Method and system for determining installation error angle of vehicle-mounted equipment and electronic equipment

Abstract

The invention provides a method and a system for determining an installation error angle of vehicle-mounted equipment and electronic equipment. The method for determining the installation error angle comprises the following steps: obtaining a first mapping relationship between an equipment coordinate system for representing the vehicle-mounted equipment and a vehicle coordinate system when a vertical axis does not rotate according to an error roll angle and an error pitch angle of the vehicle-mounted equipment; obtaining second acceleration data under the vehicle coordinate system according to the first mapping relation and the first acceleration data under the equipment coordinate system when the vehicle runs; calculating according to the second acceleration data and different preset course angles to obtain different plane acceleration data under the vehicle coordinate system; acquiring first angular velocity data under an equipment coordinate system when the vehicle turns; obtaining second angular velocity data under the vehicle coordinate system according to the first mapping relation and the first angular velocity data; obtaining an error course angle of the vehicle-mounted equipment according to a relationship between the second angular velocity data and the corresponding plane acceleration data; the calculation is simpler, and the cost of the vehicle-mounted equipment is reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of installation error angle determination, and in particular to a method and system for determining an installation error angle of a vehicle-mounted device, and an electronic device. Background Art

[0002] With the development of vehicle intelligence, the sensors on vehicles are becoming more and more abundant. Most front-mounted sensors such as millimeter-wave radars and reversing radars will be calibrated with installation error angles during installation. Due to the existence of installation error angles, the sensors cannot accurately measure the physical quantity to be measured. When the installation error angle is known, the sensor data with errors can be converted to the correct coordinate system.

[0003] For aftermarket products, customers often do not have the conditions to calibrate the installation error angle independently, so a method that can adaptively calibrate the installation error angle is particularly important. Most traditional installation error angle calibration methods use other observations, such as GNSS (Global Navigation Satellite System) or wheel speed dead reckoning technology combined with IMU (Inertial Measurement Unit) to calibrate the IMU installation error angle based on trajectory similarity. However, this method has certain problems, such as the need to integrate a GNSS chip on the device, resulting in a larger product size and higher cost. Summary of the invention

[0004] The technical problem to be solved by the present disclosure is to overcome the defects of the prior art in which the installation error angle is calculated based on the GNSS chip, such as high cost and large size, and to provide a method, system and electronic device for determining the installation error angle of a vehicle-mounted device.

[0005] The present invention solves the above technical problems through the following technical solutions:

[0006] In a first aspect, a method for determining an installation error angle of a vehicle-mounted device is provided, wherein the vehicle-mounted device is provided with a six-axis IMU, and the six-axis IMU includes a three-axis accelerometer and a three-axis gyroscope;

[0007] The method for determining the installation error angle comprises the following steps:

[0008] Obtaining an error roll angle and an error pitch angle of the vehicle-mounted device;

[0009] A first mapping relationship is obtained according to the error roll angle and the error pitch angle; the first mapping relationship is used to represent a mapping relationship between a device coordinate system of the vehicle-mounted device and a vehicle coordinate system when the vertical axis is not rotated;

[0010] Acquire first acceleration data in the device coordinate system when the vehicle is traveling, collected by the three-axis accelerometer;

[0011] Obtaining second acceleration data in the vehicle coordinate system according to the first mapping relationship and the first acceleration data;

[0012] Calculating different plane acceleration data in the vehicle coordinate system according to the second acceleration data and different preset heading angles;

[0013] Acquire first angular velocity data in the device coordinate system collected by the three-axis gyroscope when the vehicle is turning;

[0014] Obtaining second angular velocity data in the vehicle coordinate system according to the first mapping relationship and the first angular velocity data;

[0015] The error heading angle of the vehicle-mounted device is obtained according to the relationship between the second angular velocity data and the different planar acceleration data.

[0016] Optionally, the method for determining the installation error angle further includes:

[0017] Acquire third acceleration data in the device coordinate system when the vehicle is stationary, collected by the three-axis accelerometer;

[0018] Obtaining the error roll angle and the error pitch angle according to the second mapping relationship, the third acceleration data and the corresponding theoretical acceleration data;

[0019] The second mapping relationship is used to represent a mapping relationship between the device coordinate system and the vehicle coordinate system.

[0020] Optionally, the second angular velocity data includes second vertical axis angular velocity data in a device coordinate system;

[0021] The step of obtaining the error heading angle of the vehicle-mounted device according to the relationship between the second angular velocity data and the different planar acceleration data specifically includes:

[0022] Calculating the Pearson correlation coefficients between different plane acceleration data and the second vertical axis angular velocity data; wherein the plane acceleration data includes a plurality of plane acceleration values, and the second vertical axis angular velocity data includes a plurality of vertical axis angular velocity values;

[0023] Select the Pearson correlation coefficient that is closest to the target value;

[0024] The corresponding preset heading angle is determined as the error heading angle according to the closest Pearson correlation coefficient.

[0025] Optionally, the method for determining the installation error angle further includes:

[0026] In response to the second angular velocity data being greater than a corresponding angular velocity threshold, it is determined that the vehicle is in a turning driving state.

[0027] Optionally, the second acceleration data includes a second horizontal axis acceleration and a second vertical axis acceleration;

[0028] The step of calculating different plane acceleration data in the vehicle coordinate system according to the second acceleration data and different preset heading angles specifically includes:

[0029] Different fourth transverse-axis accelerations and fourth longitudinal-axis accelerations are respectively calculated according to the second transverse-axis acceleration, the second longitudinal-axis acceleration, and different preset heading angles;

[0030] Calculating the modulus of the fourth horizontal axis acceleration and the corresponding fourth longitudinal axis acceleration;

[0031] The modulus is determined as the plane acceleration data.

