A vehicle-mounted inertial navigation error elimination method, terminal device and storage medium

Abstract

The present invention discloses a vehicle-mounted inertial navigation error elimination method, terminal equipment and storage medium, and relates to the field of data processing technology. The method comprises: interacting with the vehicle bus of the target vehicle, obtaining the vehicle wheel speed information, and performing zero speed judgment. If the judgment result is that the vehicle is stationary, the inertial measurement component is activated to collect data, and the zero bias repeatability error is calculated and corrected. If the vehicle is not stationary, the inertial measurement component is activated to collect gyroscope data to obtain the corrected measured heading angle value. Satellite navigation data is obtained, the vehicle heading angle change is calculated, and the standard heading angle value is obtained. Error modeling is performed based on the measured heading angle value and the standard heading angle value, and the zero bias stability error and coefficient error are calculated. In combination with the zero bias repeatability error, the zero bias stability error and the coefficient error, the navigation error of the high-precision positioning module is eliminated. Thereby achieving the technical effect of improving the environmental adaptability of error elimination and improving the positioning and navigation accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a vehicle-mounted inertial navigation error elimination method, terminal equipment and storage medium. Background Art

[0002] In the inertial navigation and satellite navigation of the high-precision inertial navigation module, the inertial measurement unit often introduces errors. The existing inertial navigation error elimination method is to calibrate the error of the inertial measurement unit during production, write it into the high-precision inertial navigation module for storage, and then eliminate the error of the inertial measurement unit measurement data. In actual use, the system error of the inertial measurement unit usually changes due to environmental factors, thereby affecting the accuracy of the inertial navigation and satellite navigation. There are technical problems such as poor environmental adaptability of error elimination and affecting navigation accuracy. Summary of the invention

[0003] The present invention provides a vehicle-mounted inertial navigation error elimination method, terminal equipment and storage medium to solve the technical problem that the environmental adaptability of error elimination in the prior art is poor and affects the navigation accuracy, and achieves the technical effect of improving the environmental adaptability of error elimination and enhancing the positioning and navigation accuracy.

[0004] In a first aspect, the present invention provides a method for eliminating vehicle-mounted inertial navigation errors, wherein the method comprises:

[0005] The vehicle bus of the interactive target vehicle is used to obtain the vehicle wheel speed information and perform zero-speed discrimination; if the zero-speed discrimination result is that the target vehicle is stationary, the inertial measurement component is activated to collect data, calculate the zero bias repeatability error, and perform zero bias repeatability error correction, wherein the inertial measurement component is embedded in the high-precision positioning module; if the zero-speed discrimination result is that the target vehicle is not stationary, the inertial measurement component is activated to collect gyroscope measurement data to obtain a measured heading angle value, wherein the measured heading angle value is a heading angle value obtained after performing the zero bias repeatability error correction; satellite navigation data is obtained, and the heading angle change of the target vehicle is calculated according to the satellite navigation data to obtain a standard heading angle value; error modeling is performed based on the measured heading angle value and the standard heading angle value, and a zero bias stability error and a coefficient error are calculated and obtained; and the navigation error of the high-precision positioning module is eliminated by combining the zero bias repeatability error, the zero bias stability error and the coefficient error.

[0006] In a feasible implementation, if the zero speed determination result is that the target vehicle is not stationary, activating the inertial measurement assembly to collect gyroscope measurement data includes:

[0007] If the zero speed determination result is that the target vehicle is stationary, the inertial measurement component is activated to continuously collect data to obtain the gyroscope measurement data; the gyroscope measurement data is stored in a register, wherein the register is a data register with a preset storage length; based on the register, the data amount of the gyroscope measurement data is determined, and if the gyroscope measurement data meets the preset storage length, the gyroscope measurement data is output

[0008] In a feasible implementation, the method further includes:

[0009] If the gyroscope measurement data does not meet the preset storage length, the register is cleared; continuous zero-speed determination is performed based on the vehicle wheel speed information until the zero-speed determination result is that the target vehicle is not stationary, and the gyroscope measurement data is re-collected.

