An elevation estimation method, device, apparatus and storage medium

Abstract

The application discloses a kind of elevation estimation method, device, equipment and storage medium.The method comprises: to the satellite positioning measurement data received using single-satellite receiving antenna and the inertial positioning measurement data obtained are solved, obtain the first measurement pitch angle of inertial measurement device in current epoch;Satellite positioning measurement data of two adjacent epochs is solved, and the estimated pitch angle of vehicle body in current epoch is obtained;According to the first measurement pitch angle and estimated pitch angle, the installation angle of inertial measurement device is determined;According to the target pitch angle of vehicle body in current epoch determined by the pitch angle of inertial measurement device and installation angle, and the speed data obtained by dead reckoning module, the elevation of vehicle body in current epoch is estimated;The accuracy and observability of the elevation of vehicle body estimated based on the pitch angle of vehicle body in viaduct and underground cross layer and the like scene are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic driving and positioning technology, and particularly relates to a height estimation method, device, equipment and storage medium. BACKGROUND

[0002] For an autonomous vehicle, positioning is a crucial ability. Dead reckoning (DR) is an autonomous navigation technology, which is the last safety barrier for high-precision positioning of autonomous driving. When GNSS positioning and semantic positioning are unavailable or unreliable, DR can provide continuous and stable pose information, and improve the robustness of the positioning system.

[0003] DR is usually based on two kinds of sensors, i.e., an inertial measurement unit (IMU) and a wheel speed sensor, to estimate the real-time pose information of a vehicle body during movement. DR utilizes an extended Kalman filter to fuse information of two or more sensors. The position, velocity and attitude calculated by the IMU are divergent, so an attitude and heading reference system (AHRS) algorithm is used to constrain the attitude divergence, and the vehicle speed is used to constrain the velocity divergence, so as to reduce the speed of position divergence. When the vehicle speed is used for constraint, a nonholonomic constraint (NHC) is usually used to form a three-dimensional velocity constraint. However, the NHC has an important assumption, i.e., the lateral and vertical velocities of the vehicle body during movement are 0. However, for actual elevated bridges and underground garages, the NHC assumption does not hold, resulting in inaccurate height estimation by DR. However, if the NHC assumption is not used to constrain the velocity, the height calculated by the low-cost IMU will diverge rapidly, and the height is not observable. Therefore, for elevated bridges and underground garage cross-layer scenarios, the height estimation in DR has the problems of unobservability or inaccuracy. SUMMARY

[0004] The present application provides a height estimation method, device, equipment and storage medium to solve the problem of unobservability or inaccuracy of height estimation in traditional dead reckoning.

[0005] According to an aspect of the present application, a height estimation method is provided, comprising:

[0006] solving the satellite positioning measurement data received by the single-satellite receiving antenna and the inertial positioning measurement data obtained to obtain a first measured pitch angle of the inertial measurement unit at a current epoch;

[0007] solving the satellite positioning measurement data of two adjacent epochs to obtain an estimated pitch angle of the vehicle body at the current epoch;

[0008] determine the installation angle of the inertial measurement device according to the first measured pitch angle and the estimated pitch angle;

[0009] determine the target pitch angle of the vehicle at the current epoch according to the installation angle of the inertial measurement device and the measured pitch angle at the current epoch; wherein the measured pitch angle of the inertial measurement device at the current epoch comprises the first measured pitch angle or a second measured pitch angle of the inertial measurement device at the current epoch calculated by the dead reckoning module;

[0010] estimate the altitude of the vehicle at the current epoch according to the target pitch angle and the speed data obtained by the dead reckoning module.

[0011] According to another aspect of the present application, there is provided an altitude estimation device, comprising:

[0012] a first solving module configured to solve satellite positioning measurement data received by a single-satellite receiving antenna and obtained inertial positioning measurement data to obtain a first measured pitch angle of an inertial measurement device at a current epoch;

[0013] a second solving module configured to solve satellite positioning measurement data of two adjacent epochs to obtain an estimated pitch angle of the vehicle at the current epoch;

[0014] an installation angle determining module configured to determine the installation angle of the inertial measurement device according to the first measured pitch angle and the estimated pitch angle;

[0015] a pitch angle determining module configured to determine the target pitch angle of the vehicle at the current epoch according to the installation angle of the inertial measurement device and the measured pitch angle at the current epoch; wherein the measured pitch angle of the inertial measurement device at the current epoch comprises the first measured pitch angle or a second measured pitch angle of the inertial measurement device at the current epoch calculated by the dead reckoning module;

[0016] an altitude estimation module configured to estimate the altitude of the vehicle at the current epoch according to the target pitch angle and the speed data obtained by the dead reckoning module.

[0017] According to another aspect of the present application, there is provided an electronic device, comprising:

[0018] at least one processor; and

[0019] a memory in communication with the at least one processor; wherein

[0020] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the altitude estimation method of any embodiment of the present application.

[0021] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for causing a processor to implement the elevation estimation method of any of the embodiments of the present application when executed.