[0032] Optionally, the step of calculating different plane acceleration data in the vehicle coordinate system according to the second acceleration data and different preset heading angles specifically includes:

[0033] Get the current preset heading angle;

[0034] Calculating current plane acceleration data according to the second acceleration data and the current preset heading angle;

[0035] Increasing the current preset heading angle by a preset step length, and detecting whether the current preset heading angle increased by the preset step length is greater than a heading angle threshold;

[0036] In response to the current preset heading angle increased by the preset step length being not greater than the heading angle threshold, returning to the step of obtaining the current preset heading angle; until the current preset heading angle increased by the preset step length is greater than the heading angle threshold.

[0037] In a second aspect, a system for determining an installation error angle of a vehicle-mounted device is provided, wherein the vehicle-mounted device is provided with a six-axis IMU, and the six-axis IMU includes a three-axis accelerometer and a three-axis gyroscope;

[0038] The installation error angle determination system comprises: an acquisition module, a mapping relationship determination module, an acceleration calculation module, an angular velocity calculation module and an installation error angle calculation module;

[0039] The acquisition module is used to acquire the error roll angle and error pitch angle of the vehicle-mounted device;

[0040] The mapping relationship determination module is used to obtain a first mapping relationship according to the error roll angle and the error pitch angle; the first mapping relationship is used to represent the mapping relationship between the device coordinate system of the vehicle-mounted device and the vehicle coordinate system when the vertical axis is not rotated;

[0041] The acquisition module is also used to acquire first acceleration data in the device coordinate system when the vehicle is traveling, which is collected by the three-axis accelerometer;

[0042] The acceleration calculation module is used to obtain second acceleration data in the vehicle coordinate system according to the first mapping relationship and the first acceleration data; and to calculate different plane acceleration data in the vehicle coordinate system according to the second acceleration data and different preset heading angles;

[0043] The acquisition module is also used to acquire first angular velocity data in the device coordinate system when the vehicle is turning and collected by the three-axis gyroscope;

[0044] The angular velocity calculation module is used to obtain second angular velocity data in the vehicle coordinate system according to the first mapping relationship and the first angular velocity data;

[0045] The installation error angle calculation module is used to obtain the error heading angle of the vehicle-mounted device according to the relationship between the second angular velocity data and the different planar acceleration data.

[0046] Optionally, the acquisition module is further used to acquire third acceleration data in the device coordinate system when the vehicle is stationary, which is collected by the three-axis accelerometer;

[0047] The installation error angle calculation module is further used to obtain the error roll angle and the error pitch angle according to the second mapping relationship, the third acceleration data and the corresponding theoretical acceleration data;

[0048] The second mapping relationship is used to represent a mapping relationship between the device coordinate system and the vehicle coordinate system.

[0049] Optionally, the second angular velocity data includes second vertical axis angular velocity data in the device coordinate system; the installation error angle calculation module includes a calculation unit, a selection unit and a determination unit;

[0050] The calculation unit is used to calculate the Pearson correlation coefficient between different plane acceleration data and the second vertical axis angular velocity data; wherein the plane acceleration data includes a plurality of plane acceleration values, and the second vertical axis angular velocity data includes a plurality of vertical axis angular velocity values;

[0051] The selection unit is used to select the Pearson correlation coefficient closest to the target value;

[0052] The determining unit is used to determine, according to the closest Pearson correlation coefficient, a corresponding preset heading angle as an error heading angle.

[0053] Optionally, the installation error angle determination system further includes a vehicle state determination module, and the vehicle state determination module is used to: in response to the second angular velocity data being greater than a corresponding angular velocity threshold, determine that the vehicle is in a turning driving state.

[0054] Optionally, the second acceleration data includes a second horizontal axis acceleration and a second vertical axis acceleration;

[0055] The acceleration calculation module is specifically used to: calculate different fourth transverse axis accelerations and fourth longitudinal axis accelerations according to the second transverse axis acceleration, the second longitudinal axis acceleration and different preset heading angles; calculate the modulus of the fourth transverse axis acceleration and the corresponding fourth longitudinal axis acceleration; and determine the modulus as the plane acceleration data.

[0056] Optionally, the acceleration calculation module is also specifically used to: obtain the current preset heading angle; calculate the current plane acceleration data based on the second acceleration data and the current preset heading angle; increase the current preset heading angle by a preset step length, and detect whether the current preset heading angle that has been increased by the preset step length is greater than a heading angle threshold; in response to the current preset heading angle that has been increased by the preset step length being not greater than the heading angle threshold, obtain the current preset heading angle again; until the current preset heading angle that has been increased by the preset step length is greater than the heading angle threshold.

[0057] According to a third aspect, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and used to run on the processor, wherein when the processor executes the computer program, the method for determining the installation error angle of the vehicle-mounted equipment according to the first aspect is implemented.

[0058] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the method for determining the installation error angle of the vehicle-mounted equipment described in the first aspect is implemented.

[0059] In a fifth aspect, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the method for determining an installation error angle of a vehicle-mounted device as described in the first aspect.

[0060] On the basis of being in accordance with the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present disclosure.