[0010] In a feasible implementation, error modeling is performed based on the measured heading angle value and the standard heading angle value to calculate and obtain the zero bias stability error and the coefficient error, including:

[0011] Perform data preprocessing on the measured heading angle value and the standard heading angle value, wherein the data preprocessing includes data alignment and data filtering; based on the data preprocessing result, calculate and obtain the zero bias stability error; perform error modeling, calculate the proportional coefficient according to the data preprocessing result and in combination with the zero bias stability error, and output it as the coefficient error.

[0012] In a feasible implementation, error modeling is performed, including:

[0013] Construct the error function model:

[0014] θ measured =a·θ standard +b;

[0015] Wherein, a represents the proportional coefficient, b represents the zero bias stability error; θ measured Characterize the measured heading angle, θ standard Characterize the standard heading angle.

[0016] In a feasible implementation, based on the data pre-processing result, the zero bias stability error is calculated and obtained, including:

[0017] Calculating the heading angle error at each moment according to the data pre-processing result to generate a heading angle error sequence;

[0018] The trend term of the heading angle error sequence is removed, the mean square error is calculated, and the output is the zero bias stability error.

[0019] In a feasible implementation, the inertial measurement component is activated to collect gyroscope measurement data to obtain a measured heading angle value, wherein the number of samples for obtaining the measured heading angle value is greater than or equal to 2.

[0020] In a second aspect, the present invention further provides a terminal device, wherein the terminal device comprises:

[0021] The memory is used to store executable instructions; the processor is used to implement the vehicle-mounted inertial navigation error elimination method when executing the executable instructions stored in the memory.

[0022] In a third aspect, the present invention further provides a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method for eliminating vehicle-mounted inertial navigation errors.

[0023] The invention discloses a vehicle-mounted inertial navigation error elimination method, terminal equipment and storage medium, comprising: interacting with a vehicle bus of a target vehicle, acquiring vehicle wheel speed information, and performing zero-speed discrimination; if the zero-speed discrimination result is that the target vehicle is stationary, activating an inertial measurement component to perform data collection, calculating a zero bias repeatability error, and performing zero bias repeatability error correction, wherein the inertial measurement component is embedded in a high-precision positioning module; if the zero-speed discrimination result is that the target vehicle is not stationary, activating the inertial measurement component to collect gyroscope measurement data, and acquiring a measured heading angle value, wherein the measured heading angle value is a heading angle value obtained after performing zero bias repeatability error correction; acquiring satellite navigation data, calculating a heading angle change of the target vehicle according to the satellite navigation data, and acquiring a standard heading angle value; performing error modeling based on the measured heading angle value and the standard heading angle value, and calculating and obtaining a zero bias stability error and a coefficient error; and performing navigation error elimination of the high-precision positioning module in combination with the zero bias repeatability error, the zero bias stability error and the coefficient error. The invention discloses a vehicle-mounted inertial navigation error elimination method, terminal equipment and storage medium to solve the technical problem that the environmental adaptability of error elimination is poor and affects the navigation accuracy, thereby achieving the technical effect of improving the environmental adaptability of error elimination and enhancing the positioning and navigation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of a process flow of a method for eliminating vehicle-mounted inertial navigation errors according to the present invention;

[0025] Figure 2 It is a schematic diagram of the structure of an exemplary electronic device of the present invention.

[0026] Description of the reference numerals: processor 31 , memory 32 , input device 33 , output device 34 . DETAILED DESCRIPTION

[0027] The technical solution provided in the embodiments of the present invention is to solve the technical problem that the error elimination in the prior art has poor environmental adaptability and affects the navigation accuracy. The overall idea adopted is as follows:

[0028] First, the vehicle bus of the interactive target vehicle is used to obtain the vehicle wheel speed information and perform zero speed determination.

