A method and device for measuring posture

Abstract

The present application provides a posture measurement method and device, which relates to the field of posture monitoring. The method includes: obtaining the stored first initial value combination data and current gyroscope data, wherein the first initial value combination data includes the first global positioning system GPS solution attitude parameter and the first gyroscope data; determining the credibility of the first initial value combination data according to the first gyroscope data of the first initial value combination data and the current gyroscope data; determining the first current GPS solution attitude parameter according to the credibility of the first initial value combination data. The technical solution of the present application can determine whether the above-mentioned first initial value combination data can be used to determine the first current GPS solution attitude parameter according to the credibility of the first initial value combination data, so as to accurately determine the data used to calculate the first current GPS solution attitude parameter, and further effectively ensure the accuracy of the posture data.

Description

Technical Field

[0001] The present application relates to the field of posture monitoring, and in particular to a posture measurement method and device. Background Art

[0002] Existing attitude monitoring solutions based on the Global Positioning System (GPS) mainly perform real-time differential operations on received GPS signals to calculate attitude data such as direction angles. This process is highly dependent on the quality of the received GPS signal. When the GPS signal quality is unstable or poor, it usually takes a long time to calculate the first reliable solution. The quality of the GPS signal is related to multiple factors such as location, time, and weather. In some extreme cases, it may even lead to no usable solution for several hours.

[0003] In the field of static posture monitoring of the Internet of Things (such as antenna and tower posture monitoring, etc.), posture parameters are generally collected automatically and regularly, and an alarm is automatically triggered when data anomalies are detected. The power-saving strategy may even cause the device to be powered on intermittently. In view of these characteristics, there are high requirements for the initial value lock time after power-on. Conventional solutions based on GPS real-time calculation cannot meet this requirement well in some occasions with more stringent conditions, and may even cause the device to collect abnormal data within a scheduled working cycle, or fail to complete data collection, resulting in false alarms.

[0004] In summary, the prior art only uses a GPS module to perform attitude measurement, and when the GPS signal is poor in certain harsh conditions, the accuracy of the attitude data cannot be guaranteed. Summary of the invention

[0005] The embodiments of the present application provide a posture measurement method and device to solve the problem that the posture monitoring test in the prior art cannot guarantee the accuracy of posture data.

[0006] In order to solve the above technical problems, this application adopts the following technical solutions:

[0007] The present application provides a posture measurement method, including:

[0008] Acquire stored first initial value combination data and current gyroscope data, wherein the first initial value combination data includes first global positioning system GPS solution attitude parameters and first gyroscope data;

[0009] Determining the credibility of the first initial value combination data according to the first gyroscope data of the first initial value combination data and the current gyroscope data;

[0010] A first current GPS solution attitude parameter is determined according to the credibility of the first initial value combination data.

[0011] Optionally, determining the first current GPS solution attitude parameter includes:

[0012] If the credibility of the first initial value combination data is credible data, determining the first current GPS solution attitude parameter according to the first GPS solution attitude parameter;

[0013] If the credibility of the first initial value combination data is unreliable data, the second current GPS solution attitude parameter is obtained according to the GPS module, and the first current GPS solution attitude parameter is determined according to the second current GPS solution attitude parameter.

[0014] Optionally, determining the credibility of the first initial value combination data includes:

[0015] Determining first target parameter data of the gyroscope according to the first gyroscope data;

[0016] Determining current target parameter data corresponding to the first target parameter data according to the current gyroscope data;

[0017] Acquire preset parameter data, and determine the credibility of the first initial value combination data according to the first target parameter data, the current target parameter data and the preset parameter data;

[0018] The first target parameter data, the current target parameter data and the preset parameter data all include downtilt angle data, roll angle data, yaw angle data and time parameters.

[0019] Optionally, determining the credibility of the first initial value combination data according to the first target parameter data, the current target parameter data and preset parameter data includes:

[0020] Determining a target parameter change amount according to the first target parameter data and the current target parameter data;

[0021] The target parameter change is compared with the preset parameter data. If each target parameter change is less than the corresponding threshold of the preset parameter data, the credibility of the first initial value combination data is determined to be credible data; otherwise, the credibility of the first initial value combination data is determined to be uncredible data.

[0022] Optionally, determining first target parameter data of a gyroscope according to the first gyroscope data includes:

[0023] Determine, according to the first gyroscope data, an x-axis angular velocity smoothing value, a y-axis angular velocity smoothing value, and a z-axis angular velocity smoothing value of the gyroscope;

[0024] Determining downtilt angle data of the first gyroscope data according to the x-axis angular velocity smoothing value and the y-axis angular velocity smoothing value;

[0025] Determining roll angle data of the first gyroscope data according to the x-axis angular velocity smoothing value and the z-axis angular velocity smoothing value;

[0026] The yaw angle data of the first gyroscope data is determined according to the x-axis angular velocity smoothing value, the y-axis angular velocity smoothing value and the z-axis angular velocity smoothing value.