[0061] The positive progress of the present disclosure is that: in order to solve the problem that the installation error angle is calculated based on the GNSS chip in the prior art, which leads to high cost and large product volume, the present disclosure determines the installation error angle of the vehicle-mounted device only based on the data collected by the six-axis IMU, and the data collected by the six-axis IMU includes acceleration data collected by the three-axis accelerometer and angular velocity data collected by the three-axis gyroscope. Specifically, the error roll angle and the error pitch angle are obtained according to the relationship between the acceleration data of the device coordinate system in the stationary state of the vehicle and the theoretical acceleration data, and then the first mapping relationship between the device coordinate system of the vehicle-mounted device and the vehicle coordinate system when the vertical axis does not rotate is obtained according to the error roll angle and the error pitch angle. According to the first mapping relationship, the acceleration data and angular velocity data of the device coordinate system when the vehicle is turning are respectively obtained, and the acceleration data and angular velocity data in the vehicle coordinate system are obtained, and then different plane acceleration data are calculated according to the acceleration data in the vehicle coordinate system and different preset heading angles, and finally the error heading angle is determined according to the correlation coefficient between different plane acceleration data and angular velocity data. Therefore, the installation error angle determination method disclosed in the present invention is simpler, does not require the use of data collected by the GNSS chip, reduces the estimation cost, and also reduces the volume of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 A flowchart of a method for determining an installation error angle of a vehicle-mounted device provided in Embodiment 1 of the present disclosure;

[0063] Figure 2 A specific flow chart of step S11 provided in Example 1 of the present disclosure;

[0064] Figure 3 A schematic diagram of a specific vehicle coordinate system provided in Embodiment 1 of the present disclosure;

[0065] Figure 4 A specific flow chart of step S18 provided in Example 1 of the present disclosure;

[0066] Figure 5 A partial flow chart of step S15 provided in Embodiment 1 of the present disclosure;

[0067] Figure 6 A partial flow chart of step S15 provided in Embodiment 1 of the present disclosure;

[0068] Figure 7 A partial flow chart of a method for determining an installation error angle of a vehicle-mounted device provided in Embodiment 1 of the present disclosure;

[0069] Figure 8 A partial flow chart of another method for determining an installation error angle of a vehicle-mounted device provided in Embodiment 1 of the present disclosure;

[0070] Fig. 9 A partial flow chart of another method for determining an installation error angle of a vehicle-mounted device provided in Embodiment 1 of the present disclosure;

[0071] Fig.10 A schematic diagram of a module of a system for determining an installation error angle of a vehicle-mounted device provided in Embodiment 2 of the present disclosure;

[0072] Fig.11 A module schematic diagram of an electronic device provided in Embodiment 3 of the present disclosure. DETAILED DESCRIPTION

[0073] The present disclosure is further described below by way of examples, but the present disclosure is not limited to the scope of the examples.

[0074] Prefixes such as "first" and "second" are used in the embodiments of the present disclosure only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present disclosure does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and no unnecessary limitation should be constituted due to the use of such prefixes. In addition, in the description of the present embodiment, unless otherwise specified, the meaning of "plurality" is two or more.

[0075] Example 1

[0076] Figure 1 A flow chart of a method for determining an installation error angle of a vehicle-mounted device provided in this embodiment, wherein the vehicle-mounted device is provided with a six-axis IMU, and the six-axis IMU includes a three-axis accelerometer and a three-axis gyroscope; the method for determining the installation error angle includes the following steps:

[0077] S11, obtaining an error roll angle and an error pitch angle of the vehicle-mounted device.

[0078] In this embodiment, the installation error angle refers to the angle between the device coordinate system of the vehicle-mounted device and the vehicle coordinate system. The installation error angle includes an error roll angle, an error pitch angle, and an error heading angle. Among them, the error roll angle, also known as the Roll angle, is the angle of rotation around the horizontal axis of the device coordinate system to the horizontal axis of the vehicle coordinate system; the error pitch angle, also known as the Pitch angle, is the angle of rotation around the vertical axis of the device coordinate system to the vertical axis of the vehicle coordinate system; the error heading angle, also known as the Yaw angle, is the angle of rotation around the vertical axis of the device coordinate system to the vertical axis of the vehicle coordinate system.

[0079] In a specific implementation, the device coordinate system is consistent with the coordinate system of the six-axis IMU in the vehicle-mounted device.

[0080] S12. Obtain a first mapping relationship according to the error roll angle and the error pitch angle; the first mapping relationship is used to represent a mapping relationship between a device coordinate system of the vehicle-mounted device and a vehicle coordinate system when the vertical axis is not rotated.

[0081] In this embodiment, the first mapping relationship can be represented by a first rotation matrix C1, wherein the calculation process of the first rotation matrix C1 is as follows:

[0082]

[0083] Wherein, φ is the error roll angle, θ is the error pitch angle;

[0084] Represents the basic rotation matrix corresponding to the error roll angle;

[0085] Represents the basic rotation matrix corresponding to the error pitch angle;

[0086] In the first mapping relationship, since the device coordinate system and the vehicle coordinate system of the vehicle-mounted device do not rotate on the vertical axis, the error heading angle is equal to 0. When the error heading angle is zero, the basic rotation matrix corresponding to the error heading angle can be represented by the unit matrix E.

[0087] In this embodiment, the acquired known data of the error roll angle and the error pitch angle of the vehicle-mounted device are brought into the calculation formula of the first rotation matrix C1 to obtain the corresponding first rotation matrix.

[0088] S13: Acquire first acceleration data in the device coordinate system when the vehicle is traveling, collected by the three-axis accelerometer.

[0089] S14. Obtain second acceleration data in the vehicle coordinate system according to the first mapping relationship and the first acceleration data.

[0090] In this embodiment, the second acceleration data is calculated according to the following equation:

[0091]

[0092] Wherein, b represents the device coordinate system, and n represents the vehicle coordinate system; represents the first acceleration data, Represents the first horizontal axis acceleration in the device coordinate system. Represents the first vertical axis acceleration in the device coordinate system. The first vertical axis acceleration in the device coordinate system; represents the second acceleration data, represents the second horizontal axis acceleration in the vehicle coordinate system, represents the second longitudinal axis acceleration in the vehicle coordinate system, The acceleration of the second vertical axis in the vehicle coordinate system.