[0029] Next, if the zero-speed judgment result is that the target vehicle is stationary, the inertial measurement component is activated to collect data, calculate the zero bias repeatability error, and perform zero bias repeatability error correction, wherein the inertial measurement component is embedded in the high-precision positioning module.

[0030] Then, if the zero speed determination result is that the target vehicle is not stationary, the inertial measurement component is activated to collect gyroscope measurement data to obtain a measured heading angle value, wherein the measured heading angle value is a heading angle value obtained after performing zero bias repeatability error correction.

[0031] Next, satellite navigation data is obtained, and the heading angle change of the target vehicle is calculated according to the satellite navigation data to obtain a standard heading angle value.

[0032] Then, error modeling is performed based on the measured heading angle value and the standard heading angle value, and the zero bias stability error and coefficient error are calculated.

[0033] Finally, the navigation error of the high-precision positioning module is eliminated by combining the zero bias repeatability error, zero bias stability error and coefficient error.

[0034] The above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods of the specification to better understand the above technical solution. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments of the present invention. It should be understood that the present invention is not limited to the example embodiments used only to explain the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In addition, it should be noted that, for the convenience of description, only the parts related to the present invention are shown in the drawings, rather than all of them.

[0035] Embodiment 1

[0036] Figure 1 The present invention is a flow chart of a method for eliminating vehicle-mounted inertial navigation errors, wherein the method comprises:

[0037] Interact with the vehicle bus of the target vehicle, obtain the vehicle wheel speed information, and perform zero speed determination.

[0038] Optionally, the vehicle bus of the target vehicle refers to the CAN (Controller Area Network) bus of the target vehicle, which is used to transmit data between various control units inside the vehicle, and the wheel speed sensing device of the target vehicle is connected to the vehicle bus, which exemplarily includes a wheel speed sensor or a motor resolver sensor, etc. By connecting to the vehicle bus and reading CAN messages to obtain real-time data of the vehicle, the vehicle wheel speed information obtained by the wheel speed sensing device can be obtained, thereby determining whether the speed of the target vehicle is zero, thereby achieving zero speed determination.

[0039] Exemplarily, the vehicle bus of the interactive target vehicle, first, the high-precision positioning module establishes a connection to the OBD-II interface or other CAN bus interface of the target vehicle. Then, the CAN bus communication parameters are configured, including setting the baud rate, message ID filter and other communication parameters, so as to correctly receive the wheel speed information of the target vehicle. Then, the high-precision positioning module starts to monitor and receive CAN messages from the vehicle bus, and parses the messages containing wheel speed information.

[0040] Specifically, the vehicle wheel speed information includes the real-time rotation speed of each wheel, expressed as RPM (revolutions per minute) or km / h (kilometers per hour). By checking the wheel speed data of all wheels, zero speed discrimination is performed to determine whether the vehicle is stationary. When all wheel speeds are zero, the vehicle is considered to be in a zero speed state. Through the above method, the wheel speed information of the target vehicle can be effectively obtained, and zero speed discrimination can be performed to determine whether the vehicle is stationary.

[0041] If the zero speed determination result is that the target vehicle is stationary, the inertial measurement component is activated to collect data, calculate the zero bias repeatability error, and perform zero bias repeatability error correction, wherein the inertial measurement component is embedded in the high-precision positioning module.

[0042] Optionally, if the zero-speed determination result shows that the target vehicle is stationary, data is collected through an inertial measurement unit, that is, the output of the inertial measurement unit when the target vehicle is stationary is used as the observed error, thereby obtaining the zero bias repeatability error of the inertial measurement unit.

[0043] Optionally, activate the inertial measurement unit embedded in the high-precision positioning module to collect the raw data of the inertial measurement unit, including acceleration and angular velocity. The high-precision positioning module is a positioning module for inertial navigation and satellite navigation verification, which integrates an inertial measurement unit and a satellite positioning unit (such as Beidou, GPS, etc.) for precise positioning.