[0022] The technical scheme of the embodiment of the present application obtains the first measured pitch angle of the inertial measurement device at the current epoch by solving the satellite positioning measurement data received by the single-satellite receiving antenna and the obtained inertial positioning measurement data, obtains the estimated pitch angle of the vehicle at the current epoch by solving the satellite positioning measurement data of two adjacent epochs, realizes the construction of the virtual double-satellite receiving antenna by the single-satellite receiving antenna, is simple and practical relative to the traditional double-satellite receiving antenna, and reduces the cost to a certain extent, determines the installation angle of the inertial measurement device according to the first measured pitch angle and the estimated pitch angle, estimates the elevation of the vehicle at the current epoch according to the target pitch angle of the vehicle at the current epoch determined by the pitch angle of the inertial measurement device and the installation angle, and the speed data obtained by the dead reckoning module, wherein the pitch angle of the inertial measurement device comprises the first measured pitch angle or the second measured pitch angle of the inertial measurement device at the current epoch obtained by the dead reckoning module, and when determining the pitch angle of the vehicle, the installation angle of the inertial measurement device is comprehensively considered, the problem of non-intuitive or inaccurate elevation estimation in the traditional dead reckoning is solved, the calculation accuracy of the pitch angle of the vehicle is improved, and the accuracy and observability of the elevation of the vehicle estimated based on the pitch angle of the vehicle in the scene such as the elevated bridge and the underground layer are further improved.

[0023] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0025] Figure 1 A flowchart of an elevation estimation method provided for the first embodiment of the present application;

[0026] Figure 2 A flowchart of an elevation estimation method provided for the second embodiment of the present application;

[0027] Figure 3 A structural schematic diagram of an elevation estimation device provided for the third embodiment of the present application;

[0028] Figure 4 A structural schematic diagram of an electronic device for implementing the height estimation method of the embodiment of the present application. DETAILED DESCRIPTION

[0029] In order for those skilled in the technical field to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should fall within the scope of protection of the present application.

[0030] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment one

[0032] Figure 1 A flowchart of a height estimation method is provided for the first embodiment of the present application. The present embodiment can be applicable to height estimation in scenarios such as viaducts and underground crossings. The method can be performed by a height estimation device, which can be implemented in the form of hardware and / or software, and can be configured in an electronic device. As shown in the figure, the method comprises: Figure 1

[0033] S110, solving the satellite positioning measurement data received by the single-satellite receiving antenna and the inertial positioning measurement data obtained to obtain a first measurement pitch angle of the inertial measurement device at the current epoch.

[0034] ​The satellite positioning measurement data is positioning data measured by a global navigation satellite system (GNSS). The inertial positioning measurement data is positioning information of the vehicle body calculated by an inertial navigation system (INS) based on information measured by an inertial measurement unit (IMU). The first measured pitch angle is a pitch angle of the IMU calculated according to the satellite positioning measurement data and the inertial positioning measurement data. The epoch is a time corresponding to the data obtained in satellite positioning. In the embodiment of the application, the satellite positioning measurement data is obtained by a single satellite receiving antenna, which is simple and practical and reduces the cost to some extent compared with a traditional double-satellite receiving antenna.

[0035] Specifically, the satellite positioning measurement data of the vehicle body under the global navigation satellite system is obtained by a single satellite receiving antenna, and the inertial positioning measurement data of the vehicle body under the inertial navigation system is obtained. The first pitch angle of the IMU at the current epoch is calculated by a combined navigation module composed of the global navigation satellite system and the inertial navigation system based on the satellite positioning measurement data and the inertial positioning measurement data.

[0036] S120, the satellite positioning measurement data of two adjacent epochs is calculated to obtain an estimated pitch angle of the vehicle body at the current epoch.

[0037] The estimated pitch angle is an estimated pitch angle of the vehicle body based on the satellite positioning measurement data. It should be noted that the estimated pitch angle is not the final pitch angle that can be used to estimate the height, but is used to determine the installation angle of the IMU.

[0038] Specifically, for the satellite positioning measurement data obtained by the single satellite receiving antenna, the satellite positioning measurement data of two adjacent epochs (the current epoch and the previous epoch, or the current epoch and the next epoch) is calculated to obtain the height position increment and the plane position increment of the adjacent epoch, and the estimated pitch angle of the vehicle body is further determined according to the height position increment and the plane position increment.

[0039] In the embodiment of the application, the satellite positioning measurement data is obtained by a single satellite receiving antenna, and the estimated pitch angle of the vehicle body is determined based on the satellite positioning measurement data of two adjacent epochs, so that a virtual double-satellite receiving antenna is constructed by the single satellite receiving antenna, which is simple and practical and reduces the cost to some extent compared with a traditional double-satellite receiving antenna.

[0040] S130, the installation angle of the IMU is determined according to the first measured pitch angle and the estimated pitch angle.

[0041] The installation angle of the inertial measurement device can be understood as an angle generated when the inertial measurement device is installed on the vehicle body. The installation angle is theoretically zero, but errors are inevitably generated in actual production and installation processes.

[0042] Specifically, in the case of ignoring the installation angle of the inertial measurement device (i.e., the installation angle is zero), the angle difference between the first measured pitch angle of the inertial measurement device calculated based on the satellite positioning measurement data and the inertial positioning measurement data and the estimated pitch angle of the vehicle body calculated based on the satellite positioning measurement data is zero. Therefore, the installation angle of the inertial measurement device can be determined according to the angle difference between the first measured pitch angle of the inertial measurement device calculated based on the satellite positioning measurement data and the inertial positioning measurement data and the estimated pitch angle of the vehicle body calculated based on the satellite positioning measurement data.