[0027] Optionally, the specific formula for determining the downtilt angle data of the first gyroscope data is: yaw=atan(y_ave / x_ave)*rad2deg;

[0028] The specific formula for determining the roll angle data of the first gyroscope data is: roll = atan (x_ave / z_ave) * rad2deg;

[0029] The specific formula for determining the yaw angle data of the first gyroscope data is:

[0030] pitch=atan(y_ave / sqrt(x_ave*x_ave+z_ave*z_ave))*rad2deg;

[0031] Among them, yaw represents the tilt angle, roll represents the roll angle, and pitch represents the yaw angle; x_ave represents the smoothed value of the gyroscope x-axis angular velocity, y_ave represents the smoothed value of the gyroscope y-axis angular velocity, z_ave represents the smoothed value of the gyroscope z-axis angular velocity, rad2deg represents the coefficient for converting radians to angles, and atan represents the inverse tangent value of the number that can be returned.

[0032] Optionally, the obtaining of preset parameter data includes:

[0033] Acquire parameter sample data of the gyroscope, and calculate multiple data means of the parameter sample data;

[0034] According to the plurality of data means, selecting the maximum value among the plurality of data means;

[0035] Determining first preset parameter data according to the maximum value and a first preset safety factor;

[0036] The first preset parameter data includes a downtilt angle data threshold, a roll angle data threshold, and a yaw angle data threshold.

[0037] Optionally, the obtaining of preset parameter data further includes:

[0038] Get the power-on initialization time, the interval time of the working cycle, and the update interval time of the initial value combination data;

[0039] Determining second preset parameter data according to the power-on initialization time, the interval time of the working cycle, the update interval time of the initial value combination data and the second preset safety factor;

[0040] Wherein, the second preset parameter data includes a time data threshold.

[0041] Optionally, after obtaining the second current GPS solution attitude parameter according to the GPS module, the method further includes:

[0042] If the second current GPS-solved attitude parameter is stable, determining the second current GPS-solved attitude parameter and the current gyroscope data as second initial value combination data;

[0043] The first initial value combination data is updated with the second initial value combination data.

[0044] The embodiment of the present application also provides a posture measurement device, including:

[0045] An acquisition module, used to acquire stored first initial value combination data and current gyroscope data, wherein the first initial value combination data includes a first global positioning system GPS solution attitude parameter and first gyroscope data;

[0046] A first determining module, configured to determine the credibility of the first initial value combination data according to the first gyroscope data of the first initial value combination data and the current gyroscope data;

[0047] The second determination module is used to determine the first current GPS solution attitude parameter according to the credibility of the first initial value combination data.

[0048] An embodiment of the present application also provides a readable storage medium on which a program is stored. When the program is executed by a processor, the steps in the posture measurement method as described above are implemented.

[0049] The beneficial effects of this application are:

[0050] In the above technical solution, the stored first initial value combination data and current gyroscope data are obtained, wherein the first initial value combination data includes the first global positioning system GPS solution attitude parameters and the first gyroscope data; the credibility of the first initial value combination data is determined based on the first gyroscope data of the first initial value combination data and the current gyroscope data; based on the credibility of the first initial value combination data, it can be determined whether the above first initial value combination data can be used to determine the first current GPS solution attitude parameters, so that the data used to calculate the first current GPS solution attitude parameters can be accurately determined, and then the accuracy of the attitude data can be effectively guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A schematic diagram showing a flow chart of a posture measurement method provided in an embodiment of the present application;

[0052] Figure 2 A module schematic diagram showing a posture measurement device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to make the technical problems, technical solutions and advantages to be solved by the application clearer, the following will be described in detail in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help fully understand the embodiments of the application. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the application. In addition, for clarity and brevity, the description of known functions and structures has been omitted.

[0054] It should be understood that the references to "one embodiment" or "an embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present application. Therefore, the references to "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0055] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the following processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0056] The present application aims to solve the problem in the prior art that the posture monitoring test of the prior art cannot ensure the accuracy of the posture data. Based on the characteristic that the static posture monitoring data is stable most of the time, combined with the characteristic that the gyroscope can effectively and quickly monitor the occurrence of movement, the present application proposes a technical solution for quickly locking the initial value of static posture monitoring while ensuring correctness, that is, to provide a posture measurement method and device.

