Inertial measurement device three-axis installation angle estimation method, device, equipment and medium

Abstract

The invention discloses an inertial measurement device three-axis installation angle estimation method and device, equipment and a medium, and relates to the technical field of navigation. The inertial measurement device three-axis installation angle estimation method comprises the following steps: acquiring first data; according to the first data, constructing observed quantities in each direction in the carrier coordinate system; according to at least one of the first corresponding relation and the second corresponding relation and the observed quantity, an equation with three-axis mounting angles of the inertial measurement device as unknown parameters is established, and the three-axis mounting angles comprise a roll mounting angle, a pitch mounting angle and a course mounting angle; according to the equation, constructing an optimal estimation problem taking the three-axis mounting angle of the inertial measurement device as a to-be-estimated parameter; and solving the optimal estimation problem to obtain a first estimated value of the three-axis mounting angle of the inertial measurement device. According to the scheme disclosed by the invention, a relatively large mounting angle can be estimated, and a roll mounting angle can be estimated.

Description

Technical Field

[0001] The present application belongs to the field of navigation technology, and in particular relates to a method, device, equipment and medium for estimating the three-axis installation angle of an inertial measurement device. Background Art

[0002] In a strapdown inertial navigation system, the inertial measurement unit (IMU) is generally installed on the carrier through a rigid connection. The motion state solved by the strapdown inertial navigation system reflects the motion state of the IMU itself. Due to the installation error between the IMU and the carrier, the motion state solved by the strapdown inertial navigation system sometimes cannot truly reflect the motion state of the carrier. Therefore, in order to ensure that the state solved by the strapdown inertial navigation system can reflect the motion state of the carrier with higher accuracy, the installation of the IMU needs to meet the following two conditions:

[0003] The first condition: the connection between the carrier and the IMU should be kept as rigid as possible, and no relative motion should occur during navigation;

[0004] The second condition: the axes of the IMU coordinate system should coincide with or be parallel to the axes of the carrier coordinate system as much as possible, that is, the installation angle should be distributed as close to zero as possible.

[0005] The first condition is easy to meet; but for the second condition, sometimes due to product design or the combined navigation system is only temporarily installed, the installation angle between the IMU and the carrier cannot be distributed near the zero value. In extreme cases, there may even be an installation angle of dozens of degrees. Such an installation status will have a great adverse effect on the accuracy of the strapdown inertial navigation system. The current method to solve this adverse effect is to measure the installation angle and input it into the strapdown inertial navigation system to compensate for the impact of the installation angle. However, since it is troublesome to measure the angle more accurately, the installation angle is usually estimated.

[0006] In the related art, only a smaller installation angle can be estimated based on a small angle assumption, but a larger installation angle cannot be estimated, and the roll installation angle cannot be estimated. Summary of the invention

[0007] The embodiments of the present application provide a method, device, equipment and medium for estimating the three-axis installation angle of an inertial measurement device, which can solve the problem of being unable to estimate a larger installation angle and being unable to estimate the rolling installation angle.

[0008] In a first aspect, an embodiment of the present application provides a method for estimating a three-axis installation angle of an inertial measurement device, comprising:

[0009] Acquiring first data, wherein the first data includes second data received from a combined navigation system carried on a carrier and third data received from a sensor carried on the carrier;

[0010] Constructing observation quantities in various directions in the carrier coordinate system according to the first data;

[0011] According to at least one of the first corresponding relationship and the second corresponding relationship and the observed quantity, an equation with the three-axis installation angle of the inertial measurement device as an unknown parameter is established; wherein the first corresponding relationship is the corresponding relationship between the velocity of the carrier in the carrier coordinate system and the inertial measurement device coordinate system, the second corresponding relationship is the corresponding relationship between the acceleration of the carrier in the carrier coordinate system and the inertial measurement device coordinate system, and the three-axis installation angle includes a roll installation angle, a pitch installation angle, and a heading installation angle;

[0012] According to the equation, an optimal estimation problem is constructed with the three-axis installation angle of the inertial measurement device as the parameter to be estimated;

[0013] The optimal estimation problem is solved to obtain the first estimated value of the three-axis installation angle of the inertial measurement device.

[0014] In a second aspect, an embodiment of the present application provides a three-axis installation angle estimation device for an inertial measurement device, comprising:

[0015] An acquisition module, used for acquiring first data, wherein the first data includes second data received from a combined navigation system carried on a carrier and third data received from a sensor carried on the carrier;

[0016] A first construction module, used to construct observation quantities in various directions in the carrier coordinate system according to the first data;

[0017] An establishment module is used to establish an equation with the three-axis installation angle of the inertial measurement device as an unknown parameter according to at least one of the first corresponding relationship and the second corresponding relationship and the observed quantity; wherein the first corresponding relationship is the corresponding relationship between the velocity of the carrier in the carrier coordinate system and the inertial measurement device coordinate system, the second corresponding relationship is the corresponding relationship between the acceleration of the carrier in the carrier coordinate system and the inertial measurement device coordinate system, and the three-axis installation angle includes a roll installation angle, a pitch installation angle, and a heading installation angle;

[0018] The second construction module is used to construct an optimal estimation problem with the three-axis installation angle of the inertial measurement device as the parameter to be estimated according to the equation;

[0019] The estimation module is used to solve the optimal estimation problem and obtain the first estimated value of the three-axis installation angle of the inertial measurement device.

[0020] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the steps of the three-axis installation angle estimation method of the inertial measurement device provided in the embodiment of the present application are implemented.

[0021] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the steps of the three-axis installation angle estimation method of an inertial measurement device provided in the embodiment of the present application are implemented.

[0022] In a fifth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the steps of the three-axis installation angle estimation method of an inertial measurement device provided in the embodiment of the present application.

