, wherein the output difference is the difference between the first standard output and the corresponding second standard output; a determining unit, configured to determine the validity of the first standard output quantity and the validity of the second standard output quantity according to the comparison result; The first calculation unit is configured to, when the first standard output is the first standard acceleration and the second standard output is the second standard acceleration, determine the validity of the vehicle inertial sensor output by further comprising a first calculation unit configured to, before comparing the output difference with the output difference threshold and obtaining a comparison result, calculate a product of a missed detection probability expansion factor and an optimal acceleration to obtain the acceleration difference threshold, wherein the missed detection probability expansion factor is obtained by querying a normal distribution table based on the missed detection probability, and the optimal acceleration is a ratio of twice the positioning accuracy value to the square of the fault tolerance time; When the first standard output is a first standard angular velocity and the second standard output is a second standard angular velocity, the apparatus for determining the validity of the vehicle inertial sensor output further includes a second calculation unit, the second calculation unit being configured to calculate a product of the missed detection probability expansion factor and an optimal angular velocity before comparing the output difference with the output difference threshold to obtain the comparison result, to obtain the angular velocity difference threshold, where the optimal angular velocity is a ratio of the angle accuracy value to the fault tolerance time; The acquisition unit includes a first acquisition module, a first generation module, and a first calculation module. The first acquisition module is used to acquire a first vector, the first vector including multiple groups of first output quantities, each group of the first output quantities including a first acceleration and a first angular velocity, the first acceleration being the value of the acceleration output by the first inertial sensor in a first inertial sensor coordinate system, the first angular velocity being the value of the angular velocity output by the first inertial sensor in the first inertial sensor coordinate system, the first inertial sensor coordinate system including multiple first coordinate axes, and each group of the first output quantities corresponds to each first coordinate axis; the first generation module is used to generate a first coordinate transformation matrix based on the pitch angle, roll angle, and yaw angle of the first inertial sensor; the first calculation module is used to calculate the product of the first vector and the first coordinate transformation matrix to obtain a first standard vector, the first standard vector including multiple groups of first standard output quantities, each group of the first standard output quantities including a first standard acceleration and a first standard angular velocity, the first standard acceleration corresponding to the first acceleration, and the first standard angular velocity corresponding to the first angular velocity.

5. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 3.

6. A processor, characterized in that: The processor is configured to run a program, wherein the program executes the method according to any one of claims 1 to 3 when running.

7. A system for determining the validity of a vehicle inertial sensor output, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include instructions for executing the method according to any one of claims 1 to 3.

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