[0057] It should be known that static posture monitoring refers to the application scenario where the monitored object is in a static state for a long time and the object's attitude parameters such as direction angle, tilt angle, roll angle, height, etc. need to be monitored.

[0058] Initial value: The initial value in this application refers to the first credible value of the attitude parameter, which is generally a set of data including the azimuth angle, downtilt angle, roll angle, and basic position information such as altitude, longitude and latitude.

[0059] Initial value combination data: a set of data combinations, including gyroscope-related data used to determine whether the device has changed motion, device posture data, and time and other parameters used to determine whether the stored data is available.

[0060] It should also be known that the gyroscope can output three-axis (three-axis orthogonal) angular velocity, and the relative position of the gyroscope and the global positioning system (GPS) module is fixed, so the movement state of the GPS module can be determined by determining the movement state of the gyroscope.

[0061] like Figure 1 As shown, an optional embodiment of the present application provides a posture measurement method, comprising:

[0062] Step 100, obtaining stored first initial value combination data and current gyroscope data, wherein the first initial value combination data includes a first global positioning system GPS solution attitude parameter and first gyroscope data;

[0063] In this embodiment, the first initial value combination data is pre-stored data, and the storage format of the first initial value combination data can be a file with a special name, and whether the first initial value combination data exists is determined based on whether the file exists; or a storage unit with a special address, and whether the first initial value combination data exists is determined based on the content of the specified storage address.

[0064] The first initial value combination data can be stored in binary or plain text, and the content of the first initial value combination data can be adjusted according to the specific application scenario. The first initial value combination data includes but is not limited to the following basic information: the first GPS solution attitude parameter: the first GPS solution direction angle, the first GPS solution longitude and latitude, and the first GPS solution altitude; the first gyroscope data: the gyroscope solution downtilt angle pitch0, the gyroscope solution roll angle roll0, the gyroscope yaw angle yaw0, and the real-time time t0.

[0065] Here, after the device is powered on, it is first determined whether there is any stored initial value combination data. If so, the first initial value combination data is read, otherwise it is considered that the device has not yet been effectively solved, and the current GPS solution attitude parameters are directly calculated through the GPS module.

[0066] Step 200, determining the credibility of the first initial value combination data according to the first gyroscope data of the first initial value combination data and the current gyroscope data;

[0067] In this embodiment, the validity of the initial value data is determined by calculating the first gyroscope data of the first initial value combination data, which is less affected by environmental interference and can be completed within a few seconds. After the first initial value combination data is loaded, the downtilt angle pitch1, the roll angle roll1, the yaw angle yaw1 and the current time t1 calculated in real time by the current gyroscope are read, and according to the first gyroscope data and the current gyroscope data, it can be determined whether the first initial value combination data is available.

[0068] In addition, the gyroscope solution results mentioned in the present application should be data obtained after being processed by an average algorithm, and the processing method can be a general sliding window average method, or a low-pass digital filtering method, etc.

[0069] Step 300: Determine the first current GPS solution attitude parameter according to the credibility of the first initial value combination data.

[0070] In this embodiment, based on the credibility of the first initial value combination data, it can be determined whether the above-mentioned first initial value combination data can be used to determine the first current GPS solution attitude parameters, so that the data used to calculate the first current GPS solution attitude parameters can be accurately determined, and the accuracy of the attitude data can be effectively guaranteed.

[0071] Optionally, the step 300 includes:

[0072] Step 310, if the credibility of the first initial value combination data is credible data, determining the first current GPS solution attitude parameter according to the first GPS solution attitude parameter;

[0073] In this embodiment, if the credibility of the first initial value combination data is credible data, the attitude measurement result calculated by the GPS module is fed back and corrected through the pre-stored first GPS solution attitude parameter, and when a fixed solution has not been obtained initially, the search range is increased to quickly obtain the accurate attitude measurement result calculated by the GPS module. At the same time, when the GPS module fails to obtain a reasonable and effective solution, the first GPS solution attitude parameter is reported to the system to respond to the remote query request, thereby improving the overall attitude measurement effect and speed of the device. Here, the first current GPS solution attitude parameter is the final attitude measurement result in the current calculation cycle.

[0074] Step 320: If the credibility of the first initial value combination data is unreliable data, obtain the second current GPS solution attitude parameter according to the GPS module, and determine the first current GPS solution attitude parameter according to the second current GPS solution attitude parameter.

[0075] In this embodiment, if the credibility of the first initial value combination data is unreliable data, the use of the first initial value combination data is abandoned, and the second current GPS solution attitude parameter is obtained according to the GPS module. Here, the second current GPS solution attitude parameter is only the attitude measurement result obtained by the GPS module. According to the second current GPS solution attitude parameter, the final result, that is, the first current GPS solution attitude parameter, can be determined. This application ensures that when the posture of the monitored object changes, the static attitude measurement of the GPS module can also be used to achieve the diversity of solutions.