[0023] In an embodiment of the present application, by acquiring first data, wherein the first data includes second data received from a combined navigation system carried on a carrier and third data received from a sensor carried on the carrier; constructing observations in various directions in a carrier coordinate system according to the first data; establishing an equation with the three-axis installation angle of an inertial measurement device as an unknown parameter according to at least one of the first corresponding relationship and the second corresponding relationship and the observation; wherein the first corresponding relationship is the corresponding relationship between the velocity of the carrier in the carrier coordinate system and the inertial measurement device coordinate system, the second corresponding relationship is the corresponding relationship between the acceleration of the carrier in the carrier coordinate system and the inertial measurement device coordinate system, and the three-axis installation angle includes a roll installation angle, a pitch installation angle, and a heading installation angle; constructing an optimal estimation problem with the three-axis installation angle of the inertial measurement device as a parameter to be estimated according to the equation; solving the optimal estimation problem, and obtaining a first estimated value of the three-axis installation angle of the inertial measurement device. In this way, a larger installation angle can be estimated, and the roll installation angle can be estimated. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] Figure 1 It is a flow chart of a method for estimating a three-axis installation angle of an inertial measurement device provided in an embodiment of the present application;

[0026] Figure 2 It is a schematic diagram of the structure of the four-wheeled carrier and various coordinate systems provided in the embodiment of the present application;

[0027] Figure 3is a schematic diagram of a kinematic model of a four-wheeled vehicle provided in an embodiment of the present application when traveling in a straight line;

[0028] Figure 4 is a schematic diagram of a kinematic model of a four-wheeled vehicle turning when provided in an embodiment of the present application;

[0029] Figure 5 It is a structural schematic diagram of a three-axis installation angle estimation device for an inertial measurement device provided in an embodiment of the present application;

[0030] Figure 6 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0032] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0033] In the following, in conjunction with the accompanying drawings, the three-axis installation angle estimation method, device, equipment and medium of the inertial measurement device provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

[0034] Figure 1 : is a flow chart of a method for estimating the three-axis installation angle of an inertial measurement device provided in an embodiment of the present application. Figure 1 As shown, the method for estimating the three-axis installation angle of the inertial measurement device may include:

[0035] Step 101: Acquire first data, wherein the first data includes second data received from an integrated navigation system carried on a carrier and third data received from a sensor carried on the carrier;

[0036] In some possible implementations of the embodiments of the present application, the carrier in the embodiments of the present application is a wheeled carrier that moves by rolling wheels. The wheeled carrier in the embodiments of the present application is a carrier having at least two wheels on the same lateral transmission shaft, such as a car, a wheeled robot, etc.

[0037] In some possible implementations of the embodiments of the present application, the combined navigation system in the embodiments of the present application can be a navigation system obtained by combining a strapdown inertial navigation system (SINS) based on an IMU as the basic sensor and a global navigation satellite system (GNSS).

[0038] In some possible implementations of the embodiments of the present application, the second data in the embodiments of the present application include: specific force, inertial measurement device attitude, speed at the center of the inertial measurement device, local gravity acceleration; the third data at least includes the wheel speed of each wheel of the carrier. The third data may also include: the steering angle of each steering wheel of the carrier, the steering wheel angle and / or the transmission ratio of the steering wheel. Among them, the specific force in the embodiments of the present application is essentially acceleration, which refers to the difference between the absolute acceleration of the inertial measurement unit relative to the inertial space and the earth's gravity, which can be measured by the accelerometer in the inertial measurement unit, wherein, in the embodiments of the present application, the inertial space is a geocentric inertial coordinate system.

[0039] In some possible implementations of the embodiments of the present application, the sensor in the embodiments of the present application and the sensor in the integrated navigation system are different sensors.

[0040] Step 102: constructing observation quantities in various directions in the carrier coordinate system according to the first data;

[0041] In some possible implementations of the embodiments of the present application, before step 102, the three-axis mounting angle estimation method of the inertial measurement device provided by the embodiments of the present application may also include: determining the motion state of the carrier according to the wheel speed information of each wheel of the carrier, wherein the third data includes the wheel speed information of each wheel of the carrier; accordingly, step 102 may include: when the motion state of the carrier is a straight-line driving state, constructing velocity observations in the longitudinal and vertical directions within the carrier coordinate system; when the motion state of the carrier is a turning driving state, constructing acceleration observations and / or velocity observations in the longitudinal and lateral directions within the carrier coordinate system.

[0042] In some possible implementations of the embodiments of the present application, determining the motion state of the carrier based on the wheel speed information of multiple wheels of the carrier can include: determining that the carrier is in a turning driving state when a first average value of the steering angular velocities of the multiple wheels is greater than a first threshold and a second average value of the wheel speeds of the multiple wheels is greater than a second threshold; and determining that the carrier is in a straight driving state when the first average value is less than or equal to the first threshold and the second average value is greater than the second threshold.

[0043] In some possible implementations of the present application, according to the wheel speed information and known structural information of the carrier, using the wheel speeds of all wheels on the same lateral transmission shaft and the lever arm values ​​therebetween to calculate the steering angular velocity of the corresponding wheel, and calculating the first average value of the steering angular velocity of the plurality of wheels Calculate the second average of the wheel speeds of multiple wheels in, is the speed of the jth wheel of the carrier in the carrier coordinate system v.

[0044] when is greater than the first threshold THω and When the value is greater than the second threshold value THv, it is determined that the vehicle is in a turning driving state; when Less than or equal to THω and When it is greater than THv, it is determined that the carrier is in a straight-line driving state. The first threshold value and the second threshold value may be calibrated in advance through experiments.

[0045] In some possible implementations of the embodiments of the present application, when the motion state of the carrier is a straight-line driving state, constructing speed observations in the longitudinal direction and the vertical direction in the carrier coordinate system may include: when the motion state of the carrier is a straight-line driving state, determining zero as the speed observation in the vertical direction in the carrier coordinate system; and determining the average value of the speeds of all wheels of the carrier as the speed observation in the longitudinal direction in the carrier coordinate system.

[0046] Assume that the carrier coordinate system v system takes the carrier's forward direction as the positive direction of the X axis of the carrier coordinate system v system, the carrier's rightward direction as the positive direction of the Y axis of the carrier coordinate system v system, and the carrier's downward direction as the positive direction of the Z axis of the carrier coordinate system v system. Then, during the vehicle's driving process, the speed of the IMU center in the carrier coordinate system v system is It can be expressed as: in, for The component on the X-axis, for The component on the Y axis, for The component on the Z axis. The X axis is the longitudinal direction of the carrier, the Y axis is the lateral direction of the carrier, and the Z axis is the vertical direction of the carrier.