[0043] S140, determining a target pitch angle of the vehicle body at the current epoch according to the installation angle of the inertial measurement device and the measured pitch angle of the inertial measurement device at the current epoch; wherein the measured pitch angle of the inertial measurement device at the current epoch comprises the first measured pitch angle or a second measured pitch angle of the inertial measurement device at the current epoch calculated by the dead reckoning module.

[0044] The target pitch angle can be understood as a final determined pitch angle of the vehicle body, which can be used to estimate the elevation of the vehicle body. The measured pitch angle of the inertial measurement device at the current epoch can be selected according to actual conditions, such as signal quality of the global navigation satellite system and data accuracy of the inertial navigation system, and other use conditions, to select the first measured pitch angle determined in step S110 or the second measured pitch angle of the inertial measurement device at the current epoch calculated by the dead reckoning module.

[0045] Specifically, according to the selected measured pitch angle of the inertial measurement device at the current epoch (the first measured pitch angle or the second measured pitch angle), the sum of the installation angle of the inertial measurement device and the measured pitch angle of the inertial measurement device at the current epoch is determined as the target pitch angle of the vehicle body at the current epoch.

[0046] In the embodiment of the present application, the installation angle of the inertial measurement device is comprehensively considered when determining the pitch angle of the vehicle body, which improves the calculation accuracy of the pitch angle of the vehicle body and further improves the accuracy of the estimated elevation of the vehicle body based on the pitch angle of the vehicle body in scenarios such as viaducts and underground crossings.

[0047] S150, estimating the elevation of the vehicle body at the current epoch according to the target pitch angle and the speed data obtained by the dead reckoning module.

[0048] The speed data can be understood as the speed of the vehicle at the current epoch obtained by the dead reckoning module, and can include the east-west direction speed and the north-south direction speed.

[0049] Specifically, the displacement data is determined by using the speed data output by the dead reckoning module, the plane position increment is calculated according to the displacement data, and then the elevation of the vehicle at the current epoch is estimated according to the target pitch angle of the vehicle and the plane position increment.

[0050] The technical scheme of the embodiment of the application obtains the first measured pitch angle of the inertial measurement device at the current epoch by solving the satellite positioning measurement data received by the single-satellite receiving antenna and the inertial positioning measurement data obtained, and obtains the estimated pitch angle of the vehicle at the current epoch by solving the satellite positioning measurement data of two adjacent epochs, thereby realizing the construction of a virtual double-satellite receiving antenna by the single-satellite receiving antenna, which is simple and practical compared with the traditional double-satellite receiving antenna, and reduces the cost to a certain extent; the installation angle of the inertial measurement device is determined according to the first measured pitch angle and the estimated pitch angle; the target pitch angle of the vehicle at the current epoch is determined according to the pitch angle of the inertial measurement device and the installation angle, and the elevation of the vehicle at the current epoch is estimated by using the speed data obtained by the dead reckoning module; wherein the pitch angle of the inertial measurement device includes the first measured pitch angle or the second measured pitch angle of the inertial measurement device at the current epoch calculated by the dead reckoning module; when determining the pitch angle of the vehicle, the installation angle of the inertial measurement device is comprehensively considered, which improves the calculation accuracy of the pitch angle of the vehicle and further improves the accuracy and observability of the elevation of the vehicle estimated based on the pitch angle of the vehicle in the scene such as the elevated bridge and the underground layer.

[0051] Embodiment two

[0052] Figure 2 A flowchart of an elevation estimation method provided for the second embodiment of the application, which further limits the above-mentioned embodiments. As shown in the figure, the method comprises: Figure 2

[0053] S201, obtaining the satellite positioning measurement data of the vehicle measured by the global navigation satellite system by using the single-satellite receiving antenna.

[0054] ​Wherein, the global navigation satellite system GNSS is a positioning system using a set of satellite pseudorange, ephemeris, satellite transmission time and other observation. Global navigation satellite system is a space-based radio navigation and positioning system that can provide users with all-weather three-dimensional coordinates and speed and time information at any location on the earth's surface or near space. Inertial navigation system (INS, hereinafter referred to as inertial navigation) is a self-contained navigation system that does not rely on external information and does not radiate energy to the outside. Its basic working principle is based on Newton's law of mechanics. By measuring the acceleration of the carrier in the inertial reference frame, it is integrated with respect to time, and it is transformed into the navigation coordinate system. The velocity, yaw angle and position information in the navigation coordinate system can be obtained.

[0055] Specifically, the satellite positioning measurement data of the vehicle carrier measured by the global navigation satellite system GNSS is obtained through the single-satellite receiving antenna arranged on the vehicle carrier.

[0056] S202, obtaining the inertial positioning measurement data of the vehicle carrier measured by the inertial navigation system.

[0057] Wherein, the inertial measurement device IMU is an inertial navigation system composed of gyroscopes and accelerometers fixed on the vehicle carrier. In the inertial navigation system INS, gyroscopes and accelerometers in the inertial measurement device IMU are used to measure the angular motion information and linear motion information of the vehicle carrier, and the inertial positioning measurement data of the vehicle carrier is calculated according to these measurement information, including: heading, attitude, speed and position information.

[0058] Specifically, the inertial navigation system calculates the inertial positioning measurement data of the vehicle carrier based on the information obtained by the inertial measurement device, and obtains the inertial positioning measurement data calculated by the inertial navigation system.