[0076] Here, the credibility of the first initial value combination data is credible data, which determines that the monitored object has not moved. The credibility of the first initial value combination data is uncredible data, which determines that the monitored object has moved. Based on the credibility of the first initial value combination data, the accuracy of the posture data can be effectively guaranteed.

[0077] Optionally, after step 320, the method further includes:

[0078] Step 330: if the second current GPS-solved attitude parameter is stable, determine the second current GPS-solved attitude parameter and the current gyroscope data as second initial value combination data;

[0079] The first initial value combination data is updated with the second initial value combination data.

[0080] In this embodiment, in order to ensure the correctness of the stored initial value combination data, the stability of the second current GPS solution attitude parameter must also be judged, that is, by specifying the interval time at a fixed time, check whether the second current GPS solution attitude parameter already has a stable and reliable solution value. If not, the current data is not stored, and a second current GPS solution attitude parameter is re-acquired; if the second current GPS solution attitude parameter already has a stable and reliable solution value, the second current GPS solution attitude parameter and the current gyroscope data are compressed into the second initial value combination data, that is, the latest initial value combination data available after the current calculation cycle ends, and written to the storage medium. Then continue to wait for the next calculation cycle to use, which can be considered as the initial value combination data used at the next power-on. The present application ensures the correctness of the pre-stored initial value combination data, and can determine whether the gyroscope moves based on the initial value combination data, further ensuring the accuracy of each attitude measurement result.

[0081] Optionally, the step 200 includes:

[0082] Step 210, determining first target parameter data of the gyroscope according to the first gyroscope data;

[0083] Here, the determined first target parameter data are pre-stored downtilt angle data, roll angle data, yaw angle data and time parameters determined by the first gyroscope data.

[0084] Step 220, determining current target parameter data corresponding to the first target parameter data according to the current gyroscope data;

[0085] Here, the corresponding current target parameter data determined are real-time downtilt angle data, real-time roll angle data, real-time yaw angle data and real-time time parameters corresponding to the downtilt angle data, roll angle data, yaw angle data and time parameters of the first target parameter data.

[0086] Step 230, obtaining preset parameter data, and determining the credibility of the first initial value combination data according to the first target parameter data, the current target parameter data and the preset parameter data;

[0087] The first target parameter data, the current target parameter data and the preset parameter data all include downtilt angle data, roll angle data, yaw angle data and time parameters.

[0088] In this embodiment, by loading the recorded first gyroscope data and comparing it with the corresponding current gyroscope data and time after the restart is completed, the credibility of the first initial value combination data is inferred based on the size of the change. Based on the credibility, it can be determined whether the monitored object has undergone any posture change. If it is determined that no change has occurred, the first GPS-calculated posture parameters can be directly applied, further improving the speed of posture measurement.

[0089] Optionally, the step 230 includes:

[0090] Determining a target parameter change amount according to the first target parameter data and the current target parameter data;

[0091] In this embodiment, the target parameter change amount can be determined by calculating the absolute value of the difference between the gyroscope solution result, time, etc. read in real time and the corresponding item in the loaded first gyroscope data: that is:

[0092] Down tilt angle change Δpitch = fabs(pitch1 – pitch0);

[0093] Roll angle change Δroll = fabs(roll1 – roll0);

[0094] Yaw angle change Δyaw = fabs(yaw1 – yaw0);

[0095] Time variation Δt = fabs(t1–t0);

[0096] Here, pitch1 is the real-time downtilt angle data, pitch0 is the downtilt angle data determined by the first gyroscope data, similarly, roll1, yaw1 and t1 are all real-time values, roll0, yaw0 and t0 are all initial values ​​determined by the first gyroscope data; fabs is expressed as the formula for calculating the absolute values ​​of the two.

[0097] The target parameter change is compared with the preset parameter data. If each target parameter change is less than the corresponding threshold of the preset parameter data, the credibility of the first initial value combination data is determined to be credible data; otherwise, the credibility of the first initial value combination data is determined to be uncredible data.

[0098] In this embodiment, the above changes are compared with the corresponding thresholds of the preset parameter data, namely, the configured downtilt angle threshold thresh_pitch, roll angle threshold thresh_roll, yaw angle threshold thresh_yaw, and time data threshold thresh_t. If any one of them exceeds the corresponding threshold, it means that the loaded first initial value combination data can no longer reliably display the current posture state and will not be adopted to ensure correctness. If each target parameter change is less than the corresponding threshold of the preset parameter data, it means that the first initial value combination data can display the current posture state and is credible.