[0047] When the carrier is moving in a straight line, the velocity of the IMU center in the vertical direction of the carrier = 0; the velocity of the IMU center in the vertical direction of the carrier is shown in the following formula (1):

[0048]

[0049] The speed of the IMU center in the longitudinal direction of the vehicle is equal to the average speed of all wheels. The speed of the IMU center in the longitudinal direction of the vehicle is shown in the following formula (2):

[0050]

[0051] In formula (2), K is the velocity of the IMU center in the longitudinal direction of the carrier, A is the number of carrier wheels, is the speed of the jth wheel.

[0052] In some possible implementations of the embodiments of the present application, when the motion state of the carrier is a turning driving state, constructing acceleration observations and / or speed observations in the longitudinal and lateral directions within the carrier coordinate system may include: determining the component of the acceleration in the longitudinal direction generated by the resultant force acting on the carrier as the acceleration observation in the longitudinal direction within the carrier coordinate system; determining the component of the acceleration in the lateral direction generated by the resultant force acting on the carrier as the acceleration observation in the lateral direction within the carrier coordinate system; determining the projection of the wheel speed of the carrier in the longitudinal direction within the carrier coordinate system as the speed observation in the longitudinal direction within the carrier coordinate system; and determining the projection of the wheel speed of the carrier in the lateral direction within the carrier coordinate system as the speed observation in the lateral direction within the carrier coordinate system.

[0053] When the carrier turns, due to the friction between the wheels of the carrier and the ground, the carrier is finally subjected to a resultant force that points to the inside of the turning track. When this force is expressed in the carrier coordinate system v, its main components are expressed in the longitudinal and lateral directions of the carrier, that is, the X-axis direction and the Y-axis direction. Based on the kinematic model of the carrier and the wheel speed information of the carrier wheels, the resultant acceleration a generated by this resultant force in the carrier coordinate system v can be calculated more accurately. v Among them, the total acceleration a v As shown in the following formula (3):

[0054]

[0055] In formula (3), are the total acceleration a v The components in the longitudinal direction (X axis), lateral direction (Y axis) and vertical direction (Z axis) of the carrier coordinate system v, φ(·) is the kinematic model of the carrier. Usually, is 0. is the observed acceleration in the longitudinal direction in the carrier coordinate system, It is the observed acceleration in the lateral direction of the carrier coordinate system.

[0056] In some possible implementations of the embodiments of the present application, when there is a steering angle of a certain steering wheel, the wheel speed corresponding to the steering angle can be projected to the longitudinal direction and lateral direction of the carrier to obtain the speed observation in the longitudinal direction and the speed observation in the lateral direction in the carrier coordinate system. The wheel speed can be projected by the following formula (4):

[0057]

[0058] In formula (4), and are the longitudinal and lateral components of the wheel velocity corresponding to the jth steering wheel in the carrier coordinate system v, is the speed of the wheel corresponding to the j-th steering wheel, β j is the steering angle of the j-th steering wheel, and g(·,*) is a two-dimensional mapping function. That is, the observed velocity of the wheel corresponding to the jth steering wheel in the longitudinal direction of the carrier coordinate system v, That is, the observed velocity of the wheel corresponding to the jth steering wheel in the lateral direction in the carrier coordinate system v.

[0059] In some possible implementations of the embodiments of the present application, when there is a steering wheel angle of the carrier and a transmission ratio of the corresponding steering wheel, the approximate steering angle can be calculated, and then the corresponding wheel speed can be projected to the longitudinal direction and lateral direction of the carrier using a two-dimensional mapping function g(·,*) to obtain the speed observation in the longitudinal direction and the speed observation in the lateral direction in the carrier coordinate system. The wheel speed can be projected using the following formula (5):

[0060]

[0061] In formula (5), is the approximate steering angle corresponding to the jth steering wheel, α is the steering wheel angle, γ j is the transmission ratio between the jth steering wheel and the steering wheel angle, f(·,*) is a two-dimensional mapping function, and are the longitudinal and lateral components of the wheel velocity corresponding to the jth steering wheel in the carrier coordinate system v, is the speed of the wheel corresponding to the j-th steering wheel. That is, the observed velocity of the wheel corresponding to the jth steering wheel in the longitudinal direction of the carrier coordinate system v, That is, the observed velocity of the wheel corresponding to the jth steering wheel in the lateral direction in the carrier coordinate system v.

[0062] When there are both the steering angle of the steering wheel and the steering wheel angle and the corresponding steering wheel transmission ratio, the formula (4) and formula (5) with higher accuracy can be selected according to the accuracy of the speed observation quantity to calculate: and in, and They are the observed values ​​of the wheel speed in the longitudinal direction and the lateral direction in the carrier coordinate system v system respectively.

[0063] In some possible implementations of the embodiments of the present application, before step 102, the three-axis installation angle estimation method of the inertial measurement device provided by the embodiments of the present application may also include: detecting the validity of the first data; accordingly, step 102 may include: when the first data is valid, constructing observation quantities in various directions in the carrier coordinate system according to the first data.

[0064] In some possible implementations of the embodiments of the present application, the validity of the second data transmitted by the combined navigation system can be judged based on the combined navigation output quality flag and the navigation status; the validity of the third data transmitted by the vehicle-mounted sensor can be judged based on the valid indication bit of the vehicle-mounted sensor data transmission.

[0065] Step 103: establishing an equation with the three-axis installation angle of the inertial measurement device as an unknown parameter according to at least one of the first corresponding relationship and the second corresponding relationship and the observed quantity; wherein the first corresponding relationship is the corresponding relationship between the velocity of the carrier in the carrier coordinate system and the inertial measurement device coordinate system, the second corresponding relationship is the corresponding relationship between the acceleration of the carrier in the carrier coordinate system and the inertial measurement device coordinate system, and the three-axis installation angle includes a roll installation angle, a pitch installation angle, and a heading installation angle;

[0066] In some possible implementations of the embodiments of the present application, when the first corresponding relationship is known, the second corresponding relationship can be derived from the first corresponding relationship; when the second corresponding relationship is known, the first corresponding relationship can be derived from the second corresponding relationship; or, both the first corresponding relationship and the second corresponding relationship are known.

