Calibration method, device and equipment for mounting angles of double satellite antennas and vehicle body and medium

Abstract

The invention provides a double-satellite antenna and vehicle body installation angle calibration method, device and equipment and a medium. The double-satellite antenna and vehicle body installation angle calibration method comprises the steps that position information and course data of double satellite antennas on a target loading body are acquired; performing coordinate conversion on the position information to obtain UTM coordinates; obtaining the mileage increment of the target loading body, and processing by adopting error Kalman filtering according to the UTM coordinate, the course data and the mileage increment to obtain an error estimation result; and calibrating the double satellite antennas and the mounting angle according to an error estimation result. The method for calibrating the mounting angle between the double satellite antennas and the vehicle body has the beneficial effects that the positioning precision of a vehicle-mounted integrated navigation system can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of navigation and positioning, and particularly relates to a method, device, equipment and medium for calibrating the installation angle between a dual satellite antenna and a vehicle body. Background Art

[0002] In recent years, with the rapid development of autonomous driving, a variety of intelligent sensors are installed on autonomous driving vehicles, among which the satellite navigation terminal is an important global navigation and positioning sensor. A single satellite antenna can only obtain position information, and the MEMS IMU used cannot sense the earth's rotation and thus cannot obtain direction information. A convenient way to obtain the initial heading information of a vehicle is to use a dual satellite antenna. The connection line between the two satellite antennas is generally parallel or perpendicular to the longitudinal axis of the vehicle carrier. However, due to the existence of installation errors, it will not be strictly parallel or perpendicular. Without deviation compensation, it will have an adverse impact on the subsequent control, planning and perception of autonomous driving vehicles. Summary of the Invention

[0003] The technical problem to be solved by the embodiments of the present invention is to provide a method, device, equipment and medium for calibrating the installation angle between a dual satellite antenna and a vehicle body, which improves the positioning accuracy of the vehicle-mounted integrated navigation system.

[0004] One aspect of the present invention provides a method for calibrating the installation angle between a dual satellite antenna and a vehicle body, which is characterized by including:

[0005] Obtain the position information and heading data of the dual satellite antenna on the target carrier;

[0006] Perform coordinate transformation on the position information to obtain UTM coordinates;

[0007] Obtain the mileage increment of the target carrier, and perform processing using error Kalman filtering according to the UTM coordinates, the heading data and the mileage increment to obtain an error estimation result;

[0008] Calibrate the dual satellite antenna and the installation angle according to the error estimation result.

[0009] According to the method for calibrating the installation angle between the dual satellite antenna and the vehicle body, obtaining the position information and heading data of the dual satellite antenna on the target carrier includes:

[0010] After accessing the real-time kinematic carrier phase differential data, perform satellite signal acquisition on the main satellite antenna and the secondary satellite antenna of the dual satellite antenna respectively to obtain position information and heading data, where the position information represents the position of the main satellite antenna, and the heading data represents the direction of the connection line between the main satellite antenna and the secondary satellite antenna.

[0011] According to the calibration method of the installation angle between the dual satellite antennas and the vehicle body, the coordinate transformation of the position information to obtain the UTM coordinates includes:

[0012] Obtain the position information, perform the transformation using GeographicLib, and obtain the UTM coordinates.

[0013] According to the calibration method of the installation angle between the dual satellite antennas and the vehicle body, the mileage increment of the target carrier is obtained, and based on the UTM coordinates, the heading data, and the mileage increment, error Kalman filtering is used for processing to obtain the error estimation result, including:

[0014] Use the system state equation of error Kalman filtering to predict the installation angle error to obtain the predicted value of the installation angle error, and use the system observation equation of error Kalman filtering to process the UTM coordinates to obtain the mileage increment. The observed value of the installation angle error is obtained by constructing the difference between the projection of the mileage increment in the heading direction and the change amount of the UTM coordinates. Finally, the installation angle error is estimated by the error Kalman filtering method.

[0015] According to the calibration method of the installation angle between the dual satellite antennas and the vehicle body, the system state equation is:

[0016]

[0017] where θ is the Lie algebra form of the transformation matrix from the carrier coordinate system to the dual satellite antenna coordinate system of.