[0099] Of course, in actual application, the time change amount and the time interval threshold may not be taken into consideration. This is a choice made based on actual needs, and this situation also applies to the protection scope of this application.

[0100] Optionally, the step 210 includes:

[0101] Determine, according to the first gyroscope data, an x-axis angular velocity smoothing value, a y-axis angular velocity smoothing value, and a z-axis angular velocity smoothing value of the gyroscope;

[0102] In this embodiment, the gyroscope can output three-axis (three-axis orthogonal) angular velocity, namely, the x-axis angular velocity smoothing value, the y-axis angular velocity smoothing value and the z-axis angular velocity smoothing value of the gyroscope. The relative position of the gyroscope and the GPS module is fixed, so the motion state of the GPS module can be determined by determining the motion state of the gyroscope.

[0103] Determining downtilt angle data of the first gyroscope data according to the x-axis angular velocity smoothing value and the y-axis angular velocity smoothing value;

[0104] Specifically, the specific formula for determining the downtilt angle data of the first gyroscope data is:

[0105] yaw=atan(y_ave / x_ave)*rad2deg;

[0106] Determining roll angle data of the first gyroscope data according to the x-axis angular velocity smoothing value and the z-axis angular velocity smoothing value;

[0107] Specifically, the specific formula for determining the roll angle data of the first gyroscope data is:

[0108] roll=atan(x_ave / z_ave)*rad2deg;

[0109] The yaw angle data of the first gyroscope data is determined according to the x-axis angular velocity smoothing value, the y-axis angular velocity smoothing value and the z-axis angular velocity smoothing value.

[0110] The specific formula for determining the yaw angle data of the first gyroscope data is:

[0111] pitch=atan(y_ave / sqrt(x_ave*x_ave+z_ave*z_ave))*rad2deg;

[0112] Among them, yaw represents the tilt angle, roll represents the roll angle, and pitch represents the yaw angle; x_ave represents the smoothed value of the gyroscope x-axis angular velocity, y_ave represents the smoothed value of the gyroscope y-axis angular velocity, z_ave represents the smoothed value of the gyroscope z-axis angular velocity, rad2deg represents the coefficient of converting radians to angles, which can also be understood as the coefficient of converting radians to angles, that is, 180 divided by PI (3.1415926), and atan represents the inverse tangent value of the number that can be returned.

[0113] Optionally, the step 230 includes:

[0114] Acquire parameter sample data of the gyroscope, and calculate multiple data means of the parameter sample data;

[0115] According to the plurality of data means, selecting the maximum value among the plurality of data means;

[0116] Determining first preset parameter data according to the maximum value and a first preset safety factor;

[0117] The first preset parameter data includes a downtilt angle data threshold, a roll angle data threshold, and a yaw angle data threshold.

[0118] In this embodiment, the pitch angle threshold thresh_pitch, the roll angle threshold thresh_roll, and the yaw angle threshold thresh_yaw reflect the normal fluctuation range of the pitch angle and the roll angle of the monitored object measured by the gyroscope when there is no obvious posture change, and then multiplied by a safety factor.

[0119] Specifically, the downtilt angle threshold calculation method, when the monitored object is in a normal static state, multiple sampling, that is, obtaining the parameter sample data of the gyroscope, calculates a set of downtilt angle values ​​(pitch1, pitch2, pitch3, ... pitchN), and calculates the multiple data averages of the parameter sample data to calculate the inclination average avg_pitch:

[0120] That is, avg_pitch=(pitch1+pitch2+pitch3+…+pitchN) / N; here, N represents the number of sampling times, and the inclination value used each time is subtracted from the inclination average avg_pitch and the absolute value ΔpitchN is calculated:

[0121] That is, ΔpitchN=fabs(pitchN–avg_pitch);

[0122] According to the multiple data means, the maximum value among the multiple data means is selected, that is, a set of fluctuation range values ​​(Δpitch1, Δpitch2, Δpitch3, ... ΔpitchN) is obtained, and the maximum value among them is taken as the normal fluctuation range value Δpitch_max. According to the maximum value and the first preset safety factor, the first preset parameter data is determined, that is, the maximum value is multiplied by the first preset safety factor λ1 to determine the downtilt angle threshold thresh_pitch:

[0123] That is, thresh_pitch=Δpitch_max*λ1;

[0124] Note that the first preset safety factor λ1 should be greater than 1. The larger the value, the greater the fluctuation allowed. The lower the accuracy, but the greater the possibility that the initial value combination data is judged to be valid. The specific value needs to be considered in the specific application scenario. The generally recommended value range is 1.2 to 2.