[0067] In some possible implementations of the embodiments of the present application, according to the first corresponding relationship, the second corresponding relationship and the observed value, an equation with the three-axis installation angle of the inertial measurement device as an unknown parameter is established as shown in the following formula (6):

[0068]

[0069] In formula (6), a v It is the performance of the acceleration generated by the resultant force on the carrier in the carrier coordinate system v; M1 is the known adjustment matrix of m1 rows and 3 columns; is the attitude matrix of the IMU coordinate system b relative to the carrier coordinate system v; a b f is the acceleration generated by the resultant force on the carrier in the IMU coordinate system b; b is the representation of the three-dimensional specific force vector f in the IMU coordinate system b; g b is the expression of gravity acceleration g in IMU coordinate system b; is the attitude matrix of the local geographic coordinate system n relative to the IMU coordinate system b; g n is the gravitational acceleration g expressed in the local geographic coordinate system n; is the velocity at the center of the IMU expressed in the carrier coordinate system v; M2 is the known adjustment matrix of m2 rows and 3 columns; It is the velocity at the center of the IMU expressed in the IMU coordinate system b; is the velocity at the center of the IMU expressed in the local geographic coordinate system n; m1 and m2 are the dimensions of the observation values.

[0070] The above formula (6) can be rewritten as the following formula (7):

[0071]

[0072] In formula (7), the column vector Column vector

[0073]

[0074] In some possible implementations of the present application, the wheel speed actually obtained is The correct way to write the speed is to use the center of the wheel as the reference point. Where Odo represents the wheel center. If the arm between the center of the jth wheel and the center of the IMU is measured in the carrier coordinate system v as When the vehicle posture changes greatly, and They are not equal, which is only true when the vehicle posture changes slightly. Otherwise, the gyroscope data needs to be used to correct it according to formula (7):

[0075]

[0076] In formula (8), ω represents the angular velocity, It describes the angular velocity of the b system relative to the n system in the b system. × represents the antisymmetric operation of the three-dimensional vector. is the wheel speed of the jth wheel, It is the velocity at the center of the IMU expressed in the carrier coordinate system v; is the attitude matrix of the IMU coordinate system b relative to the carrier coordinate system v; is the measurement value of the lever arm between the center of the jth wheel and the center of the IMU in the carrier coordinate system v.

[0077] In some possible implementations of the present application, in order to eliminate the influence of the lever arm, when using the equation below in formula (6), the carrier is required to be in a straight-line driving state, so that Can be used to eliminate The impact brought about.

[0078] Step 104: constructing an optimal estimation problem with the three-axis installation angle of the inertial measurement device as the parameter to be estimated according to the equation;

[0079] In some possible implementations of the embodiments of the present application, K groups of equations to be solved are constructed according to formula (7) within a period of time, and then the following optimal estimation problem can be constructed:

[0080]

[0081] In formula (9), Z is the index, σ Z is the assigned weight, T is the matrix transpose, R DCM is the set of all direction cosine matrices, 0 3×3 is a 3D all-zero square matrix; is the parameter to be estimated.

[0082] Step 105: Solve the optimal estimation problem to obtain a first estimated value of the three-axis installation angle of the inertial measurement device.

[0083] In some possible implementations of the embodiments of the present application, step 105 may include: using at least one of the following solution methods to solve the optimal estimation problem and obtain a first estimated value of the three-axis installation angle of the inertial measurement device:

[0084] Singular value decomposition solution method, neural network solution method, least squares solution method.

[0085] Among them, the least squares solution method includes but is not limited to the weighted least squares solution method and the weighted adaptive least squares solution method.

[0086] The optimal estimation problem shown in the above formula (9) is solved by singular value decomposition solution method, neural network solution method and / or least squares solution method to obtain the optimal solution of the optimal estimation problem: Then calculate the IMU three-axis installation angle according to the following formula (10):

[0087]

[0088] Wherein, in formula (10), θ, φ and ψ are the roll installation angle, pitch installation angle and heading installation angle respectively, and the function Tr(·) is the mapping relationship from the installation angle to the direction cosine matrix.

[0089] In an embodiment of the present application, by acquiring first data, wherein the first data includes second data received from a combined navigation system carried on a carrier and third data received from a sensor carried on the carrier; constructing observations in various directions in a carrier coordinate system according to the first data; establishing an equation with the three-axis installation angle of an inertial measurement device as an unknown parameter according to at least one of the first corresponding relationship and the second corresponding relationship and the observation; wherein the first corresponding relationship is the corresponding relationship between the velocity of the carrier in the carrier coordinate system and the inertial measurement device coordinate system, the second corresponding relationship is the corresponding relationship between the acceleration of the carrier in the carrier coordinate system and the inertial measurement device coordinate system, and the three-axis installation angle includes a roll installation angle, a pitch installation angle, and a heading installation angle; constructing an optimal estimation problem according to the equation; solving the optimal estimation problem, and obtaining a first estimated value of the three-axis installation angle of the inertial measurement device. In this way, a larger installation angle can be estimated, and the roll installation angle can be estimated.

[0090] In some possible implementations of the embodiments of the present application, the method for estimating the three-axis installation angle of the inertial measurement device provided in the embodiments of the present application may also include: eliminating first estimation values ​​that do not meet the first condition from multiple groups of first estimation values ​​to obtain multiple groups of second estimation values; fitting the multiple groups of second estimation values ​​to obtain the final estimation value of the three-axis installation angle of the inertial measurement device.

[0091] After obtaining multiple groups of first estimated values, the three-axis installation angles corresponding to the multiple groups of first estimated values ​​can be sorted and outliers can be marked, wherein the marking principle is: among the three-axis installation angles from the same direction cosine matrix, as long as any one axis is marked as an outlier, the other two axes are automatically marked as outliers. All three-axis installation angles that are not outliers are selected according to the outlier marks, and the variances of all three-axis installation angles that are not outliers are calculated. If the variance values ​​of the three-axis installation angles are all less than the set thresholds corresponding to the corresponding installation angles, it is considered that the optimal estimate of the three-axis installation angle has converged, and the fitting values ​​of all three-axis installation angles that are not outliers are calculated by the following formula (11):

[0092]

[0093] In formula (11), R is the fitting value, K D The number of elements to fit the angles to for all non-outlier triplets.

[0094] After the fitting value R is calculated by the above formula (11), the fitting value R is substituted into the above formula (10) to obtain the final estimated value of the three-axis installation angle.

[0095] In an embodiment of the present application, multiple groups of second estimated values ​​are obtained by eliminating first estimated values ​​that do not meet the first condition from multiple groups of first estimated values; then the multiple groups of second estimated values ​​are fitted to obtain final estimated values ​​of the three-axis installation angle of the inertial measurement device, which can improve the accuracy of the estimation of the three-axis installation angle of the inertial measurement device.