[0044] Specifically, when the vehicle is stationary, multiple sets of inertial measurement unit data are continuously collected, and then the collected data are statistically analyzed to calculate the mean and standard deviation of the zero bias error in each axis to obtain the zero bias repeatability error; then, the calculated zero bias error is calibrated as the inherent error of the inertial measurement unit, and the inertial measurement unit data collected each time is offset corrected to correct the zero bias repeatability error. For example, the original data measured by the inertial measurement unit each time is subtracted from the mean zero bias error of the corresponding axis to obtain the corrected data. Through zero bias error correction, the measurement error of the inertial measurement unit in a stationary state can be eliminated, the measurement accuracy of the inertial measurement unit can be improved, and the positioning accuracy of the high-precision positioning module can be improved.

[0045] Optionally, the zero bias repeatability error is calculated and corrected at each time node when the zero speed discrimination result is that the target vehicle is stationary. By calculating and correcting the zero bias error in real time, the measurement accuracy of the inertial measurement unit can be maintained under different environmental conditions.

[0046] If the zero speed determination result is that the target vehicle is not stationary, the inertial measurement assembly is activated to collect gyroscope measurement data to obtain a measured heading angle value, wherein the measured heading angle value is a heading angle value obtained after performing the zero bias repeatability error correction.

[0047] Optionally, when it is determined that the vehicle is not stationary, the inertial measurement component embedded in the high-precision positioning module is activated to collect gyroscope measurement data to obtain the vehicle's angular velocity information, and then calculate and obtain the measured heading angle value. Among them, the measured heading angle value is the heading angle of the vehicle, which is the angle of the vehicle's driving direction relative to the reference direction (such as due north) determined by the inertial measurement component in the high-precision positioning module.

[0048] Specifically, the heading angle value of the vehicle is calculated by an integration method based on the gyroscope measurement data. The gyroscope measurement data is the corrected data output after the original gyroscope acquisition data is corrected by the zero bias repeatability error. Exemplarily, the corrected data is obtained by subtracting the zero bias error mean of the corresponding axis from the original gyroscope acquisition data.

[0049] In some embodiments, if the zero speed determination result is that the target vehicle is not stationary, activating the inertial measurement assembly to collect gyroscope measurement data includes:

[0050] If the zero-speed determination result is that the target vehicle is stationary, the inertial measurement component is activated to continuously collect data to obtain the gyroscope measurement data; the gyroscope measurement data is stored in a register, wherein the register is a data register with a preset storage length; based on the register, the data amount of the gyroscope measurement data is determined, and if the gyroscope measurement data meets the preset storage length, the gyroscope measurement data is output.

[0051] Specifically, first, the IMU component in the high-precision positioning module is activated by a control signal, the gyroscope data of the IMU component is continuously collected, the angular velocity information of the vehicle is obtained, and stored as gyroscope measurement data. Then, the continuously collected gyroscope measurement data is stored in a register, wherein the register has a preset storage length for storing the collected gyroscope measurement data. The preset storage length sets the capacity of the data register. Exemplary. The preset storage length of the data register is configured, and the storage length can be a time length or a length based on the amount of data, and then the collected gyroscope data is stored in the register in sequence until the preset storage length is reached.

[0052] Optionally, the gyroscope measurement data stored in the register is judged for data volume to determine whether the data meets a preset storage length. When the gyroscope measurement data in the register meets the preset storage length, all data stored in the output register is the gyroscope measurement data.

[0053] In some implementations, the method further includes:

[0054] If the gyroscope measurement data does not meet the preset storage length, the register is cleared; continuous zero-speed determination is performed based on the vehicle wheel speed information until the zero-speed determination result is that the target vehicle is not stationary, and the gyroscope measurement data is re-collected.