[0018] According to the calibration method of the installation angle between the dual satellite antennas and the vehicle body, the system observation equation system is:

[0019]

[0020] where Δs n is the representation of the difference vector between the current position and the previous position output by the dual satellite antennas in the navigation coordinate system n, and Δs v is the mileage increment of the carrier coordinate system at the speed v, is the transformation matrix from the dual antenna coordinate system r to the navigation coordinate system, and × represents transforming the vector into an anti-symmetric matrix, where the navigation coordinate system is the coordinate system centered on collecting the position information and heading data of the dual satellite antennas.

[0021] According to the calibration method of the installation angle between the dual satellite antennas and the vehicle body, the mileage increment is obtained by the following method:

[0022] It is transformed into [sign(x)Δs, 0, 0] through the difference vector [Δpx, Δpy, Δpz] between the current position and the previous position of the target vehicle carrier, where Δs is the modulus of the difference vector.

[0023] The value of sign(x) is determined according to the value of x:

[0024]

[0025] That is, sign(x) takes the value 1 when x > 0, sign(x) takes the value -1 when x < 0, and sign(x) takes the value 0 when x = 0; where x > 0 when the target vehicle carrier moves forward, x < 0 when the target vehicle carrier moves backward, and x = 0 when the target vehicle carrier is stationary.

[0026] Another aspect of the embodiments of the present invention provides a calibration device for the installation angle between a dual-satellite antenna and a vehicle body, including:

[0027] A first module for obtaining the position information and heading data of the dual-satellite antenna on the target carrier.

[0028] A second module for performing coordinate transformation on the position information to obtain UTM coordinates.

[0029] A third module for obtaining the mileage increment of the target carrier, and performing processing using error Kalman filtering based on the UTM coordinates, the heading data, and the mileage increment to obtain an error estimation result.

[0030] A fourth module for calibrating the dual-satellite antenna and the installation angle according to the error estimation result.

[0031] Another aspect of the embodiments of the present invention provides an electronic device, including a processor and a memory;

[0032] The memory is used to store a program;

[0033] The processor executes the program to implement the method described above.

[0034] The embodiments of the present invention also disclose a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to enable the computer device to execute the method described above.

[0035] The beneficial effects of the present invention are as follows: By collecting data on two satellites using real-time kinematic carrier phase differential, the position error correction and direction error correction of the two satellite antennas are realized, and the precise calibration of the installation error in the case of non-strict parallel or verticality and the calibration of the installation angle between the two satellite antennas and the vehicle body during irregular driving are achieved, improving the accuracy of, for example, (vehicle) autonomous driving control, planning, and perception. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0037] Figure 1 is a schematic diagram of the calibration process of the installation angle between the two satellite antennas and the vehicle body in an embodiment of the present invention.

[0038] Figure 2 is a schematic diagram of the calibration device of the installation angle between the two satellite antennas and the vehicle body in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. In the following description, suffixes such as "module", "component", or "unit" used to denote elements are only for the convenience of describing the present invention and have no specific meaning per se. Therefore, "module", "component", or "unit" can be used interchangeably. "First", "second", etc. are only used to distinguish technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence of the indicated technical features. In the following description, the consecutive numbering of the method steps is for the convenience of review and understanding. Combining the overall technical solution of the present invention and the logical relationship between each step, adjusting the implementation order between steps will not affect the technical effects achieved by the technical solution of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as limiting the present invention.

[0040] Refer to Figure 1 , Figure 1 which is a schematic diagram of the calibration process of the installation angle between the two satellite antennas and the vehicle body in an embodiment of the present invention. It includes but is not limited to steps S100 to S400:

[0041] S100, obtaining the position information and heading data of the two satellite antennas on the target carrier.

[0042] In some embodiments, after accessing real-time kinematic (RTK) carrier-phase differential data, satellite signal acquisition is performed on the main satellite antenna and the secondary satellite antenna of the dual-satellite antenna respectively to obtain position information and heading data, where the position information represents the position of the main satellite antenna, and the heading data represents the direction of the line connecting the main satellite antenna and the secondary satellite antenna.