[0096] The following describes the three-axis installation angle estimation method of the inertial measurement device provided in the embodiment of the present application by taking a four-wheeled carrier as an example.

[0097] Figure 2 It is a schematic diagram of the structure of the four-wheeled carrier and various coordinate systems provided in the embodiment of the present application.

[0098] exist Figure 2 In the figure, d is the lateral track of the four-wheeled carrier, l is the longitudinal track of the four-wheeled carrier, and the four wheels of the four-wheeled carrier are numbered as follows: wheel 0 is the left front wheel, wheel 1 is the right front wheel, wheel 2 is the right rear wheel, and wheel 3 is the left rear wheel. The speed of each wheel is described as follows: V1 v , and The origin of the four-wheeled carrier coordinate system v is at the center of the rear wheel drive shaft of the vehicle body, the longitudinal direction is the positive direction of the X axis, the vertical direction is the positive direction of the Z axis, and the Y axis is determined by the right-hand principle. The three axes form a Cartesian coordinate system; the installation position of the IMU does not necessarily coincide with the origin of the four-wheeled carrier coordinate system, and there is a lever arm between the two; the IMU coordinate system b is defined as "front right lower". The origin of the four-wheeled carrier coordinate system v is O v , the origin of the IMU coordinate system b is O b ;Depend on Figure 2 It can be seen that there is an obvious installation angle between the IMU coordinate system b and the four-wheeled vehicle coordinate system v.

[0099] Figure 3 It is a schematic diagram of the kinematic model of the four-wheeled vehicle provided in the embodiment of the present application when traveling in a straight line.

[0100] exist Figure 3In the above figure, the origin of the four-wheeled carrier coordinate system v is at the center of the rear wheel drive shaft of the vehicle body, the longitudinal direction is the positive direction of the X axis, the vertical direction is the positive direction of the Z axis, and the Y axis is determined by the right-hand principle. The three axes form a Cartesian coordinate system; the IMU coordinate system b is defined as "front right lower", and the origin of the four-wheeled carrier coordinate system v is O v , the origin of the IMU coordinate system b is O b ;O b The coordinate point (X I , Y I , Z I ) place.

[0101] When the four-wheeled vehicle is traveling in a straight line, the speed in the vertical direction of the four-wheeled vehicle coordinate system v is always zero. The wheel speed is the performance of the four-wheeled vehicle speed in the longitudinal direction of the four-wheeled vehicle coordinate system v, which conforms to the above formulas (1) and (2).

[0102] Figure 4 It is a schematic diagram of the kinematic model of the four-wheeled vehicle turning provided in the embodiment of the present application.

[0103] exist Figure 4 In the above figure, the origin of the four-wheeled carrier coordinate system v is at the center of the rear wheel drive shaft of the vehicle body, the longitudinal direction is the positive direction of the X axis, the vertical direction is the positive direction of the Z axis, and the Y axis is determined by the right-hand principle. The three axes form a Cartesian coordinate system; the IMU coordinate system b is defined as "front right lower", and the origin of the four-wheeled carrier coordinate system v is O v , the origin of the IMU coordinate system b is O b ;O b The coordinate point (X I , Y I , Z I ) place.

[0104] When the four-wheeled vehicle turns, there is no obvious side slip of the wheels, no obvious side slip angle of the wheels, the wheel turning follows the Ackerman steering principle, and all wheels share the same steering center when the four-wheeled vehicle turns, and the center of the circle is represented by O.

[0105] When the four-wheeled vehicle turns, the information that the four-wheeled vehicle sensor can obtain is: the four-wheel speed V1 v , and Among them, wheel 0 and wheel 1 are steering wheels, and the steering angle of wheel 0 is β0 and the steering angle of wheel 1 is β1. According to the steering angles of wheel 0 and wheel 1 and the following formula (12), the components of the wheel speed in the longitudinal direction and the lateral direction of the four-wheeled vehicle coordinate system v can be obtained:

[0106]

[0107] In formula (12), is the speed of wheel j The component in the longitudinal direction of the four-wheeled carrier coordinate system v, is the speed of wheel j The component in the lateral direction of the four-wheeled carrier coordinate system v, β j is the steering angle of wheel j.

[0108] According to the kinematic model of the four-wheeled vehicle when turning and the wheel speeds of wheels 2 and 3, the components of the acceleration generated by the resultant force on the four-wheeled vehicle in the longitudinal and lateral directions of the four-wheeled vehicle coordinate system v are determined by the following formula (13):

[0109]

[0110] In formula (13), R I When the four-wheeled vehicle turns, the IMU center (i.e., the origin of the IMU coordinate system b) b ) turning radius; R is the turning radius of the non-steering wheel inside the four-wheeled carrier when the four-wheeled carrier turns, for example, when the four-wheeled carrier turns left, R is the turning radius of wheel No. 3, and when the four-wheeled carrier turns right, R is the turning radius of wheel No. 2; X I and Y I They are the components of the longitudinal and lateral directions of the IMU center in the v-system of the four-wheeled vehicle coordinate system; and are the wheel speeds of wheel 2 and wheel 3 respectively; d is the lateral track of the four-wheeled carrier; a is R I The angle between the wheel and R; ω is the instantaneous angular velocity of the four-wheeled vehicle around the turning center O; a C is the origin O of the IMU coordinate system b b The centripetal acceleration points to the turning center O; a L is the origin O of the IMU coordinate system b b With V I (t) linear acceleration in the same direction; V I (t) is the origin O of the IMU coordinate system b b with a C The instantaneous linear velocity is perpendicular to the For V I The time derivative of (t); and are the centripetal acceleration a C Components in the longitudinal and lateral directions in the four-wheeled vehicle coordinate system v; and are linear acceleration a L Components in the longitudinal and lateral directions in the four-wheeled vehicle coordinate system v.

[0111] First, various flags output by the integrated navigation system are received, and whether the data of the integrated navigation system is converged or available is determined by the various flags; if the data of the integrated navigation system is not converged or available, the various flags output by the integrated navigation system are received repeatedly in a loop to determine whether the data of the integrated navigation system is converged or available until the data of the integrated navigation system is converged or available.