[0059] S203, calculating the satellite positioning measurement data and the inertial positioning measurement data by the integrated navigation module to obtain the observed pitch angle of the inertial measurement device at multiple time points before the current epoch.

[0060] Wherein, the integrated navigation module is a navigation module jointly constituted by the global navigation satellite system GNSS and the inertial navigation system IMS.

[0061] Specifically, the observed pitch angle at multiple time points before the current epoch is calculated based on the satellite positioning measurement data and the inertial positioning measurement data by the integrated navigation module. This process can refer to the calculation algorithm of the existing integrated navigation module, and the embodiments of the present application will not be described here.

[0062] Optionally, after obtaining the inertial positioning measurement data of the vehicle carrier measured by the inertial navigation system, and before calculating the satellite positioning measurement data and the inertial positioning measurement data by the integrated navigation module, it further comprises:

[0063] data rejection is performed on abnormal data in the satellite positioning measurement data and the inertial positioning measurement data;

[0064] The conditions met by the abnormal data include at least one of the following:

[0065] a statistical value within a preset window length is greater than a preset threshold value and a time stamp rollback exists.

[0066] In an actual data acquisition process, the satellite positioning measurement data and the inertial positioning measurement data obtained may have noise or data abnormalities due to interference and the like; if directly used for calculation to obtain the first measured pitch angle of the inertial measurement device at the current epoch, the accuracy of the first measured pitch angle may be low. Therefore, before the satellite positioning measurement data and the inertial positioning measurement data are calculated by the integrated navigation module, quality detection and data rejection need to be performed on the satellite positioning measurement data and the inertial positioning measurement data, so as to improve the data quality of the first measured pitch angle of the inertial measurement device, and further improve the accuracy of the first measured pitch angle.

[0067] Specifically, the method for quality detection of the satellite positioning measurement data and the inertial positioning measurement data includes but is not limited to data rejection of abnormal data. The conditions met by the abnormal data include: (1) a time stamp rollback exists; and (2) a statistical value within a preset window length is greater than a preset threshold value.

[0068] For example, for the positioning data of GNSS, the standard deviation reflects the positioning quality to a certain extent, and positioning data with a large standard deviation can be rejected, for example, positioning data with a standard deviation greater than 0.5 m is considered abnormal and is rejected. Or for IMU data, the average value a and the standard deviation b are calculated within a sliding window with a length of N, and if the absolute value of the difference between the data of an epoch k and the average value a exceeds z times the standard deviation b, the data is considered abnormal and is rejected.

[0069] S204, determining the average value of the multiple observed pitch angles as the first measured pitch angle of the inertial measurement device at the current epoch.

[0070] Specifically, the result output frequency of the integrated navigation module is usually high, generally 100 Hz to 200 Hz, the pitch angles between the two epoch times t1 and t2 can be saved to a cache area, the average value of the multiple observed pitch angles between the two epoch times t1 and t2 cached in the cache area is calculated, and the average value of the multiple observed pitch angles is determined as the first measured pitch angle of the inertial measurement device at the current epoch, that is,

[0071]

[0072] wherein, pitchimu,i is the i-th observed pitch angle, n is the total number of observed pitch angles, pitch imu_1 is the first measured pitch angle.

[0073] In the embodiment, the average value of the plurality of observed pitch angles is determined as the first measured pitch angle of the inertial measurement device at the current epoch, which can further improve the accuracy of the first measured pitch angle.

[0074] S205, according to the satellite positioning measurement data of the adjacent epochs, respectively calculating the first elevation position increment and the first plane position increment corresponding to the satellite positioning position of the adjacent epochs; determining the estimated pitch angle of the vehicle body at the current epoch according to the first elevation position increment and the first plane position increment.

[0075] Wherein, the satellite positioning position can adopt real-time kinematic (RTK) carrier phase difference technology, RTK is a differential method of real-time processing carrier phase observation of two measurement stations, and the carrier phase collected by the reference station is sent to the user receiver to solve the difference coordinates.

[0076] Specifically, first, according to the satellite positioning measurement data of the adjacent epochs, calculating the difference between the elevation H k corresponding to the satellite positioning position of the kth epoch and the elevation H k+1 corresponding to the satellite positioning position of the k+1th epoch, as the absolute value of the first elevation position increment ΔH corresponding to the satellite positioning position of the current epoch, that is:

[0077] ΔH1=|H k+1 -H k |;

[0078] Then, according to the satellite positioning measurement data of the adjacent epochs, calculating the root mean square of the difference between the longitude and latitude coordinates corresponding to the satellite positioning position of the kth epoch and the longitude and latitude coordinates corresponding to the satellite positioning position of the k+1th epoch, as the first plane position increment ΔS corresponding to the satellite positioning position of the current epoch, that is

[0079]

[0080] ΔSe=(lon k+1 -lon k )*(R n +H k );

[0081] ΔSn=(lat k+1 -lat k )*(R m +H k );

[0082] Wherein, Rn R is the radius of the prime vertical circle, m lon is the radius of the meridian, k+1 and lon k lat and lat k+1 and lat k are the longitude of the k+1 epoch and the k epoch, respectively, and lat

[0083] Finally, the arctangent of the first elevation position increment Dh and the first plane position increment AS is calculated as the estimated pitch angle pitch of the vehicle at the current epoch vehicle_estim i.e.:

[0084] pitch vehicle_estim = atan(Dh / AS).