[0093] S15. Calculate different plane acceleration data in the vehicle coordinate system according to the second acceleration data and different preset heading angles.

[0094] In this embodiment, according to the second horizontal axis acceleration in the second acceleration data Second vertical axis acceleration And different preset heading angles are calculated to obtain different plane acceleration data in the vehicle coordinate system.

[0095] S16: Acquire first angular velocity data in the device coordinate system collected by the three-axis gyroscope when the vehicle turns.

[0096] S17. Obtain second angular velocity data in the vehicle coordinate system according to the first mapping relationship and the first angular velocity data.

[0097] In this embodiment, the second angular velocity data is calculated according to the following equation:

[0098]

[0099] Wherein, b represents the device coordinate system, and n represents the vehicle coordinate system; represents the first angular velocity data, Indicates the angular velocity of the first horizontal axis in the device coordinate system. Represents the angular velocity of the first longitudinal axis in the device coordinate system. Angular velocity of the first vertical axis in the device coordinate system; represents the second angular velocity data, represents the angular velocity of the second horizontal axis in the vehicle coordinate system, represents the angular velocity of the second longitudinal axis in the vehicle coordinate system, The angular velocity of the second vertical axis in the vehicle coordinate system.

[0100] S18. Obtaining an error heading angle of the vehicle-mounted device according to a relationship between the second angular velocity data and the different planar acceleration data.

[0101] Among them, steps S11, S13 and S16 are all for obtaining relevant data, so the order of steps S11, S13 and S16 can be adjusted according to actual conditions as long as they are before the step of calculating according to the relevant data.

[0102] In addition, steps S13-S15 involve the calculation of plane acceleration data, and steps S16 and S17 involve second angular velocity data. In the present embodiment, the calculation of the second angular velocity data is located after the calculation of the plane acceleration data. However, in other embodiments, the order of the two is not limited, and the calculation of the second angular velocity data can also be set before the calculation of the plane acceleration data.

[0103] In this embodiment, the second angular velocity data in the vehicle coordinate system is obtained according to the first angular velocity data in the device coordinate system when the vehicle is turning and collected by the three-axis gyroscope, and the error heading angle is obtained according to the relationship between the second angular velocity data and the corresponding plane acceleration data. Therefore, the installation error angle determination method disclosed in the present invention does not need to use the data collected by the GNSS chip, and can directly calculate the error heading angle, which is simple to calculate, reduces the estimation cost, and reduces the volume of the product.

[0104] In an optional embodiment, Figure 2 As shown, the step S11 specifically includes:

[0105] S111. Acquire third acceleration data in the device coordinate system when the vehicle is stationary, collected by the three-axis accelerometer.

[0106] S112: Obtain the error roll angle and the error pitch angle according to a second mapping relationship, the third acceleration data, and corresponding theoretical acceleration data, wherein the second mapping relationship is used to represent a mapping relationship between the device coordinate system and the vehicle coordinate system.

[0107] In this embodiment, the second mapping relationship can be represented by a second rotation matrix C2, and each element in the second rotation matrix C2 is related to at least one of the error roll angle, the error pitch angle, and the error heading angle. The calculation process of the second rotation matrix C2 is as follows:

[0108]

[0109] Wherein, ψ is the error heading angle; In other embodiments, the second rotation matrix is ​​different according to the order of the basic rotation matrices A1, B1, and D1.

[0110] In this implementation, the error roll angle and the error pitch angle may be calculated specifically according to the following formula:

[0111]

[0112] in, represents the third acceleration data, Represents the third horizontal axis acceleration in the device coordinate system. Represents the acceleration of the third vertical axis in the device coordinate system. The third vertical axis acceleration in the device coordinate system.

[0113] Represents the corresponding theoretical acceleration data, represents the second horizontal axis acceleration in the vehicle coordinate system, represents the second longitudinal axis acceleration in the vehicle coordinate system, The second vertical axis acceleration in the vehicle coordinate system; specifically,

[0114] In this embodiment, when the vehicle is stationary, the acceleration data in the vehicle coordinate system is equivalent to the acceleration data in the geographic coordinate system, that is, in, Figure 3 This is a schematic diagram of a specific vehicle coordinate system, defining the vehicle's forward direction as the positive direction of the X-axis (horizontal axis), the right side of the vehicle as the positive direction of the Y-axis (vertical axis), and the vertical downward direction of the vehicle as the positive direction of the Z-axis (vertical axis) (specific direction Figure 3 (not shown); In addition, in the geographic coordinate system, the coordinate axis direction points to the east, north, and the direction of the sky, so the geographic coordinate system is also called the northeast sky coordinate system. In theory, the value of the third acceleration data collected by the three-axis accelerometer should also be equal to However, due to the installation error angle, the XOY plane of the device coordinate system of the vehicle-mounted device is not coplanar with the XOY plane of the vehicle coordinate system. Therefore, in the device coordinate system, the gravity acceleration that should have been applied to the Z axis (vertical axis) is partially divided into the X axis (horizontal axis) and the Y axis (vertical axis). Finally, according to the calculation of the above formula, the values ​​of the error roll angle φ and the error pitch angle θ are obtained.

[0115] In an optional implementation manner, the second angular velocity data includes second vertical axis angular velocity data in the device coordinate system; Figure 4 As shown, the step S18 specifically includes:

[0116] S181. Calculate the Pearson correlation coefficients between different plane acceleration data and the second vertical axis angular velocity data; wherein the plane acceleration data includes a plurality of plane acceleration values, and the second vertical axis angular velocity data includes a plurality of vertical axis angular velocity values.