[0043] It can be understood that the dual-satellite antenna means that a navigation terminal host is connected to two satellite antennas, one main and one secondary. The main antenna is mainly for positioning, and the secondary antenna is mainly for orientation. The line connecting the two satellite antennas is generally parallel or perpendicular to the longitudinal axis of the target vehicle, but due to installation errors, it may not be strictly parallel or perpendicular, that is, there is an installation error angle to be calibrated in this patent; since the distance between the two satellite antennas is very small, the satellites observable in the sky are almost the same. Exactly, the heading of the line vector connecting the two antennas can be estimated by subtracting the same satellite observed by the two satellite antennas from the line vector connecting the two antennas; the RTK reference station will provide error correction information for the two satellite antennas, improving the orientation accuracy on the basis of improving the positioning accuracy; the position output by the navigation terminal refers to the position where the main satellite antenna is located, and the heading output refers to the direction of the line connecting the two satellite antennas.

[0044] In some embodiments, the navigation terminal can also be any other sensor that provides position and heading information.

[0045] In some embodiments, power on the dual-satellite antenna navigation terminal, transmit the RTK reference station data into the navigation terminal through a wireless network, read the position and heading data information output by the navigation terminal through a vehicle-mounted computer, and input the data into the coordinate conversion module after the position and heading data status shows fixed and converged.

[0046] S200, perform coordinate conversion on the position information data to obtain UTM coordinates.

[0047] In some embodiments, convert the longitude and latitude coordinates of the position information output by the satellite navigation terminal into UTM coordinates through a coordinate conversion library, and the unit is converted from radians to meters;

[0048] In some embodiments, the UTM coordinate conversion is performed using GeographicLib, where GeographicLib is a high-precision geographic calculation library.

[0049] S300, obtain the mileage increment of the target vehicle, and perform processing using error Kalman filtering based on the UTM coordinates, heading data, and mileage increment to obtain an error estimation result.

[0050] In some embodiments, the system state equation of the error Kalman filter is used to predict the installation angle error to obtain the predicted value of the installation angle error. Also, the system observation equation of the error Kalman filter is used to process the UTM coordinates to obtain the mileage increment. The observed value of the installation angle error is obtained by constructing the difference between the projection of the mileage increment in the heading direction and the change in the UTM coordinates. Finally, the installation angle error is estimated by the error Kalman filter method.

[0051] The system state equation is as follows:

[0052]

[0053] where θ is the Lie algebra form of the transformation matrix from the vehicle body coordinate system to the dual satellite antenna coordinate system of.

[0054] The system observation equation system is as follows:

[0055]

[0056] where Δs n is the representation of the difference vector between the current position and the previous position output by the dual satellite antenna in the navigation coordinate system n, and Δs v is the mileage increment of the vehicle body coordinate system at speed v. is the transformation matrix from the dual antenna coordinate system r to the navigation coordinate system, and × represents transforming a vector into an anti-symmetric matrix. The navigation coordinate system is the coordinate system centered on collecting the position information and heading data of the dual satellite antenna.

[0057] In some embodiments, the collected position information is high-precision position information, and the position information includes longitude and latitude.

[0058] In some embodiments, the mileage increment can be positive or negative.

[0059] In some embodiments, the mileage increment is obtained by transforming the difference vector [Δpx, Δpy, Δpz] between the current position and the previous position of the target vehicle into [sign(x)Δs, 0, 0], where Δs is the modulus of the difference vector, and the value of sign(x) is determined according to the value of x:

[0060]

[0061] That is, sign(x) takes the value 1 when x > 0, sign(x) takes the value -1 when x < 0, and sign(x) takes the value 0 when x = 0; where x > 0 when the target vehicle is moving forward, x < 0 when the target vehicle is moving backward, and x = 0 when the target vehicle is stationary.

[0062] S400 calibrates the dual-satellite antenna and the installation angle according to the error estimation result.

[0063] Figure 2 It is a schematic diagram of the device for calibrating the installation angle between the dual-satellite antenna and the vehicle body in an embodiment of the present invention. The device includes a first module 210, a second module 220, a third module 230, and a fourth module 240.