[0085] Optionally, after step S201 and before step S205, the method further comprises:

[0086] rejecting satellite positioning measurement data of two adjacent epochs that do not meet a preset condition.

[0087] The preset condition comprises at least one of the following: a time interval of the adjacent epochs is not greater than a time threshold, observation time stamps of the satellite positioning measurement data and the inertial positioning measurement data are consistent, a standard deviation of the satellite positioning measurement data of the adjacent epochs does not exceed a standard deviation threshold, an absolute value of innovation of the adjacent epochs does not exceed an innovation threshold, and a length of a baseline vector constituted by the satellite positioning measurement data of the adjacent epochs is not less than a length threshold.

[0088] Specifically, in the actual measurement data acquisition process, the acquired satellite positioning measurement data may have noise or data anomalies due to interference and other reasons, which in turn leads to poor angle of the estimated pitch angle of the vehicle at the current epoch determined according to the satellite positioning measurement data of the adjacent epochs. Therefore, data quality detection is performed on the satellite positioning measurement data of the two adjacent epochs, and the data quality detection includes but is not limited to rejecting data that does not meet a preset condition. The preset condition comprises at least one of the following:

[0089] (1) The time interval of the adjacent epochs is not greater than a time threshold. In theory, the smaller the threshold, the better, but at the same time, it is necessary to ensure that the vehicle has sufficient displacement, so the threshold should be appropriate, for example, it can be taken as 1 second.

[0090] (2) The observation time stamps of the satellite positioning measurement data and the inertial positioning measurement data are consistent.

[0091] (3) The standard deviation of satellite positioning positions in adjacent epochs does not exceed the standard deviation threshold; the positioning accuracy of satellite positioning positions has a great impact on the accuracy of the estimated pitch angle of the vehicle carrier, which will indirectly affect the estimation of the first elevation increment ΔS.

[0092] (4) The absolute value of the information of adjacent epochs does not exceed the information threshold; the information of adjacent epochs obtained by the integrated navigation measurement refers to the difference between the data (position and velocity) calculated by GNSS and the data (position and velocity) predicted by INS, which reflects the positioning consistency between the positioning algorithm of the inertial navigation system and the satellite positioning algorithm. If the information is too large, either the positioning of the satellite positioning algorithm is inaccurate or the estimation of the inertial navigation system is inaccurate.

[0093] (5) The length of the baseline vector formed by satellite positioning measurement data of adjacent epochs shall not be less than the length threshold.

[0094] S206. Calculate the angle difference between the first measured pitch angle of the inertial measurement device and the estimated pitch angle of the vehicle body; determine the average value of the angle differences over multiple epochs as the installation angle of the inertial measurement device.

[0095] Specifically, firstly, the first measured pitch angle of the inertial measurement device at the Kth epoch is calculated using step S204. imu_1 The estimated pitch angle of the vehicle carrier at the Kth epoch obtained in step S205. vehicle_estim The angle difference θ between them k ,Right now

[0096] θ k =pitch imu_1 -pitch vehicle_estim ;

[0097] Optionally, the angle differences of multiple epochs are then saved to a cache, and the angle differences in the cache are subjected to data quality checks. The data quality checks include, but are not limited to, removing angle differences that do not conform to reality, i.e., angle differences that are greater than a certain threshold (for example, the threshold for angle differences is set to 6 degrees, and under normal circumstances, the error of the human installation angle is between 0 and 5 degrees). Then, when the number of cached angle differences is greater than N, the consistency between the current installation angle and the average of the past N angle differences is compared. If the consistency is poor, the current angle difference is removed.

[0098] Finally, the average of the K angle differences in the buffer is taken as the installation angle θ of the inertial measurement unit, that is:

[0099]

[0100] The angular difference θ of multiple epochs k The average value is used as the installation angle of the inertial measurement device, which is more accurate and robust than the installation angle estimated at a certain epoch.

[0101] S207, determining a target pitch angle of the vehicle body at the current epoch according to the installation angle of the inertial measurement device and a measured pitch angle of the inertial measurement device at the current epoch; wherein the measured pitch angle of the inertial measurement device at the current epoch comprises a first measured pitch angle or a second measured pitch angle of the inertial measurement device at the current epoch calculated by the dead reckoning module.

[0102] Optionally, when the integrated navigation module is available, a sum of the first measured pitch angle of the inertial measurement device and the installation angle is determined as the target pitch angle of the vehicle body at the current epoch.

[0103] When the integrated navigation module is not available, the second measured pitch angle of the inertial measurement device at the current epoch calculated by the dead reckoning module is obtained, and a sum of the second measured pitch angle and the installation angle is determined as the target pitch angle of the vehicle body at the current epoch.

[0104] Specifically, the target pitch angle pitch of the vehicle body at the current epoch is determined according to the installation angle θ of the inertial measurement device and a measured pitch angle pitch of the inertial measurement device at the current epoch, i.e. imu vehicle_target

[0105] pitch vehicle_target = θ + pitch imu .

[0106] When the integrated navigation module is available, the first measured pitch angle calculated by the integrated navigation module in step S204 is used to calculate the target pitch angle of the vehicle body, i.e. imu pitch imu_1 ; when the integrated navigation module is not available, the second measured pitch angle pitch of the inertial measurement device at the current epoch calculated by the dead reckoning module is obtained, i.e. imu_2 pitch imu = pitch imu_2 , to calculate the target pitch angle of the vehicle body.