[0117] In this embodiment, when the vehicle is driving normally in a straight line on the road (no drift), theoretically, the longitudinal acceleration of the vehicle coordinate system is equal to 0, and the vertical angular velocity of the vehicle coordinate system is equal to 0. When the vehicle turns, due to the circular motion of the vehicle, there is a centripetal acceleration in the longitudinal direction of the vehicle coordinate system, that is, there will continue to be an angular velocity data in the same direction as the turning direction on the vertical axis of the vehicle coordinate system. According to the physical formula a=ω 2 *R shows that the lateral acceleration of the vehicle is positively correlated with the angular velocity. Wherein, a represents the lateral acceleration of the vehicle, which is equivalent to the data set obtained in step S181; ω represents the angular velocity of the vehicle, and R represents the radius of the circular motion of the vehicle.

[0118] The correlation coefficient was first designed by statistician Karl Pearson. It is a statistical indicator that measures the degree of linear correlation between research variables and is generally represented by the letter r. Due to different research objects, there are many ways to define the correlation coefficient. The more commonly used one is the Pearson correlation coefficient. Its core idea is the degree of correlation between two random variables. Specifically, the Pearson correlation coefficient is an indicator that measures the degree of linear correlation between two variables. Its value ranges from -1 to 1, where 1 indicates a perfect positive correlation, -1 indicates a perfect negative correlation, and 0 indicates no linear correlation. If there are two sets of data X = {x1, x2,…, x n} and Y={y1,y2,…,y n}, the Pearson correlation coefficient r can be calculated by the following formula:

[0119]

[0120] Among them, x i Represents a value in the data set X, y i represents a value in the data set Y, i is a positive integer, and n represents x in the data set X. i or y in Y i The number of represents the mean value of the data set X, Represents the mean value of the data set Y.

[0121] In this embodiment, the plane acceleration data is equivalent to the data set X, and the second vertical axis angular velocity data is equivalent to the data set Y, so that the Pearson correlation coefficients between different plane acceleration data and the second vertical axis angular velocity data are calculated to obtain different r values.

[0122] S182, select the Pearson correlation coefficient closest to the target value. In this embodiment, the target value is 1, and the Pearson correlation coefficient closest to 1 is selected.

[0123] S183. Determine, according to the closest Pearson correlation coefficient, a corresponding preset heading angle as an error heading angle.

[0124] In this embodiment, the Pearson correlation coefficient between different plane acceleration data and the second vertical axis angular velocity data can be calculated to determine a certain plane acceleration data that has a positive correlation with the second vertical axis angular velocity data. Since the different plane acceleration data are obtained based on the second acceleration data and different preset heading angles, it can be determined that the preset heading angle is the error heading angle.

[0125] The error roll angle, the error pitch angle and the error heading angle are all brought into the second rotation matrix C2, and the specific rotation matrix C obtained by the vehicle-mounted device according to the specific installation error angle conversion can be obtained. Then, according to the calculation formula shown below, the acceleration data in the device coordinate system collected by the six-axis IMU can be obtained. Calculate the acceleration data in the vehicle coordinate system

[0126]

[0127] In an optional implementation manner, the method for determining the installation error angle further includes:

[0128] In response to the second angular velocity data being greater than a corresponding angular velocity threshold, it is determined that the vehicle is in a turning driving state.

[0129] In an optional implementation manner, the second acceleration data includes horizontal axis acceleration and vertical axis acceleration; Figure 5 As shown, the step S15 specifically includes:

[0130] S151. Calculate different fourth transverse-axis accelerations and fourth longitudinal-axis accelerations according to the second transverse-axis acceleration, the second longitudinal-axis acceleration, and different preset heading angles.

[0131] In this embodiment, the formula for calculating the fourth horizontal axis acceleration x4 is as follows:

[0132]

[0133] The formula for calculating the fourth horizontal axis acceleration y4 is as follows:

[0134]

[0135] Wherein, x4 represents the fourth horizontal axis acceleration, y4 represents the fourth vertical axis acceleration, ψ represents the preset heading angle, represents the second horizontal axis acceleration, Represents the second vertical axis acceleration.

[0136] S152, calculating the modulus of the fourth horizontal axis acceleration and the corresponding fourth longitudinal axis acceleration;

[0137] S153: Determine the module length as the plane acceleration data.

[0138] In this embodiment, the modulus of the fourth horizontal axis acceleration x4 and the corresponding fourth vertical axis acceleration y4 is calculated, so the plane acceleration data l is:

[0139]

[0140] In an optional embodiment, Figure 6 As shown, the step S15 specifically further includes:

[0141] S154: Obtain the current preset heading angle.

[0142] S155. Calculate current plane acceleration data according to the second acceleration data and the current preset heading angle.

[0143] S156: Increase the current preset heading angle by a preset step size.

[0144] S157: Detect whether the current preset heading angle increased by the preset step length is greater than the heading angle threshold.

[0145] In response to the current preset heading angle that has been increased by the preset step length being not greater than the heading angle threshold, the process returns to executing step S154 and obtaining the current preset heading angle, where the current preset heading angle is the current preset heading angle that has been increased by the preset step length; until the current preset heading angle that has been increased by the preset step length is greater than the heading angle threshold.