[0064] Among them, the first module is used to obtain the position information and heading data of the dual-satellite antenna on the target carrier; the second module is used to perform coordinate transformation on the position information to obtain UTM coordinates; the third module is used to obtain the mileage increment of the target carrier, and perform processing using error Kalman filtering according to the UTM coordinates, heading data, and mileage increment to obtain an error estimation result; the fourth module is used to calibrate the dual-satellite antenna and the installation angle according to the error estimation result.

[0065] Exemplarily, with the cooperation of the first module, the second module, the third module, and the fourth module in the device, the device in the embodiment can implement any one of the foregoing methods for calibrating the installation angle between the dual-satellite antenna and the vehicle body, that is, obtain the position information and heading data of the dual-satellite antenna on the target carrier; perform coordinate transformation on the position information to obtain UTM coordinates; obtain the mileage increment of the target carrier, and perform processing using error Kalman filtering according to the UTM coordinates, heading data, and mileage increment to obtain an error estimation result; calibrate the dual-satellite antenna and the installation angle according to the error estimation result. The beneficial effect of the present invention is that by accessing the "RTK base station data", the position error correction and direction error correction of the two satellite antennas are realized, and the precise calibration of the installation error when the non-strictly parallel or perpendicular installation error exists during irregular driving is realized, improving the accuracy of (vehicle) autonomous driving control, planning, and perception.

[0066] An embodiment of the present invention further provides an electronic device, which includes a processor and a memory;

[0067] The memory stores a program;

[0068] The processor executes the program to execute the foregoing method for calibrating the installation angle between the dual-satellite antenna and the vehicle body; this electronic device has the function of carrying and running the software system for calibrating the installation angle between the dual-satellite antenna and the vehicle body provided by the embodiment of the present invention. For example, a personal computer, a mini computer, a mainframe, a workstation, a network or a distributed computing environment, a separate or integrated computer platform, or communicating with charged particle tools or other imaging devices, etc.

[0069] An embodiment of the present invention further provides a computer-readable storage medium, and the storage medium stores a program, and the program is executed by a processor to implement the method for calibrating the installation angle between the dual-satellite antenna and the vehicle body as described above.

[0070] In some alternative embodiments, the functions / operations recited in the block diagrams may not occur in the order presented in the operational illustrations. For example, depending on the functions / operations involved, two consecutive blocks shown may actually be executed substantially simultaneously or the blocks may sometimes be executed in reverse order. Additionally, the embodiments presented and described in the flowcharts of the present invention are provided by way of example for the purpose of providing a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is altered and in which sub-operations described as part of a larger operation are performed independently.

[0071] Embodiments of the present invention also disclose a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of the computer device may read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to execute the foregoing method for calibrating the mounting angle between the dual satellite antennas and the vehicle body.

[0072] Furthermore, although the present invention has been described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the described functions and / or features may be integrated in a single physical device and / or software module, or one or more functions and / or features may be implemented in separate physical devices or software modules. It is also understood that a detailed discussion of the actual implementation of each module is not necessary for understanding the present invention. Rather, given the attributes, functions, and internal relationships of the various functional modules in the devices disclosed herein, the actual implementation of the modules will be understood within the ordinary skill of an engineer. Thus, those skilled in the art can implement the present invention as set forth in the claims without undue experimentation. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0073] If the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs, etc., which can store program codes of various kinds.

[0074] The logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch instructions from the instruction execution system, apparatus, or device and execute the instructions), or in combination with these instruction execution systems, apparatuses, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in combination with an instruction execution system, apparatus, or device.

[0075] More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection part with one or more wirings (electronic device), a portable computer disk cartridge (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, then editing, interpreting, or processing it in other suitable ways when necessary, and then storing it in a computer memory.