[0107] S208, obtaining speed data by the dead reckoning module, determining displacement data of the vehicle body according to the speed data, and determining a second plane position increment of the vehicle body at the current epoch according to the displacement data.

[0108] Specifically, speed data of the vehicle body is obtained by the dead reckoning module, the speed data comprising east-west speed and north-south speed of the vehicle body at the Kth epoch and the K+1th epoch, east-west displacement data Δse and north-south displacement data Δsn of the vehicle body are determined according to the speed data, and a second plane position increment Δs of the vehicle body at the current epoch is determined according to the displacement data Δse and Δsn, i.e. ​​

[0109]

[0110] wherein Δt is the time interval between the Kth ephemeris and the K+1th ephemeris, V e.k and V e,k+1 are the east-west speed of the vehicle at the Kth ephemeris and the K+1th ephemeris, respectively, V n.k and V n,k+1 are the south-north speed of the vehicle at the Kth ephemeris and the K+1th ephemeris, respectively.

[0111] S209, determining the second elevation position increment of the vehicle at the current ephemeris according to the target pitch angle and the second plane position increment of the vehicle.

[0112] Specifically, the second elevation position increment Ah of the vehicle at the current ephemeris is determined according to the target pitch angle pitch vehicle_target and the second plane position increment As of the vehicle calculated in step S207, i.e.

[0113] Ah=Asxtan(pitch vehicle_target ).

[0114] S210, determining the elevation of the vehicle at the current ephemeris according to the second elevation position increment and the elevation estimated at the last ephemeris.

[0115] Specifically, the elevation h k-1 of the vehicle at the current ephemeris is determined according to the second elevation position increment Ah calculated in step S209 and the elevation h k estimated at the last ephemeris, i.e.

[0116] h k =h k-1 +Ah.

[0117] The technical scheme of the embodiment of the present application obtains the first measured pitch angle of the inertial measurement device at the current epoch by solving the satellite positioning measurement data received by the single-satellite receiving antenna and the obtained inertial positioning measurement data; obtains the estimated pitch angle of the vehicle at the current epoch by solving the satellite positioning measurement data of two adjacent epochs; realizes the construction of the virtual double-satellite receiving antenna by the single-satellite receiving antenna, is simple and practical relative to the traditional double-satellite receiving antenna, and reduces the cost to a certain extent; determines the installation angle of the inertial measurement device according to the first measured pitch angle and the estimated pitch angle; estimates the elevation of the vehicle at the current epoch according to the target pitch angle of the vehicle at the current epoch determined by the installation angle of the inertial measurement device and the pitch angle, and the speed data obtained by the dead reckoning module; wherein the measured pitch angle of the inertial measurement device at the current epoch includes the first measured pitch angle or the second measured pitch angle of the inertial measurement device at the current epoch calculated by the dead reckoning module; when the pitch angle of the vehicle is determined, the installation angle of the inertial measurement device is comprehensively considered, the calculation accuracy of the pitch angle of the vehicle is improved, the problem of accurate estimation of the elevation of the vehicle in the scene such as the viaduct and the underground cross-layer is solved simply, efficiently and at low cost.

[0118] Embodiment three

[0119] Figure 3 A structural schematic diagram of an elevation estimation device provided for the embodiment three of the present application is shown in FIG. 3. Figure 3 As shown in FIG. 3, the device includes:

[0120] A first solving module 310 is configured to solve the satellite positioning measurement data received by the single-satellite receiving antenna and the obtained inertial positioning measurement data, and obtain the first measured pitch angle of the inertial measurement device at the current epoch.

[0121] A second solving module 320 is configured to solve the satellite positioning measurement data of two adjacent epochs, and obtain the estimated pitch angle of the vehicle at the current epoch.

[0122] An installation angle determining module 330 is configured to determine the installation angle of the inertial measurement device according to the first measured pitch angle and the estimated pitch angle.

[0123] A pitch angle determining module 340 is configured to determine the target pitch angle of the vehicle at the current epoch according to the installation angle of the inertial measurement device and the measured pitch angle at the current epoch; wherein the measured pitch angle of the inertial measurement device at the current epoch includes the first measured pitch angle or the second measured pitch angle of the inertial measurement device at the current epoch calculated by the dead reckoning module.

[0124] An elevation estimation module 350 is configured to estimate the elevation of the vehicle at the current epoch according to the target pitch angle and the speed data obtained by the dead reckoning module.

[0125] Optionally, the first solving module 310 is specifically used for:

[0126] obtaining satellite positioning measurement data of the vehicle body measured by a global navigation satellite system through a single-satellite receiving antenna;

[0127] obtaining inertial positioning measurement data of the vehicle body measured by an inertial navigation system;

[0128] solving the satellite positioning measurement data and the inertial positioning measurement data through a combined navigation module to obtain a plurality of observation pitch angles of the inertial measurement device at a plurality of moments before the current epoch; the combined navigation module comprises a global navigation satellite system and an inertial navigation system;

[0129] determining an average value of the plurality of observation pitch angles as a first measurement pitch angle of the inertial measurement device at the current epoch.