[0146] In this embodiment, the preset step size is set to 1 degree, the heading angle threshold is 360 degrees, and when the first preset heading angle obtained after the current preset heading angle is increased by the preset step size is not greater than 360 degrees, the first preset heading angle is obtained as the current preset heading angle; when the first preset heading angle obtained after the current preset heading angle is increased by the preset step size is greater than 360 degrees, the current preset heading angle is no longer obtained. In this embodiment, different plane acceleration data are first obtained according to different preset heading angles, and then different Pearson correlation coefficients are calculated according to the obtained different plane acceleration data and the second angular velocity data, and the Pearson correlation coefficient closest to the target value is selected from them, so as to determine the error heading angle.

[0147] In another optional implementation, the Pearson correlation coefficient corresponding to the current preset heading angle may be calculated based on the current preset heading angle, and then a preset step length is added to the current preset heading angle to detect whether the current preset heading angle increased by the preset step length is greater than the heading angle threshold. The specific steps are as follows: Figure 7 As shown:

[0148] S701. Obtain the current preset heading angle.

[0149] S702: Calculate a current fourth transverse axis acceleration and a current fourth longitudinal axis acceleration according to the second transverse axis acceleration, the second longitudinal axis acceleration, and a current preset heading angle.

[0150] S703: Calculate current plane acceleration data according to the current fourth horizontal axis acceleration and the corresponding current fourth vertical axis acceleration.

[0151] S704: Calculate a current Pearson correlation coefficient according to the current plane acceleration data and the second vertical axis angular velocity data.

[0152] S705: Increase the current preset heading angle by a preset step size.

[0153] S706: Detect whether the current preset heading angle increased by the preset step length is greater than the heading angle threshold.

[0154] In response to the current preset heading angle increased by the preset step length being not greater than the heading angle threshold, the process returns to step S701.

[0155] In response to the current preset heading angle increased by the preset step length being greater than the heading angle threshold, step 182 is executed to select the Pearson correlation coefficient closest to the target value.

[0156] In this embodiment, the preset step size is set to 1 degree, the heading angle threshold is 360 degrees, and when the first preset heading angle obtained by increasing the preset step size by the current preset heading angle is not greater than 360 degrees, the first preset heading angle is obtained as the current preset heading angle; when the first preset heading angle obtained by increasing the preset step size by the current preset heading angle is greater than 360 degrees, the current preset heading angle is no longer obtained, and the Pearson correlation coefficient closest to the target value is selected; thereby determining the error heading angle according to the Pearson correlation coefficient closest to the target value; and finally obtaining the installation error angle of the vehicle-mounted device. It can be seen that the method for determining the installation error angle does not require the use of data collected by the GNSS chip, the calculation is simpler, the estimation cost of the installation error angle is reduced, and the volume of the vehicle-mounted device is reduced.

[0157] In addition, in other implementations, the preset step size and heading angle threshold can be customized according to actual needs.

[0158] In a specific example, Figure 8 This is a partial flow chart of a method for determining an installation error angle of a vehicle-mounted device. The method for determining an installation error angle comprises the following steps:

[0159] S101, in response to the vehicle being in a stationary state, sampling third acceleration data in a device coordinate system within a preset time;

[0160] S102, calculating an average value of the third acceleration data within the preset time;

[0161] S103, calculating an error rolling angle and an error pitch angle according to the average value;

[0162] Specifically, the error pitch angle The calculation formula is:

[0163]

[0164] The calculation formula of the error rolling angle θ is:

[0165] θ=arctan(y / z)

[0166] Wherein, [xyz] is the average value of the third acceleration data within the preset time, x is the average value of the x-axis acceleration in the device coordinate system, y is the average value of the y-axis acceleration in the device coordinate system, and z is the average value of the z-axis acceleration in the device coordinate system.

[0167] S104. Obtain a horizontal direction cosine matrix according to the error roll angle and the error pitch angle, where the horizontal direction cosine matrix is ​​a first rotation matrix.

[0168] In a specific example, Fig. 9 This is a partial flow chart of a method for determining an installation error angle of a vehicle-mounted device. The method for determining an installation error angle comprises the following steps:

[0169] S201, in response to the vehicle being in a driving state, sampling first angular velocity data of a three-axis gyroscope in a device coordinate system and first acceleration data of a three-axis accelerometer in a device coordinate system;

[0170] S202, based on the horizontal direction cosine matrix, obtaining second angular velocity data and second acceleration data in a vehicle coordinate system according to the first angular velocity data and the first acceleration data;

[0171] S203, storing the second angular velocity data and the second acceleration data;

[0172] S204, detecting whether the z-axis angular velocity in the second angular velocity data is greater than a z-axis angular velocity threshold; the z-axis angular velocity is the second vertical axis angular velocity data;

[0173] In response to the z-axis angular velocity being greater than the z-axis angular velocity threshold, executing step S205 to determine that the vehicle is in a turning driving state; then executing step S207;

[0174] In response to the z-axis angular velocity being not greater than the z-axis angular velocity threshold, executing step S206, determining that the vehicle is in a straight-line driving state;

[0175] S207, obtaining the current preset heading angle;

[0176] S208, obtaining a converted acceleration value, that is, plane acceleration data, according to the second acceleration data and the current preset heading angle;

[0177] S209, calculating the correlation coefficient between the converted acceleration value and the z-axis angular velocity;

[0178] S210, increasing the current preset heading angle by 1 degree;

[0179] S211, detecting whether the current preset heading angle increased by 1 degree is greater than 360 degrees;

[0180] In response to the current preset heading angle increased by 1 degree not being greater than the heading angle threshold, returning to step S207 to obtain the current preset heading angle; wherein the current preset heading angle is the current preset heading angle increased by 1 degree;

[0181] In response to the current preset heading angle increased by 1 degree being greater than the heading angle threshold, step S212 is executed to select a correlation coefficient closest to the target value, and determine that the corresponding preset heading angle is the error heading angle.