[0055] Optionally, the vehicle wheel speed information is continuously acquired to perform zero speed determination, and when the zero speed determination result shows that the target vehicle becomes stationary, the gyroscope data of the IMU component is stopped from being collected. Then, it is determined whether the data in the register reaches the preset storage length.

[0056] Optionally, if the gyroscope measurement data does not meet the preset storage length, the register is cleared. Until the zero speed determination result is that the target vehicle is not stationary, the gyroscope measurement data is recollected, and the above storage length determination is repeated. If the gyroscope measurement data stored in the register meets the preset storage length, the data in the register is output as the gyroscope measurement data.

[0057] Through the above method, it is ensured that the gyroscope measurement data collected each time is continuous, complete and meets the data volume requirements, and the gyroscope measurement data with a shorter data collection length under the condition of frequent vehicle starting and stopping or low-speed reversing is avoided to affect the stability and accuracy of the obtained measured heading angle value.

[0058] Satellite navigation data is obtained, and a heading angle change of the target vehicle is calculated according to the satellite navigation data to obtain a standard heading angle value.

[0059] Optionally, the high-precision positioning module also includes a satellite positioning component. For example, the target vehicle is equipped with a high-precision GNSS (Global Navigation Satellite System) receiver, including GPS, GLONASS, Galileo and Beidou, etc. Through the GNSS receiver, satellite signals can be received in real time to obtain positioning data, including longitude, latitude, altitude and timestamp information.

[0060] Optionally, based on RTK (real-time differential kinematic) technology, high-precision satellite navigation data is acquired through a GNSS receiver, wherein real-time differential positioning provides high-precision position information by receiving signals from a global navigation satellite system and performing differential processing with signals from one or more reference stations.

[0061] Specifically, the RTK status is monitored in real time. When the RTK status bit is a fixed solution (FIX), the current positioning data is considered to have high accuracy. If the GNSS receiver can stably calculate high-precision position information, and the calculation result remains stable for a certain period of time, the RTK status bit is considered to be a fixed solution (FIX), indicating that the positioning solution is reliable, and the positioning solution is obtained as satellite navigation data.

[0062] Specifically, the realization of the RTK state fixed solution requires the following: First, the signal of one or more reference stations can be received by the receiver and differentially processed with the signal of the receiver. At the same time, the receiver can stably solve the position information, and the solution result meets certain accuracy requirements, and the receiver can maintain the stability of the solution result for a certain period of time.

[0063] Optionally, the target vehicle heading angle change is calculated based on the satellite navigation data. First, the initial position coordinates (longitude and latitude) of the vehicle are extracted from the satellite navigation data. Then, the position coordinates at different time points are extracted from the continuous GNSS data, and the heading angle change at the continuous time points is calculated by the following formula to obtain the vehicle's heading angle change information and obtain the target vehicle's standard heading angle value:

[0064]

[0065] Among them, Δx and Δy represent the changes in longitude and latitude between adjacent time points respectively.

[0066] Optionally, before calculating the standard heading angle value, the satellite navigation data is smoothed by a Kalman filter or a particle filter, thereby improving the calculation accuracy of the standard heading angle value.

[0067] The above method steps improve the accuracy of the calculated standard heading angle value by obtaining the standard heading angle value in the RTK fixed solution state.

[0068] Error modeling is performed based on the measured heading angle value and the standard heading angle value, and zero bias stability error and coefficient error are calculated and obtained.

[0069] Optionally, during the operation of inertial navigation and satellite navigation combined navigation, important error factors include zero bias repeatability error, zero bias stability error, and coefficient error. Among them, zero bias repeatability error refers to the change of zero bias error when measuring multiple times under the same conditions. It reflects the stability and consistency of the sensor zero bias. Zero bias stability error refers to the zero bias drift caused by factors such as temperature change and mechanical stress during the long-term operation of the sensor. The coefficient error includes the combined effects of scale coefficient error and axis non-orthogonality error: scale coefficient error refers to the error in the proportional relationship between the sensor output and the actual value. It is usually caused by manufacturing errors and calibration errors of the sensor. Axis non-orthogonality error means that the measuring axes of the sensor are not completely orthogonal, resulting in the inclusion of interference components of other axes in the measurement results.