[0130] Optionally, the method further comprises:

[0131] a first data rejection module, configured to perform data rejection on abnormal data in the satellite positioning measurement data and the inertial positioning measurement data after obtaining the inertial positioning measurement data of the vehicle body measured by the inertial navigation system and before solving the satellite positioning measurement data and the inertial positioning measurement data through the combined navigation module;

[0132] wherein the condition satisfied by the abnormal data comprises at least one of the following: a statistical value within a preset window length is greater than a preset threshold and there is a time stamp rollback.

[0133] Optionally, the second solving module 320 is specifically used for:

[0134] calculating a first elevation position increment and a first plane position increment corresponding to a satellite positioning position of an adjacent epoch according to the satellite positioning measurement data of the adjacent epoch, respectively;

[0135] determining an estimated pitch angle of the vehicle body at the current epoch according to the first elevation position increment and the first plane position increment.

[0136] Optionally, the method further comprises:

[0137] a second data rejection module, configured to reject data not satisfying a preset condition in the satellite positioning measurement data of two adjacent epochs before calculating the first elevation position increment and the first plane position increment corresponding to the satellite positioning position of the adjacent epochs, respectively.

[0138] The preset condition comprises at least one of the following: a time interval of adjacent epochs is not greater than a time threshold, observation time stamps of satellite positioning measurement data and inertial positioning measurement data are consistent, a standard deviation of satellite positioning positions of adjacent epochs does not exceed a standard deviation threshold, an absolute value of innovation of adjacent epochs does not exceed an innovation threshold, and a baseline vector length formed by satellite positioning measurement data of adjacent epochs is not less than a length threshold.

[0139] Optionally, the installation angle determination module 330 is specifically configured to:

[0140] calculate an angle difference between the first measured pitch angle of the inertial measurement device and the estimated pitch angle of the vehicle body;

[0141] determine an average value of the angle differences of the plurality of epochs as the installation angle of the inertial measurement device.

[0142] Optionally, the pitch angle determination module 340 is specifically configured to:

[0143] in a case where the integrated navigation module is available, determine a sum of the first measured pitch angle of the inertial measurement device and the installation angle as the target pitch angle of the vehicle body at the current epoch;

[0144] in a case where the integrated navigation module is unavailable, acquire a second measured pitch angle of the inertial measurement device at the current epoch calculated by the dead reckoning module, and determine a sum of the second measured pitch angle and the installation angle as the target pitch angle of the vehicle body at the current epoch.

[0145] Optionally, the elevation estimation module 350 is specifically configured to:

[0146] acquire speed data by the dead reckoning module, and determine displacement data of the vehicle body according to the speed data;

[0147] determine a second plane position increment of the vehicle body at the current epoch according to the displacement data;

[0148] determine a second elevation position increment of the vehicle body at the current epoch according to the target pitch angle of the vehicle body and the second plane position increment;

[0149] determine an elevation of the vehicle body at the current epoch according to the second elevation position increment and an estimated elevation of a previous epoch.

[0150] The elevation estimation device provided in the embodiments of the present application can execute the elevation estimation method provided in any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0151] Embodiment Four

[0152] Figure 4A structural diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application described and / or claimed in this document.

[0153] As shown in Figure 4 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., communicatively connected to the at least one processor 11, where the memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer programs stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0154] Various components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc., an output unit 17, such as various types of displays, speakers, etc., a storage unit 18, such as a magnetic disk, an optical disk, etc., and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0155] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the elevation estimation method.

[0156] In some embodiments, the altitude estimation method can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 18. In some embodiments, parts or all of the computer program can be loaded and / or installed onto electronic device 10 via, e.g., ROM 12 and / or communication unit 19. When the computer program is loaded onto RAM 13 and executed by processor 11, one or more steps of the above-described altitude estimation method can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the altitude estimation method by other means, e.g., with the aid of firmware.

[0157] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, specially designed application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0158] Computer programs used to implement the methods of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the computer or other programmable data processing apparatus, enables the systems and methods as claimed in the claims to be implemented. The computer program can be executed entirely on a machine, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0159] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0160] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0161] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0162] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0163] It should be understood that the various forms of flow shown above can be reordered, added to, or have steps deleted. For example, the steps described in the present application can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which are not limited herein.

[0164] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of elevation estimation, characterized by, The method comprises the following steps: solving satellite positioning measurement data received by a single-satellite receiving antenna and inertial positioning measurement data obtained, to obtain a first measured pitch angle of the inertial measurement device at a current epoch; wherein, the solving satellite positioning measurement data received by a single-satellite receiving antenna and inertial positioning measurement data obtained, to obtain a first measured pitch angle of the inertial measurement device at a current epoch, comprises: obtaining satellite positioning measurement data of a vehicle body measured by a global navigation satellite system through a single-satellite receiving antenna; obtaining inertial positioning measurement data of the vehicle body measured by an inertial navigation system; solving the satellite positioning measurement data and the inertial positioning measurement data through a combined navigation module to obtain observed pitch angles of the inertial measurement device at multiple time points before the current epoch; the combined navigation module comprises a global navigation satellite system and an inertial navigation system; determining an average value of the multiple observed pitch angles as the first measured pitch angle of the inertial measurement device at the current epoch; solving satellite positioning measurement data of two adjacent epochs to obtain an estimated pitch angle of the vehicle body at the current epoch; determining an installation angle of the inertial measurement device according to the first measured pitch angle and the estimated pitch angle; determining a target pitch angle of the vehicle body at the current epoch according to the installation angle of the inertial measurement device and a measured pitch angle of the inertial measurement device at the current epoch; wherein, the measured pitch angle of the inertial measurement device at the current epoch comprises the first measured pitch angle or a second measured pitch angle of the inertial measurement device at the current epoch calculated by a dead reckoning module; estimating an elevation of the vehicle body at the current epoch according to the target pitch angle and speed data obtained by the dead reckoning module.