[0112] When the data of the integrated navigation system converges or becomes available, the specific force f is obtained from the integrated navigation system and the carrier sensor. b , IMU attitude Velocity at the center of the IMU Gravity acceleration g n , wheel speed Steering angle β j , steering wheel angle α and the corresponding steering wheel transmission ratio γ j .

[0113] Determine whether the acquired data is valid based on the data validity bit and theoretical data range, and check whether the amount of acquired data meets the construction of the observation. When the data is invalid or the amount of data is insufficient, repeatedly acquire the above data until the acquired data is valid and the amount of data is sufficient to construct the observation.

[0114] When the acquired data is valid and the amount of data is sufficient to construct the observation quantity, the motion state of the four-wheeled vehicle is determined.

[0115] The wheel No. 0 and wheel No. 1 are grouped together, and the wheel No. 2 and wheel No. 3 are grouped together. The instantaneous angular velocity of the four-wheeled vehicle around the turning center is calculated using the third equation in formula (13), and its average value is calculated: Find the average of all wheel speeds

[0116] when Greater than the set threshold THω and When the value is greater than the set threshold value THv, it is determined that the four-wheeled vehicle is in a turning driving state; Less than or equal to THω and When it is greater than THv, it is determined that the four-wheeled vehicle is in a straight-line driving state. When it is less than or equal to THv, the four-wheeled vehicle is neither in a straight-line driving state nor in a turning driving state, and data is repeatedly acquired until the four-wheeled vehicle is in a straight-line driving state or a turning driving state.

[0117] When the four-wheeled vehicle is in a straight-line driving state, the velocity observations in the vertical direction and the longitudinal direction are determined by the above formulas (1) and (2).

[0118] When the four-wheeled vehicle is in a turning state, the acceleration observations in the longitudinal and lateral directions are determined by the above formula (13), and the speed observations in the longitudinal and lateral directions are determined by the above formula (12) or (5).

[0119] The above adjustment matrices M1 and M2 are designed as shown in the following formula (14):

[0120]

[0121] The above formulas (6) to (8) are used to construct equations with the IMU three-axis installation angle as the unknown parameter.

[0122] It is determined whether the number of equations is sufficient to construct an optimal estimation problem with the IMU three-axis installation angle as the parameter to be estimated. When the number of equations is sufficient to construct an optimal estimation problem with the IMU three-axis installation angle as the parameter to be estimated, an optimal estimation problem with the IMU three-axis installation angle as the parameter to be estimated is constructed. The optimal estimation problem with the IMU three-axis installation angle as the parameter to be estimated is shown in the above formula (9). The adjustment matrices M1 and M2 in formula (14) are substituted into the above formula (9), and then the optimal estimation problem is solved using a singular value decomposition solution method, a neural network solution method, or a least squares solution method to obtain an estimated value of the IMU three-axis installation angle.

[0123] When the number of estimated values ​​of the IMU three-axis installation angle reaches the set number, the estimated values ​​of the IMU three-axis installation angle corresponding to the multiple estimated values ​​are sorted and the outliers are marked. According to the outlier marks, all the estimated values ​​of the three-axis installation angles that are not outliers are selected, and the variances of the estimated values ​​of the three-axis installation angles that are not outliers are calculated. If the variance values ​​of the three-axis installation angles are all less than the set thresholds corresponding to the corresponding installation angles, it is considered that the optimal estimated value of the three-axis installation angle has converged. The fitting values ​​of all the three-axis installation angles that are not outliers are obtained by the above formula (11), and then the final estimated value of the IMU three-axis installation angle is calculated by the above formula (10).

[0124] In an embodiment of the present application, a kinematic model of the carrier is used to construct a three-dimensional observable in the carrier coordinate system, so that the roll installation angle becomes observable, thereby being able to estimate the roll installation angle; and there is no need to make a small angle assumption on the estimated three-dimensional installation angle, so that fast estimation of three-axis installation angles of any size can be achieved.

[0125] The present application also provides a three-axis installation angle estimation device for an inertial measurement device, such as Figure 5 shown. Figure 5: is a schematic diagram of the structure of the three-axis installation angle estimation device of the inertial measurement device provided in an embodiment of the present application. The three-axis installation angle estimation device 500 of the inertial measurement device may include:

[0126] An acquisition module 501 is used to acquire first data, wherein the first data includes second data received from an integrated navigation system carried on a carrier and third data received from a sensor carried on the carrier;

[0127] A first construction module 502 is used to construct observation quantities in various directions in the carrier coordinate system according to the first data;

[0128] Establishing module 503, used for establishing an equation with the three-axis installation angle of the inertial measurement device as an unknown parameter according to at least one of the first corresponding relationship and the second corresponding relationship and the observed quantity; wherein the first corresponding relationship is the corresponding relationship between the velocity of the carrier in the carrier coordinate system and the inertial measurement device coordinate system, the second corresponding relationship is the corresponding relationship between the acceleration of the carrier in the carrier coordinate system and the inertial measurement device coordinate system, and the three-axis installation angle includes a roll installation angle, a pitch installation angle and a heading installation angle;

[0129] The second construction module 504 is used to construct an optimal estimation problem with the three-axis installation angle of the inertial measurement device as the parameter to be estimated according to the equation;

[0130] The estimation module 505 is used to solve the optimal estimation problem and obtain a first estimation value of the three-axis installation angle of the inertial measurement device.

[0131] In an embodiment of the present application, by acquiring first data, wherein the first data includes second data received from a combined navigation system carried on a carrier and third data received from a sensor carried on the carrier; constructing observations in various directions in a carrier coordinate system according to the first data; establishing an equation with the three-axis installation angle of an inertial measurement device as an unknown parameter according to at least one of the first corresponding relationship and the second corresponding relationship and the observation; wherein the first corresponding relationship is the corresponding relationship between the velocity of the carrier in the carrier coordinate system and the inertial measurement device coordinate system, the second corresponding relationship is the corresponding relationship between the acceleration of the carrier in the carrier coordinate system and the inertial measurement device coordinate system, and the three-axis installation angle includes a roll installation angle, a pitch installation angle, and a heading installation angle; constructing an optimal estimation problem according to the equation; solving the optimal estimation problem, and obtaining a first estimated value of the three-axis installation angle of the inertial measurement device. In this way, a larger installation angle can be estimated, and the roll installation angle can be estimated.