[0070] Optionally, error modeling is performed based on mathematical modeling methods such as regression models, that is, a regression relationship between multiple error factors and actual measurement values ​​is constructed, and then a regression analysis is performed through a regression method with the measured heading angle value as the independent variable and the standard heading angle value as the dependent variable to determine the zero bias stability error and the coefficient error.

[0071] In some embodiments, error modeling is performed based on the measured heading angle value and the standard heading angle value to calculate and obtain the zero bias stability error and the coefficient error, including:

[0072] Performing data pre-processing of the measured heading angle value and the standard heading angle value, wherein the data pre-processing includes data alignment and data filtering;

[0073] Based on the data pre-processing result, the zero bias stability error is calculated and obtained;

[0074] Error modeling is performed, and a proportional coefficient is calculated based on the data pre-processing result and combined with the zero bias stability error, and the output is the coefficient error.

[0075] Optionally, before performing error modeling and calculating the zero bias stability error and coefficient error, first, perform data preprocessing on the measured heading angle value and the standard heading angle value. The data preprocessing includes data alignment and data filtering. Specifically, data alignment is performed based on a time synchronization method to ensure that the measured heading angle value and the standard heading angle value correspond to the same timestamp. If the timestamps are not completely consistent, the data is aligned after the missing timestamp data is supplemented by an interpolation method; the data is smoothed using methods such as a low-pass filter and a Kalman filter to reduce the impact of noise.

[0076] Optionally, according to the data pre-processing result, the heading angle error at each moment is calculated to generate an error sequence, and then a zero bias stability error is generated. The zero bias stability error reflects the stability of the measured heading angle value of the inertial navigation.

[0077] Optionally, error modeling is performed to construct an error relationship model between coefficient error, zero bias stability error, measured heading angle value and standard heading angle value, wherein the measured heading angle value is the dependent variable, the standard heading angle value is the independent variable, and the coefficient error and zero bias stability error are model parameters of the error relationship model. The coefficient error reflects the linear accuracy of the inertial navigation.

[0078] Specifically, the output of the inertial measurement unit is usually a pulse value or a value obtained by analog-to-digital conversion, which needs to be multiplied by a scale factor to be converted into an angular velocity or acceleration value. If the scale factor is inaccurate, a scale factor error will occur.

[0079] In some implementations, calculating and obtaining the zero bias stability error based on the data pre-processing result includes:

[0080] Calculating the heading angle error at each moment according to the data pre-processing result to generate a heading angle error sequence;

[0081] The trend term of the heading angle error sequence is removed, the mean square error is calculated, and the output is the zero bias stability error.

[0082] Specifically, the zero bias stability error is calculated. First, based on the data pre-processing results, the heading angle error between the measured heading angle value and the standard heading angle value at each moment is calculated to generate an error sequence. Then, the trend term in the error sequence is removed using the linear detrending method or the polynomial fitting method. Finally, the mean square error of the detrended error sequence is calculated as the zero bias stability error. The zero bias stability error reflects the stability of the measured heading angle value corresponding to the inertial measurement unit.

[0083] In some implementations, error modeling is performed, including:

[0084] Construct the error function model:

[0085] θ measured =a·θ standard +b;

[0086] Wherein, a represents the proportional coefficient, b represents the zero bias stability error; θ measured Characterize the measured heading angle, θ standard Characterize the standard heading angle.

[0087] Optionally, the error function model is characterized as a linear function, and the error function model is fitted by the least square method to obtain the proportional coefficient a and the zero bias stability error b, where the proportional coefficient a is the coefficient error. In other words, the proportional coefficient a represents the proportional relationship between the standard heading angle and the measured heading angle.