[0182] In this embodiment, the first angular velocity data and the first acceleration data in the device coordinate system are converted into the second angular velocity data and the second acceleration data in the vehicle coordinate system by calculating the horizontal direction cosine matrix, and then the converted X-axis acceleration and Y-axis acceleration are respectively calculated according to the X-axis acceleration and the Y-axis acceleration in the second acceleration data and different preset heading angles, and then the plane acceleration data, that is, the acceleration value, is obtained according to the converted X-axis acceleration and the Y-axis acceleration, and the error heading angle is determined according to the correlation coefficient between the acceleration value and the Z-axis angular velocity in the second angular velocity data. This method for determining the installation error angle does not require the use of data collected by the GNSS chip, and the calculation is simpler, which reduces the estimation cost of the installation error angle and also reduces the volume of the vehicle-mounted equipment.

[0183] Example 2

[0184] Corresponding to the aforementioned embodiment 1 of the method for determining the installation error angle of a vehicle-mounted device, the present disclosure also provides an embodiment of a system for determining the installation error angle of a vehicle-mounted device.

[0185] Fig.10 The module schematic diagram of a system for determining an installation error angle of a vehicle-mounted device provided by an embodiment of the present disclosure, wherein the vehicle-mounted device is provided with a six-axis IMU, and the six-axis IMU includes a three-axis accelerometer and a three-axis gyroscope; the installation error angle determination system 20 includes: an acquisition module 21, a mapping relationship determination module 22, an acceleration calculation module 23, an angular velocity calculation module 24, and an installation error angle calculation module 25;

[0186] The acquisition module is used to acquire the error roll angle and error pitch angle of the vehicle-mounted device;

[0187] The mapping relationship determination module is used to obtain a first mapping relationship according to the error roll angle and the error pitch angle; the first mapping relationship is used to represent the mapping relationship between the device coordinate system of the vehicle-mounted device and the vehicle coordinate system when the vertical axis is not rotated;

[0188] The acquisition module is also used to acquire first acceleration data in the device coordinate system when the vehicle is traveling, which is collected by the three-axis accelerometer;

[0189] The acceleration calculation module is used to obtain second acceleration data in the vehicle coordinate system according to the first mapping relationship and the first acceleration data; and to calculate different plane acceleration data in the vehicle coordinate system according to the second acceleration data and different preset heading angles;

[0190] The acquisition module is also used to acquire first angular velocity data in the device coordinate system when the vehicle is turning and collected by the three-axis gyroscope;

[0191] The angular velocity calculation module is used to obtain second angular velocity data in the vehicle coordinate system according to the first mapping relationship and the first angular velocity data;

[0192] The installation error angle calculation module is used to obtain the error heading angle of the vehicle-mounted device according to the relationship between the second angular velocity data and the different planar acceleration data.

[0193] As for the system embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The system embodiment described above is only illustrative, wherein the units described as separate components may or may not be physically separated, and the components as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the disclosed solution.

[0194] Example 3

[0195] Fig.11 This is a schematic diagram of the structure of an electronic device shown in this embodiment, the electronic device includes a memory, a processor, and a computer program stored in the memory and used to run on the processor, and when the processor executes the computer program, it implements the method for determining the installation error angle of the vehicle-mounted equipment described in the above-mentioned embodiment 1. Fig.11 The electronic device 30 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0196] like Fig.11 As shown, the electronic device 30 may be in the form of a general-purpose computing device, for example, it may be a server device. The components of the electronic device 30 may include, but are not limited to: at least one processor 31, at least one memory 32, and a bus 33 connecting different system components (including the memory 32 and the processor 31).

[0197] The bus 33 includes a data bus, an address bus, and a control bus.

[0198] The memory 32 may include a volatile memory, such as a random access memory (RAM) 321 and / or a cache memory 322 , and may further include a read-only memory (ROM) 323 .

[0199] The memory 32 may also include a program tool 325 (or utility) having a set (at least one) of program modules 324, such program modules 324 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include an implementation of a network environment.

[0200] The processor 31 executes various functional applications and data processing by running the computer programs stored in the memory 32, such as the method for determining the installation error angle of the vehicle-mounted device provided in the above-mentioned embodiment 1.

[0201] The electronic device 30 may also communicate with one or more external devices 34 (e.g., keyboards, pointing devices, etc.). Such communication may be performed via an input / output (I / O) interface 35. Furthermore, the electronic device 30 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 36. Fig.11 As shown, the network adapter 36 communicates with other modules of the electronic device 30 via the bus 33. It should be understood that although Fig.11 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 30, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems.

[0202] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided into multiple units / modules to be embodied.

[0203] Example 4

[0204] The embodiment of the present disclosure also provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the method for determining the installation error angle of the vehicle-mounted device provided in the above-mentioned embodiment 1 is implemented.

[0205] The readable storage medium may include but is not limited to: a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device or any suitable combination of the above.

[0206] Example 5

[0207] The embodiment of the present disclosure also provides a computer program product, including a computer program, which, when executed by a processor, implements the method for determining the installation error angle of the vehicle-mounted device described in the above-mentioned embodiment 1.

[0208] Among them, the program code for executing the computer program product of the present disclosure can be written in any combination of one or more programming languages, and the program code can be executed completely on the user device, partially on the user device, as an independent software package, partially on the user device and partially on a remote device, or completely on the remote device.

[0209] Although the specific embodiments of the present disclosure are described above, those skilled in the art should understand that this is only an example, and the protection scope of the present disclosure is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present disclosure, but these changes and modifications all fall within the protection scope of the present disclosure.