[0125] The calculation of the roll angle data threshold thresh_roll and the yaw angle threshold thresh_yaw in the first preset parameter data is consistent with the calculation of the downtilt angle threshold thresh_pitch, and will not be explained here.

[0126] Optionally, the step 230 further includes:

[0127] Get the power-on initialization time, the interval time of the working cycle, and the update interval time of the initial value combination data;

[0128] Determining second preset parameter data according to the power-on initialization time, the interval time of the working cycle, the update interval time of the initial value combination data and the second preset safety factor;

[0129] Wherein, the second preset parameter data includes a time data threshold.

[0130] In this embodiment, the calculation method of the time data threshold thresh_t is related to the working time of the monitoring device, and can be calculated using the following method:

[0131] That is, thresh_t = λ2*(power-on initialization time + working cycle interval time + initial value combination data update interval time);

[0132] Wherein λ2 is the second preset safety factor, and the λ2 and the λ1 can take the same value. Strictly speaking, the time parameter has no necessary relationship with determining whether the motion occurs. However, when the working time characteristics of the equipment can be predicted, adding the time parameter can effectively avoid some unexpected low-probability events and increase the credibility of the first initial value combination data. The update interval of the initial value combination data is the interval time for regularly updating and storing the initial value combination data.

[0133] In summary, when the present application is powered on, the pre-stored initial value combination data (first initial value combination data) is first loaded, and the gyroscope data, time and other parameters in the first initial value combination data are compared with the current gyroscope data and time data. In this way, it is determined whether there is any movement during the period. If there is a movement exceeding the threshold or the time span is too large, it is determined that the credibility of the read initial value is low and is not adopted. If it is determined that there is no movement exceeding the threshold, and the interval time meets the set range, the first initial value combination data is considered to be credible, and the first GPS solution attitude parameter of the first initial value combination data is fed back to the GPS module to initialize the solution data for use in auxiliary GPS attitude measurement.

[0134] In addition, after the GPS module obtains a reliable solution, the present application regularly stores the initial value combination data (including a data combination of attitude data, gyroscope data, time, etc.).

[0135] This application determines whether the monitored object has undergone displacement movement by combining gyroscope data, time, etc. Under normal conditions, the posture data of the pre-stored first initial value combination data can be directly used to ensure the real-time response of the system. In rare abnormal conditions, the monitored object has displaced, and it can be correctly identified and wait for new posture data to ensure correctness. This application can also greatly improve the real-time response of the monitoring system after restarting and ensure correctness in the application scenario of static posture monitoring based on GPS.

[0136] like Figure 2 As shown, the embodiment of the present application also provides a posture measurement device, including:

[0137] An acquisition module 10 is used to acquire the stored first initial value combination data and current gyroscope data, wherein the first initial value combination data includes a first global positioning system GPS solution attitude parameter and a first gyroscope data;

[0138] A first determining module 20, configured to determine the credibility of the first initial value combination data according to the first gyroscope data of the first initial value combination data and the current gyroscope data;

[0139] The second determination module 30 is used to determine the first current GPS solution attitude parameter according to the credibility of the first initial value combination data.

[0140] Optionally, the second determining module 30 includes:

[0141] A first determining unit, configured to determine a first current GPS solution attitude parameter according to the first GPS solution attitude parameter if the credibility of the first initial value combination data is credible data;

[0142] The second determination unit is used to obtain the second current GPS solution attitude parameter according to the GPS module if the credibility of the first initial value combination data is untrustworthy data, and determine the first current GPS solution attitude parameter according to the second current GPS solution attitude parameter.

[0143] Optionally, the first determining module 20 includes:

[0144] a third determining unit, configured to determine first target parameter data of the gyroscope according to the first gyroscope data;

[0145] a fourth determining unit, configured to determine current target parameter data corresponding to the first target parameter data according to the current gyroscope data;

[0146] a fifth determining unit, configured to obtain preset parameter data, and determine the credibility of the first initial value combination data according to the first target parameter data, the current target parameter data and the preset parameter data;

[0147] The first target parameter data, the current target parameter data and the preset parameter data all include downtilt angle data, roll angle data, yaw angle data and time parameters.

[0148] Optionally, the fifth determining unit includes:

[0149] A first determining subunit, configured to determine a target parameter variation according to the first target parameter data and the current target parameter data;

[0150] The second determination subunit is used to compare the target parameter change with the preset parameter data. If each target parameter change is less than the corresponding threshold of the preset parameter data, the credibility of the first initial value combination data is determined to be credible data; otherwise, the credibility of the first initial value combination data is determined to be uncredible data.