[0076] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application specific integrated circuits with appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0077] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0078] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

[0079] The above is a specific description of the preferred embodiments of the present invention, but the present invention is not limited to the described embodiments. Those skilled in the art can also make various equivalent deformations or substitutions without departing from the spirit of the present invention, and these equivalent deformations or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A method for calibrating the installation angle between dual satellite antennas and a vehicle body, characterized in that: include: Obtain the position information and heading data of the dual satellite antennas on the target carrier; Performing coordinate conversion on the location information to obtain UTM coordinates; Obtaining the mileage increment of the target load, and processing the mileage increment by using an error Kalman filter according to the UTM coordinates, the heading data and the mileage increment to obtain an error estimation result; According to the error estimation result, the dual satellite antennas and the installation angles are calibrated.

2. The method for calibrating the installation angle between dual satellite antennas and a vehicle body according to claim 1, characterized in that: The step of obtaining the position information and heading data of the dual satellite antennas on the target carrier includes: After accessing the real-time dynamic carrier phase differential data, satellite signals are collected from the main satellite antenna and the auxiliary satellite antenna of the dual satellite antenna respectively to obtain position information and heading data, wherein the position information represents the position of the main satellite antenna, and the heading data represents the direction of the connection line between the main satellite antenna and the auxiliary satellite antenna.

3. The method for calibrating the installation angle between dual satellite antennas and a vehicle body according to claim 1, characterized in that: The coordinate conversion of the location information to obtain UTM coordinates includes: Get the location information and use GeographicLib to perform the conversion to get the UTM coordinates.

4. The method for calibrating the installation angle between dual satellite antennas and a vehicle body according to claim 1, characterized in that: The step of obtaining the mileage increment of the target load body is performed by using an error Kalman filter to process the UTM coordinates, the heading data and the mileage increment to obtain an error estimation result, including: The installation angle error is predicted by the system state equation using the error Kalman filter to obtain the predicted value of the installation angle error, and the UTM coordinates are processed by the system observation equation using the error Kalman filter to obtain the mileage increment. The observation value of the installation angle error is obtained by constructing a difference between the projection of the mileage increment in the heading direction and the change in the UTM coordinates, and finally the installation angle error is estimated by the error Kalman filter method.

5. The method for calibrating the installation angle between dual satellite antennas and a vehicle body according to claim 4, characterized in that: The system state equation is: Where θ is the transformation matrix from the carrier coordinate system to the dual satellite antenna coordinate system The Lie algebraic form of .

6. The method for calibrating the installation angle between dual satellite antennas and a vehicle body according to claim 4, characterized in that: The system observation equation system is: where Δs n is the difference vector between the current position and the previous position output by the dual satellite antennas in the navigation coordinate system n, Δs v is the mileage increment of the carrier coordinate system at speed v, is the transformation matrix from the dual-antenna coordinate system r to the navigation coordinate system, × represents the transformation of the vector into an antisymmetric matrix, where the navigation coordinate system is a coordinate system centered on the acquisition of the position information and heading data of the dual satellite antennas.

7. The method for calibrating the installation angle between dual satellite antennas and a vehicle body according to claim 1, characterized in that: The mileage increment is obtained in the following way: The difference vector [Δpx, Δpy, Δpz] between the current position of the target carrier and the previous position is transformed to obtain [sign(x)Δs, 0, 0], where Δs is the modulus of the difference vector. The value of sign(x) depends on the value of x: That is, sign(x) takes the value of 1 when x>0, takes the value of -1 when x<0, and takes the value of 0 when x=0; wherein x>0 when the target vehicle moves forward, x<0 when the target vehicle moves backward, and x=0 when the target vehicle is stationary.

8. A dual satellite antenna and vehicle body mounting angle calibration device, characterized in that: include: The first module is used to obtain the position information and heading data of the dual satellite antennas on the target carrier; The second module is used to perform coordinate conversion on the location information to obtain UTM coordinates; The third module is used to obtain the mileage increment of the target load, and use error Kalman filtering to process the UTM coordinates, the heading data and the mileage increment to obtain an error estimation result; The fourth module is used to calibrate the dual satellite antennas and installation angles according to the error estimation results.

9. An electronic device, characterized in that: including a processor and a memory; The memory is used to store programs; The processor executes the program to implement the dual satellite antenna and vehicle body installation angle calibration method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The storage medium stores a program, and the program is executed by a processor to implement the dual satellite antenna and vehicle body installation angle calibration method according to any one of claims 1 to 7.

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