[0132] In some possible implementations of the embodiments of the present application, the three-axis installation angle estimation device of the inertial measurement device provided in the embodiments of the present application further includes:

[0133] A determination module, configured to determine the motion state of the carrier according to wheel speed information of the plurality of wheels of the carrier, wherein the third data includes the wheel speed information of the plurality of wheels of the carrier;

[0134] Accordingly, the establishment module 502 includes:

[0135] The first establishment submodule is used to construct the velocity observations in the longitudinal direction and the vertical direction in the carrier coordinate system when the motion state of the carrier is a straight-line driving state;

[0136] The second establishing submodule is used to construct the acceleration observation and / or speed observation in the longitudinal direction and the lateral direction in the carrier coordinate system when the motion state of the carrier is a turning driving state.

[0137] In some possible implementations of the embodiments of the present application, the determination module is specifically used to:

[0138] When a first average value of the steering angular velocities of the plurality of wheels is greater than a first threshold value and a second average value of the wheel speeds of the plurality of wheels is greater than a second threshold value, determining that the carrier is in a turning driving state;

[0139] When the first average value is less than or equal to the first threshold value and the second average value is greater than the second threshold value, it is determined that the carrier is in a straight-line driving state.

[0140] In some possible implementations of the embodiments of the present application, the first establishing submodule is specifically used for:

[0141] When the motion state of the carrier is a straight-line driving state, zero is determined as the speed observation in the vertical direction in the carrier coordinate system; the average value of the speeds of all wheels of the carrier is determined as the speed observation in the longitudinal direction in the carrier coordinate system.

[0142] In some possible implementations of the embodiments of the present application, the second establishing submodule is specifically used for:

[0143] The component of the acceleration in the longitudinal direction generated by the resultant force on the carrier is determined as the observed acceleration in the longitudinal direction in the carrier coordinate system;

[0144] The component of the acceleration in the lateral direction generated by the resultant force on the carrier is determined as the observed acceleration in the lateral direction in the carrier coordinate system;

[0145] Determine the projection of the wheel speed of the carrier wheel in the longitudinal direction in the carrier coordinate system as the speed observation in the longitudinal direction in the carrier coordinate system;

[0146] The projection of the wheel speed of the carrier wheel in the lateral direction within the carrier coordinate system is determined as the speed observation in the lateral direction within the carrier coordinate system.

[0147] In some possible implementations of the embodiment of the present application, the estimation module 505 is specifically used for:

[0148] At least one of the following solving methods is used to solve the optimal estimation problem and obtain a first estimated value of the three-axis installation angle of the inertial measurement device:

[0149] Singular value decomposition solution method, neural network solution method, least squares solution method.

[0150] In some possible implementations of the embodiments of the present application, the three-axis installation angle estimation device of the inertial measurement device provided in the embodiments of the present application further includes:

[0151] A detection module, used for detecting the validity of the first data;

[0152] Accordingly, the first building module 502 is specifically used for:

[0153] When the first data is valid, observation quantities in various directions in the carrier coordinate system are constructed according to the first data.

[0154] In some possible implementations of the embodiments of the present application, the three-axis installation angle estimation device of the inertial measurement device provided in the embodiments of the present application further includes:

[0155] A elimination module, used for eliminating first estimated values ​​that do not meet the first condition from the multiple groups of first estimated values, to obtain multiple groups of second estimated values;

[0156] The fitting module is used to fit multiple groups of second estimated values ​​to obtain final estimated values ​​of the three-axis installation angle of the inertial measurement device.

[0157] In an embodiment of the present application, multiple groups of second estimated values ​​are obtained by eliminating first estimated values ​​that do not meet the first condition from multiple groups of first estimated values; then the multiple groups of second estimated values ​​are fitted to obtain final estimated values ​​of the three-axis installation angle of the inertial measurement device, which can improve the accuracy of the estimation of the three-axis installation angle of the inertial measurement device.

[0158] In some possible implementations of the embodiments of the present application, the second data includes:

[0159] Specific force, IMD attitude, velocity at the center of the IMD, local gravitational acceleration;

[0160] The third data at least includes: the wheel speed of each wheel of the carrier.

[0161] Figure 6 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0162] The electronic device may include a processor 601 and a memory 602 storing computer program instructions.

[0163] Specifically, the processor 601 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0164] The memory 602 may include a large capacity memory for data or instructions. For example, but not limitation, the memory 602 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 602 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 602 may be inside or outside the electronic device. In some specific embodiments, the memory 602 is a non-volatile solid-state memory.

[0165] In some specific embodiments, the memory may include a read-only memory (ROM), a random access memory (RAM), a disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Therefore, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer executable instructions, and when the software is executed (e.g., by one or more processors), it can be operated to perform the operations described with reference to the three-axis installation angle estimation method of the inertial measurement device according to the present application.

[0166] The processor 601 implements the three-axis installation angle estimation method of the inertial measurement device provided in the embodiment of the present application by reading and executing the computer program instructions stored in the memory 602.

[0167] In one example, the electronic device may further include a communication interface 603 and a bus 610. Figure 6 As shown, the processor 601, the memory 602, and the communication interface 603 are connected via a bus 610 and communicate with each other.

[0168] The communication interface 603 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0169] The bus 610 includes hardware, software or both, coupling the components of the electronic device to each other. For example, but not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro channel architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus or other suitable buses or a combination of two or more of these. Where appropriate, the bus 610 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0170] The electronic device can execute the three-axis installation angle estimation method for an inertial measurement device provided in the embodiment of the present application, thereby achieving the corresponding technical effects of the three-axis installation angle estimation method for an inertial measurement device provided in the embodiment of the present application.

[0171] In addition, in combination with the three-axis installation angle estimation method of the inertial measurement device in the above embodiment, the embodiment of the present application also provides a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, the three-axis installation angle estimation method of the inertial measurement device provided in the embodiment of the present application is implemented. Examples of computer-readable storage media include non-transitory computer-readable media, such as ROM, RAM, disk or optical disk, etc.