[0151] Optionally, the third determining unit includes:

[0152] A third determining subunit, configured to determine an x-axis angular velocity smoothing value, a y-axis angular velocity smoothing value, and a z-axis angular velocity smoothing value of the gyroscope according to the first gyroscope data;

[0153] a fourth determining subunit, configured to determine downtilt angle data of the first gyroscope data according to the x-axis angular velocity smoothing value and the y-axis angular velocity smoothing value;

[0154] a fifth determining subunit, configured to determine the roll angle data of the first gyroscope data according to the x-axis angular velocity smoothing value and the z-axis angular velocity smoothing value;

[0155] The yaw angle data of the first gyroscope data is determined according to the x-axis angular velocity smoothing value, the y-axis angular velocity smoothing value and the z-axis angular velocity smoothing value.

[0156] Optionally, the specific formula for the third determination subunit to determine the downtilt angle data of the first gyroscope data is: yaw=atan(y_ave / x_ave)*rad2deg;

[0157] The specific formula for the fourth determination subunit to determine the roll angle data of the first gyroscope data is: roll=atan(x_ave / z_ave)*rad2deg;

[0158] The specific formula for determining the yaw angle data of the first gyroscope data by the fifth determination subunit is:

[0159] pitch=atan(y_ave / sqrt(x_ave*x_ave+z_ave*z_ave))*rad2deg;

[0160] Among them, yaw represents the tilt angle, roll represents the roll angle, and pitch represents the yaw angle; x_ave represents the smoothed value of the gyroscope x-axis angular velocity, y_ave represents the smoothed value of the gyroscope y-axis angular velocity, z_ave represents the smoothed value of the gyroscope z-axis angular velocity, rad2deg represents the coefficient for converting radians to angles, and atan represents the inverse tangent value of the number that can be returned.

[0161] Optionally, the fifth determining unit includes:

[0162] A first acquisition subunit, used for acquiring parameter sample data of the gyroscope and calculating a plurality of data means of the parameter sample data;

[0163] A selection subunit, configured to select a maximum value among a plurality of the data means according to the plurality of the data means;

[0164] a sixth determining subunit, configured to determine first preset parameter data according to the maximum value and a first preset safety factor;

[0165] The first preset parameter data includes a downtilt angle data threshold, a roll angle data threshold, and a yaw angle data threshold.

[0166] Optionally, the fifth determining unit further includes:

[0167] The second acquisition subunit is used to acquire the power-on initialization time, the interval time of the working cycle and the update interval time of the initial value combination data;

[0168] A seventh determination subunit, configured to determine second preset parameter data according to the power-on initialization time, the interval time of the working cycle, the update interval time of the initial value combination data, and the second preset safety factor;

[0169] Wherein, the second preset parameter data includes a time data threshold.

[0170] Optionally, the device further comprises:

[0171] A third determination module is used to determine the second current GPS solution attitude parameter and the current gyroscope data as second initial value combination data if the second current GPS solution attitude parameter is stable;

[0172] An updating module is used to update the first initial value combination data with the second initial value combination data.

[0173] The embodiment of the present application also provides a readable storage medium, on which a program is stored, and when the program is executed by a processor, each process of the embodiment of the posture measurement method described above is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. Among them, the readable storage medium, such as a read-only memory (Read-Only Memory, referred to as ROM), a random access memory (Random Access Memory, referred to as RAM), a disk or an optical disk, etc.

[0174] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0175] The above is a preferred embodiment of the present application. It should be pointed out that for ordinary personnel in this technical field, several improvements and modifications can be made without departing from the principles described in the present application. These improvements and modifications are also within the scope of protection of the present application.

Claims

1. A posture measurement method, characterized in that: include: Acquire stored first initial value combination data and current gyroscope data, wherein the first initial value combination data includes first global positioning system GPS solution attitude parameters and first gyroscope data; Determining the credibility of the first initial value combination data according to the first gyroscope data and the current gyroscope data, including: determining the first target parameter data of the gyroscope according to the first gyroscope data; determining the current target parameter data corresponding to the first target parameter data according to the current gyroscope data; acquiring preset parameter data, and determining the credibility of the first initial value combination data according to the first target parameter data, the current target parameter data and the preset parameter data; wherein the first target parameter data, the current target parameter data and the preset parameter data all include downtilt angle data, roll angle data, yaw angle data and time parameter; wherein determining the credibility of the first initial value combination data according to the first target parameter data, the current target parameter data and the preset parameter data includes: determining the target parameter change amount according to the first target parameter data and the current target parameter data; comparing the target parameter change amount with the preset parameter data, if each target parameter change amount is less than the corresponding threshold value of the preset parameter data, then determining the credibility of the first initial value combination data as credible data; otherwise, determining the credibility of the first initial value combination data as uncredible data; A first current GPS solution attitude parameter is determined according to the credibility of the first initial value combination data.