Claims

1. A method for determining an installation error angle of a vehicle-mounted device, characterized in that: The vehicle-mounted device is provided with a six-axis IMU, and the six-axis IMU includes a three-axis accelerometer and a three-axis gyroscope; The method for determining the installation error angle comprises the following steps: Obtaining an error roll angle and an error pitch angle of the vehicle-mounted device; A first mapping relationship is obtained according to the error roll angle and the error pitch angle; the first mapping relationship is used to represent a mapping relationship between a device coordinate system of the vehicle-mounted device and a vehicle coordinate system when the vertical axis is not rotated; Acquire first acceleration data in the device coordinate system when the vehicle is traveling, collected by the three-axis accelerometer; Obtaining second acceleration data in the vehicle coordinate system according to the first mapping relationship and the first acceleration data; Calculating different plane acceleration data in the vehicle coordinate system according to the second acceleration data and different preset heading angles; Acquire first angular velocity data in the device coordinate system collected by the three-axis gyroscope when the vehicle is turning; Obtaining second angular velocity data in the vehicle coordinate system according to the first mapping relationship and the first angular velocity data; The error heading angle of the vehicle-mounted device is obtained according to the relationship between the second angular velocity data and the different planar acceleration data.

2. The method for determining the installation error angle according to claim 1, characterized in that: The installation error angle determination method further includes: Acquire third acceleration data in the device coordinate system when the vehicle is stationary, collected by the three-axis accelerometer; Obtaining the error roll angle and the error pitch angle according to the second mapping relationship, the third acceleration data and the corresponding theoretical acceleration data; The second mapping relationship is used to represent a mapping relationship between the device coordinate system and the vehicle coordinate system.

3. The method for determining the installation error angle according to claim 1, characterized in that: The second angular velocity data includes second vertical axis angular velocity data in the device coordinate system; The step of obtaining the error heading angle of the vehicle-mounted device according to the relationship between the second angular velocity data and the different planar acceleration data specifically includes: Calculating the Pearson correlation coefficients between different plane acceleration data and the second vertical axis angular velocity data; wherein the plane acceleration data includes a plurality of plane acceleration values, and the second vertical axis angular velocity data includes a plurality of vertical axis angular velocity values; Select the Pearson correlation coefficient that is closest to the target value; The corresponding preset heading angle is determined as the error heading angle according to the closest Pearson correlation coefficient.

4. The method for determining the installation error angle according to claim 1, characterized in that: The installation error angle determination method further includes: In response to the second angular velocity data being greater than a corresponding angular velocity threshold, it is determined that the vehicle is in a turning driving state.

5. The method for determining the installation error angle according to claim 3, characterized in that: The second acceleration data includes a second horizontal axis acceleration and a second vertical axis acceleration; The step of calculating different plane acceleration data in the vehicle coordinate system according to the second acceleration data and different preset heading angles specifically includes: Different fourth transverse-axis accelerations and fourth longitudinal-axis accelerations are respectively calculated according to the second transverse-axis acceleration, the second longitudinal-axis acceleration, and different preset heading angles; Calculating the modulus of the fourth horizontal axis acceleration and the corresponding fourth longitudinal axis acceleration; The modulus is determined as the plane acceleration data.

6. The method for determining the installation error angle according to any one of claims 1 to 5, characterized in that: The step of calculating different plane acceleration data in the vehicle coordinate system according to the second acceleration data and different preset heading angles specifically includes: Get the current preset heading angle; Calculating current plane acceleration data according to the second acceleration data and the current preset heading angle; Increasing the current preset heading angle by a preset step length, and detecting whether the current preset heading angle increased by the preset step length is greater than a heading angle threshold; In response to the current preset heading angle increased by the preset step length being not greater than the heading angle threshold, returning to the step of obtaining the current preset heading angle; until the current preset heading angle increased by the preset step length is greater than the heading angle threshold.

7. A system for determining an installation error angle of a vehicle-mounted device, characterized in that: The vehicle-mounted device is provided with a six-axis IMU, and the six-axis IMU includes a three-axis accelerometer and a three-axis gyroscope; The installation error angle determination system comprises: an acquisition module, a mapping relationship determination module, an acceleration calculation module, an angular velocity calculation module and an installation error angle calculation module; The acquisition module is used to acquire the error roll angle and error pitch angle of the vehicle-mounted device; The mapping relationship determination module is used to obtain a first mapping relationship according to the error roll angle and the error pitch angle; the first mapping relationship is used to represent the mapping relationship between the device coordinate system of the vehicle-mounted device and the vehicle coordinate system when the vertical axis is not rotated; The acquisition module is also used to acquire first acceleration data in the device coordinate system when the vehicle is traveling, which is collected by the three-axis accelerometer; The acceleration calculation module is used to obtain second acceleration data in the vehicle coordinate system according to the first mapping relationship and the first acceleration data; and to calculate different plane acceleration data in the vehicle coordinate system according to the second acceleration data and different preset heading angles; The acquisition module is also used to acquire first angular velocity data in the device coordinate system when the vehicle is turning and collected by the three-axis gyroscope; The angular velocity calculation module is used to obtain second angular velocity data in the vehicle coordinate system according to the first mapping relationship and the first angular velocity data; The installation error angle calculation module is used to obtain the error heading angle of the vehicle-mounted device according to the relationship between the second angular velocity data and the different planar acceleration data.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and used to run on the processor, characterized in that: When the processor executes the computer program, the method for determining the installation error angle of the vehicle-mounted device according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for determining the installation error angle of the vehicle-mounted device according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for determining the installation error angle of the vehicle-mounted device according to any one of claims 1 to 6 is implemented.

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