[0088] Through the above steps, error modeling is performed based on the measured heading angle value and the standard heading angle value, and the zero bias stability error and coefficient error are calculated, which helps to improve the accuracy and stability of the navigation system.

[0089] The navigation error of the high-precision positioning module is eliminated by combining the zero bias repeatability error, the zero bias stability error and the coefficient error.

[0090] Exemplary. Based on the zero bias repeatability error, zero bias stability error and coefficient error, the navigation error of the high-precision positioning module is eliminated, including defining an output processing function of the inertial measurement unit in the high-precision positioning module, which is expressed as:

[0091]

[0092] Among them, a represents the proportional coefficient (i.e. coefficient error), b represents the zero bias stability error, Characterize the aforementioned zero bias repeatability error, Characterizes the measured heading angle after the navigation error is eliminated (i.e., the output of the high-precision positioning module after the error is eliminated), θ measured Characterizes the measured heading angle.

[0093] Furthermore, in the method, the inertial measurement component is activated to collect gyroscope measurement data to obtain a measured heading angle value, wherein the number of samples for obtaining the measured heading angle value is greater than or equal to 2.

[0094] Specifically, by obtaining the measured heading angle values ​​with a sample number greater than or equal to 2, it is possible to analyze and obtain the zero bias stability error that changes with time, thereby understanding the zero bias stability of the inertial measurement unit at the current stage.

[0095] In summary, the vehicle-mounted inertial navigation error elimination method provided by the present invention has the following technical effects:

[0096] By interacting with the vehicle bus of the target vehicle, the vehicle wheel speed information is obtained to perform zero-speed discrimination; if the zero-speed discrimination result is that the target vehicle is stationary, the inertial measurement component is activated for data collection, the zero bias repeatability error is calculated, and the zero bias repeatability error is corrected, wherein the inertial measurement component is embedded in the high-precision positioning module; if the zero-speed discrimination result is that the target vehicle is not stationary, the inertial measurement component is activated to collect gyroscope measurement data, obtain the measured heading angle value, and the measured heading angle value is the heading angle value obtained after the zero bias repeatability error correction; obtain satellite navigation data, calculate the heading angle change of the target vehicle according to the satellite navigation data, and obtain the standard heading angle value; perform error modeling based on the measured heading angle value and the standard heading angle value, and calculate the zero bias stability error and coefficient error; combine the zero bias repeatability error, zero bias stability error and coefficient error to eliminate the navigation error of the high-precision positioning module. Thereby achieving the technical effect of improving the positioning and navigation accuracy.

[0097] Embodiment 2

[0098] Figure 2 is a schematic structural diagram of an exemplary electronic device of the present invention, showing a block diagram of an exemplary electronic device suitable for implementing an embodiment of the present invention. Figure 2 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present invention. Figure 1 The flowchart of a vehicle-mounted inertial navigation error elimination method of the present invention can be as follows: Figure 2 The structure shown is implemented.

[0099] Based on the same concept as the vehicle-mounted inertial navigation error elimination method in the embodiment, the present invention also provides an electronic device including: a processor 31, a memory 32, an input device 33 and an output device 34; the number of processors 31 in the electronic device can be one or more, Figure 2 Taking a processor 31 as an example, the processor 31, memory 32, input device 33 and output device 34 in the electronic device can be connected through a bus or other means. Figure 2 The example of connecting through bus is taken in the following.

[0100] The memory 32 is a computer-readable storage medium that can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to a vehicle-mounted inertial navigation error elimination method in an embodiment of the present invention. The processor 31 executes various functional applications and data processing of the computer device by running the software programs, instructions and modules stored in the memory 32, that is, realizing the above-mentioned vehicle-mounted inertial navigation error elimination method.