2. The method according to claim 1, characterized in that The step of determining the first current GPS solution attitude parameter comprises: If the credibility of the first initial value combination data is credible data, determining the first current GPS solution attitude parameter according to the first global positioning system GPS solution attitude parameter; If the credibility of the first initial value combination data is unreliable data, the second current GPS solution attitude parameter is obtained according to the GPS module, and the first current GPS solution attitude parameter is determined according to the second current GPS solution attitude parameter.

3. The method according to claim 1, characterized in that Determining first target parameter data of the gyroscope according to the first gyroscope data includes: Determine, according to the first gyroscope data, an x-axis angular velocity smoothing value, a y-axis angular velocity smoothing value, and a z-axis angular velocity smoothing value of the gyroscope; Determining downtilt angle data of the first gyroscope data according to the x-axis angular velocity smoothing value and the y-axis angular velocity smoothing value; Determining roll angle data of the first gyroscope data according to the x-axis angular velocity smoothing value and the z-axis angular velocity smoothing value; The yaw angle data of the first gyroscope data is determined according to the x-axis angular velocity smoothing value, the y-axis angular velocity smoothing value and the z-axis angular velocity smoothing value.

4. The method according to claim 3, characterized in that The specific formula for determining the downtilt angle data of the first gyroscope data is: yaw=atan(y_ave / x_ave)*rad2deg; The specific formula for determining the roll angle data of the first gyroscope data is: roll = atan (x_ave / z_ave) * rad2deg; The specific formula for determining the yaw angle data of the first gyroscope data is: pitch=atan(y_ave / sqrt(x_ave*x_ave+z_ave*z_ave))*rad2deg; Among them, yaw represents the tilt angle, roll represents the roll angle, and pitch represents the yaw angle; x_ave represents the smoothed value of the gyroscope x-axis angular velocity, y_ave represents the smoothed value of the gyroscope y-axis angular velocity, z_ave represents the smoothed value of the gyroscope z-axis angular velocity, rad2deg represents the coefficient for converting radians to angles, and atan represents the inverse tangent value of the number that can be returned.

5. The method according to claim 1, characterized in that The obtaining of preset parameter data includes: Acquire parameter sample data of the gyroscope, and calculate multiple data means of the parameter sample data; According to the plurality of data means, selecting the maximum value among the plurality of data means; Determining first preset parameter data according to the maximum value and a first preset safety factor; The first preset parameter data includes a downtilt angle data threshold, a roll angle data threshold, and a yaw angle data threshold.

6. The method according to claim 5, characterized in that The obtaining of preset parameter data further includes: Get the power-on initialization time, the interval time of the working cycle, and the update interval time of the initial value combination data; Determining second preset parameter data according to the power-on initialization time, the interval time of the working cycle, the update interval time of the initial value combination data and the second preset safety factor; Wherein, the second preset parameter data includes a time data threshold.

7. The method according to claim 2, characterized in that According to the GPS module, after obtaining the second current GPS solution attitude parameter, it also includes: If the second current GPS-solved attitude parameter is stable, determining the second current GPS-solved attitude parameter and the current gyroscope data as second initial value combination data; The first initial value combination data is updated with the second initial value combination data.

8. A posture measurement device, characterized in that: include: An acquisition module, used to acquire stored first initial value combination data and current gyroscope data, wherein the first initial value combination data includes a first global positioning system GPS solution attitude parameter and first gyroscope data; A first determining module, configured to determine the credibility of the first initial value combination data according to the first gyroscope data of the first initial value combination data and the current gyroscope data; A second determination module is used to determine a first current GPS solution attitude parameter according to the credibility of the first initial value combination data; The first determination module includes: a third determination unit, used to determine the first target parameter data of the gyroscope according to the first gyroscope data; a fourth determination unit, used to determine the current target parameter data corresponding to the first target parameter data according to the current gyroscope data; a fifth determination unit, used to obtain preset parameter data, and determine the credibility of the first initial value combination data according to the first target parameter data, the current target parameter data and the preset parameter data; wherein the first target parameter data, the current target parameter data and the preset parameter data all include downtilt angle data, roll angle data, yaw angle data and time parameters; The fifth determination unit includes: a first determination subunit, used to determine the target parameter change based on the first target parameter data and the current target parameter data; a second determination subunit, used to compare the target parameter change with the preset parameter data, if each target parameter change is less than the corresponding threshold value of the preset parameter data, then the credibility of the first initial value combination data is determined to be credible data; otherwise, the credibility of the first initial value combination data is determined to be uncredible data.

9. A readable storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the steps in the posture measurement method according to any one of claims 1 to 7 are implemented.

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