[0172] An embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the three-axis installation angle estimation method of an inertial measurement device provided in the embodiment of the present application, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0173] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0174] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), appropriate firmware, plug-in, function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or communication link by a data signal carried in a carrier. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable read-only memory (Erasable Read Only Memory, EROM), floppy disks, compact discs (Compact Disc Read-Only Memory, CD-ROM), optical disks, hard disks, optical fiber media, radio frequency (Radio Frequency, RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0175] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0176] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0177] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A method for estimating the three-axis installation angle of an inertial measurement device, characterized in that: The method comprises: Acquiring first data, wherein the first data includes second data received from a combined navigation system carried on a carrier and third data received from a sensor carried on the carrier; Constructing observation quantities in various directions in the carrier coordinate system according to the first data; According to at least one of the first corresponding relationship and the second corresponding relationship and the observed quantity, an equation with the three-axis installation angle of the inertial measurement device as an unknown parameter is established; wherein the first corresponding relationship is the corresponding relationship between the velocity of the carrier in the carrier coordinate system and the inertial measurement device coordinate system, the second corresponding relationship is the corresponding relationship between the acceleration of the carrier in the carrier coordinate system and the inertial measurement device coordinate system, and the three-axis installation angle includes a roll installation angle, a pitch installation angle, and a heading installation angle; According to the equation, construct an optimal estimation problem with the three-axis installation angle of the inertial measurement device as the parameter to be estimated; The optimal estimation problem is solved to obtain a first estimated value of the three-axis installation angle of the inertial measurement device.

2. The method according to claim 1, characterized in that Before constructing the observation values ​​in various directions in the carrier coordinate system according to the first data, the method further includes: Determining the motion state of the carrier according to wheel speed information of the plurality of wheels of the carrier, wherein the third data includes the wheel speed information of the plurality of wheels of the carrier; The step of constructing observation quantities in various directions in the carrier coordinate system according to the first data includes: When the motion state of the carrier is a straight-line driving state, constructing velocity observations in the longitudinal direction and the vertical direction in the carrier coordinate system; When the motion state of the carrier is a turning driving state, acceleration observations and / or velocity observations in the longitudinal direction and the lateral direction in the carrier coordinate system are constructed.

3. The method according to claim 2, characterized in that The determining the motion state of the carrier according to the wheel speed information of the plurality of wheels of the carrier comprises: When a first average value of the steering angular velocities of the plurality of wheels is greater than a first threshold value and a second average value of the wheel speeds of the plurality of wheels is greater than a second threshold value, determining that the carrier is in a turning driving state; When the first average value is less than or equal to the first threshold value and the second average value is greater than the second threshold value, it is determined that the carrier is in a straight-line driving state.

4. The method according to claim 2, characterized in that: When the motion state of the carrier is a straight-line driving state, constructing the velocity observations in the longitudinal direction and the vertical direction in the carrier coordinate system includes: When the motion state of the carrier is a straight-line driving state, zero is determined as the observed speed in the vertical direction in the carrier coordinate system; and the average value of the speeds of all wheels of the carrier is determined as the observed speed in the longitudinal direction in the carrier coordinate system.

5. The method according to claim 2, characterized in that: When the motion state of the carrier is a turning driving state, constructing the acceleration observation and / or velocity observation in the longitudinal direction and the lateral direction in the carrier coordinate system includes: Determine the component of the acceleration in the longitudinal direction generated by the resultant force acting on the carrier as the observed acceleration in the longitudinal direction in the carrier coordinate system; Determine the component of the acceleration in the lateral direction generated by the resultant force acting on the carrier as the observed acceleration in the lateral direction in the carrier coordinate system; Determine the projection of the wheel speed of the carrier wheel in the longitudinal direction in the carrier coordinate system as the speed observation in the longitudinal direction in the carrier coordinate system; The projection of the wheel speed of the carrier wheel in the lateral direction within the carrier coordinate system is determined as the speed observation in the lateral direction within the carrier coordinate system.

6. The method according to claim 1, characterized in that The step of solving the optimal estimation problem to obtain a first estimated value of the three-axis installation angle of the inertial measurement device includes: At least one of the following solving methods is used to solve the optimal estimation problem and obtain a first estimated value of the three-axis installation angle of the inertial measurement device: Singular value decomposition solution method, neural network solution method, least squares solution method.

7. The method according to claim 1, characterized in that Before constructing the observation values ​​in various directions in the carrier coordinate system according to the first data, the method further includes: detecting validity of the first data; According to the first data, the observation quantities in various directions in the carrier coordinate system are constructed, including: When the first data is valid, observation quantities in various directions in the carrier coordinate system are constructed according to the first data.

8. The method according to claim 1, characterized in that The method further comprises: Eliminate first estimated values ​​that do not meet the first condition from the multiple groups of first estimated values ​​to obtain multiple groups of second estimated values; The multiple groups of second estimated values ​​are fitted to obtain final estimated values ​​of the three-axis installation angle of the inertial measurement device.

9. The method according to claim 1, characterized in that: The second data includes: Specific force, IMD attitude, velocity at the center of the IMD, local gravitational acceleration; The third data at least includes: the wheel speed of each wheel of the carrier.

10. A three-axis mounting angle estimation device for an inertial measurement device, characterized in that: The device comprises: An acquisition module, configured to acquire first data, wherein the first data includes second data received from an integrated navigation system carried on a carrier and third data received from a sensor carried on the carrier; A first construction module, used to construct observation quantities in various directions in a carrier coordinate system according to the first data; An establishing module is used to establish an equation with the three-axis installation angle of the inertial measurement device as an unknown parameter according to at least one of the first corresponding relationship and the second corresponding relationship and the observed quantity; wherein the first corresponding relationship is the corresponding relationship between the velocity of the carrier in the carrier coordinate system and the inertial measurement device coordinate system, the second corresponding relationship is the corresponding relationship between the acceleration of the carrier in the carrier coordinate system and the inertial measurement device coordinate system, and the three-axis installation angle includes a roll installation angle, a pitch installation angle, and a heading installation angle; A second construction module is used to construct an optimal estimation problem with the three-axis installation angle of the inertial measurement device as a parameter to be estimated according to the equation; The estimation module is used to solve the optimal estimation problem and obtain a first estimation value of the three-axis installation angle of the inertial measurement device.

11. An electronic device, characterized in that: The electronic device comprises: a processor and a memory storing computer program instructions; The processor reads and executes the computer program instructions to implement the steps of the method for estimating the three-axis installation angle of an inertial measurement device as described in any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the steps of the method for estimating the three-axis installation angle of an inertial measurement device according to any one of claims 1 to 9 are implemented.

13. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the steps of the method for estimating the three-axis installation angle of an inertial measurement device as described in any one of claims 1 to 9.

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