[0101] It should be understood that the embodiments disclosed in the present invention and the above description can enable those skilled in the art to use the present invention to implement the present invention. At the same time, the present invention is not limited to the above-mentioned embodiments. It should be understood that those skilled in the art can still modify the technical solutions recorded in the above-mentioned embodiments, or replace some of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A method for eliminating vehicle-mounted inertial navigation errors, characterized in that: The method comprises: Interact with the vehicle bus of the target vehicle to obtain the vehicle wheel speed information and perform zero speed determination; If the zero-speed determination result is that the target vehicle is stationary, the inertial measurement component is activated to collect data, calculate the zero bias repeatability error, and perform zero bias repeatability error correction, wherein the inertial measurement component is embedded in the high-precision positioning module; If the zero speed determination result is that the target vehicle is not stationary, the inertial measurement assembly is activated to collect gyroscope measurement data to obtain a measured heading angle value, wherein the measured heading angle value is a heading angle value obtained after performing the zero bias repeatability error correction; Obtain satellite navigation data, calculate the target vehicle heading angle change according to the satellite navigation data, and obtain a standard heading angle value; Error modeling is performed based on the measured heading angle value and the standard heading angle value, and a zero bias stability error and a coefficient error are calculated and obtained; Combining the zero bias repeatability error, the zero bias stability error and the coefficient error, the navigation error of the high-precision positioning module is eliminated; The error modeling is performed based on the measured heading angle value and the standard heading angle value to calculate and obtain the zero bias stability error and the coefficient error, including: Performing data pre-processing of the measured heading angle value and the standard heading angle value, wherein the data pre-processing includes data alignment and data filtering; Based on the data pre-processing result, the zero bias stability error is calculated and obtained; Perform error modeling, calculate the proportionality coefficient based on the data pre-processing result and the zero bias stability error, and output it as the coefficient error; Perform error modeling, including: Construct the error function model: i measured =a·θ standard +b; Wherein, a represents the proportional coefficient, b represents the zero bias stability error; θ measured Characterize the measured heading angle, θ standard Characterize the standard heading angle.

2. The method for eliminating vehicle-mounted inertial navigation errors according to claim 1, characterized in that: If the zero speed determination result is that the target vehicle is not stationary, activating the inertial measurement assembly to collect gyroscope measurement data includes: If the zero speed determination result is that the target vehicle is stationary, activating the inertial measurement component to continuously collect data and obtain the gyroscope measurement data; Storing the gyroscope measurement data in a register, wherein the register is a data register with a preset storage length; The data amount of the gyroscope measurement data is judged based on the register, and if the gyroscope measurement data meets a preset storage length, the gyroscope measurement data is output.

3. The method for eliminating vehicle-mounted inertial navigation errors according to claim 2, further comprising: If the gyroscope measurement data does not meet the preset storage length, clearing the register; Continuously performing zero speed determination based on the vehicle wheel speed information until the zero speed determination result indicates that the target vehicle is not stationary, and then re-collecting the gyroscope measurement data.

4. The method according to claim 1, characterized in that Based on the data pre-processing result, the zero bias stability error is calculated and obtained, including: Calculating the heading angle error at each moment according to the data pre-processing result to generate a heading angle error sequence; The trend term of the heading angle error sequence is removed, the mean square error is calculated, and the output is the zero bias stability error.

5. The vehicle-mounted inertial navigation error elimination method according to claim 1, characterized in that: The inertial measurement component is activated to collect gyroscope measurement data to obtain a measured heading angle value, wherein the number of samples for obtaining the measured heading angle value is greater than or equal to 2.

6. A terminal device, characterized in that: The terminal device comprises: A memory for storing executable instructions; The processor is used to implement the vehicle-mounted inertial navigation error elimination method as described in any one of claims 1 to 4 when executing the executable instructions stored in the memory.

7. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, a vehicle-mounted inertial navigation error elimination method according to any one of claims 1 to 4 is implemented.

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