2. The method of claim 1, wherein, After obtaining the inertial positioning measurement data of the vehicle body measured by the inertial navigation system, and before solving the satellite positioning measurement data and the inertial positioning measurement data through the combined navigation module, the method further comprises: performing data rejection on abnormal data in the satellite positioning measurement data and the inertial positioning measurement data; wherein, the conditions satisfied by the abnormal data comprise at least one of the following: a statistical value within a preset window length is greater than a preset threshold value and there is a time stamp rollback.

3. The method of claim 1, wherein, solving satellite positioning measurement data of two adjacent epochs to obtain an estimated pitch angle of the vehicle body at the current epoch, comprises: calculating a first elevation position increment and a first plane position increment corresponding to the satellite positioning positions of the adjacent epochs according to the satellite positioning measurement data of the adjacent epochs, respectively; determining the estimated pitch angle of the vehicle body at the current epoch according to the first elevation position increment and the first plane position increment.

4. The method of claim 3, wherein, Before calculating the first elevation position increment and the first plane position increment corresponding to the satellite positioning positions of the adjacent epochs, respectively, the method further comprises: rejecting data in the satellite positioning measurement data of the two adjacent epochs that does not satisfy a preset condition; the preset condition comprises at least one of the following: The time interval of adjacent epochs is not greater than a time threshold, the observation time stamps of satellite positioning measurement data and inertial positioning measurement data are consistent, the standard deviation of satellite positioning positions of adjacent epochs does not exceed a standard deviation threshold, the absolute value of innovation of adjacent epochs does not exceed an innovation threshold, and the length of a baseline vector formed by satellite positioning measurement data of adjacent epochs is not less than a length threshold.

5. The method of claim 1, wherein, Determine the installation angle of the inertial measurement device according to the first measured pitch angle and the estimated pitch angle, including: Calculate the angle difference between the first measured pitch angle of the inertial measurement device and the estimated pitch angle of the vehicle body; Determine the average value of the angle difference of multiple epochs as the installation angle of the inertial measurement device.

6. The method of claim 1, wherein, Determine the target pitch angle of the vehicle body at the current epoch according to the installation angle of the inertial measurement device and the measured pitch angle at the current epoch, including: In the case that the integrated navigation module is available, determine the sum of the first measured pitch angle of the inertial measurement device and the installation angle as the target pitch angle of the vehicle body at the current epoch; In the case that the integrated navigation module is not available, obtain the second measured pitch angle of the inertial measurement device at the current epoch calculated by the dead reckoning module, and determine the sum of the second measured pitch angle and the installation angle as the target pitch angle of the vehicle body at the current epoch.

7. The method of claim 6, wherein, Estimate the elevation of the vehicle body at the current epoch according to the target pitch angle and the speed data obtained through the dead reckoning module, including: Obtain the speed data through the dead reckoning module, and determine the displacement data of the vehicle body according to the speed data; Determine the second plane position increment of the vehicle body at the current epoch according to the displacement data; Determine the second elevation position increment of the vehicle body at the current epoch according to the target pitch angle of the vehicle body and the second plane position increment; Determine the elevation of the vehicle body at the current epoch according to the second elevation position increment and the estimated elevation of the last epoch.

8. An elevation estimation apparatus characterized by comprising: Comprise: The first solving module is used for solving the satellite positioning measurement data received by the single-satellite receiving antenna and the inertial positioning measurement data obtained, to obtain the first measured pitch angle of the inertial measurement device at the current epoch; The first solving module is specifically used for: Obtaining the satellite positioning measurement data of the vehicle body measured through the global navigation satellite system by using the single-satellite receiving antenna; Obtaining the inertial positioning measurement data of the vehicle body measured through the inertial navigation system; Solving the satellite positioning measurement data and the inertial positioning measurement data through the integrated navigation module to obtain the observation pitch angle of the inertial measurement device at multiple time points before the current epoch; the integrated navigation module comprises a global navigation satellite system and an inertial navigation system; Determining the average value of multiple observation pitch angles as the first measured pitch angle of the inertial measurement device at the current epoch; The second solving module is used for solving the satellite positioning measurement data of two adjacent epochs to obtain the estimated pitch angle of the vehicle body at the current epoch; The installation angle determination module is used for determining the installation angle of the inertial measurement device according to the first measured pitch angle and the estimated pitch angle. The pitch angle determination module is configured to determine a target pitch angle of the vehicle body at the current epoch according to an installation angle of the inertial measurement device and a measured pitch angle of the inertial measurement device at the current epoch; wherein the measured pitch angle of the inertial measurement device at the current epoch comprises a first measured pitch angle or a second measured pitch angle of the inertial measurement device at the current epoch calculated by the dead reckoning module; The altitude estimation module is configured to estimate an altitude of the vehicle body at the current epoch according to the target pitch angle and speed data obtained by the dead reckoning module.

9. An electronic device, comprising: An electronic device includes: at least one processor; and a memory connected with the at least one processor in communication; wherein The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the altitude estimation method of any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, A computer readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the altitude estimation method of any one of claims 1-7 when executed.

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