Double-satellite antenna and vehicle body installation angle calibration method, device, equipment and medium

Abstract

The application provides a double-satellite antenna and vehicle body installation angle calibration method, device, equipment and medium, the double-satellite antenna and vehicle body installation angle calibration method comprises the following steps: obtaining the position information and the heading data of the double-satellite antenna on the target carrier;UTM coordinates are obtained by coordinate conversion on the position information;The mileage increment of the target carrier is obtained, and the error Kalman filter is used to process according to the UTM coordinates, the heading data and the mileage increment, to obtain the error estimation result;According to the error estimation result, the double-satellite antenna and the installation angle are calibrated.The beneficial effects of the application are that a double-satellite antenna and vehicle body installation angle calibration method is provided, which can improve the positioning accuracy of the vehicle-mounted integrated navigation system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of navigation positioning, and in particular to a double-satellite antenna and vehicle body installation angle calibration method, device, equipment and medium. BACKGROUND

[0002] In recent years, with the rapid development of automatic driving, various intelligent sensors are mounted on automatic driving vehicles, and a satellite navigation terminal is an important global navigation positioning sensor. A single satellite antenna can only obtain position information, and a MEMSIMU used cannot perceive the earth rotation to obtain direction information. A convenient way to obtain initial heading information of a vehicle is to use a double-satellite antenna, and the line connecting the two satellite antennas is generally parallel or perpendicular to the vehicle longitudinal axis. However, due to installation errors, the line may not be strictly parallel or perpendicular, and without deviation compensation, it will adversely affect the subsequent control, planning and perception of the automatic driving vehicle. SUMMARY

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

[0004] One aspect of the present application provides a double-satellite antenna and vehicle body installation angle calibration method, characterized in that it comprises:

[0005] Obtaining position information and heading data of a double-satellite antenna on a target carrier;

[0006] Performing coordinate conversion on the position information to obtain UTM coordinates;

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

[0008] Calibrating the double-satellite antenna and the installation angle according to the error estimation result.

[0009] According to the double-satellite antenna and vehicle body installation angle calibration method, wherein the position information and heading data of the double-satellite antenna on the target carrier are obtained, comprising:

[0010] After accessing real-time differential data of the carrier phase of the real-time kinematic, satellite signal collection is performed on the main satellite antenna and the auxiliary satellite antenna of the double-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 line connecting the main satellite antenna and the auxiliary satellite antenna.

[0011] According to the double-satellite antenna and vehicle body installation angle calibration method, the position information is subjected to coordinate conversion to obtain UTM coordinates, including:

[0012] The position information is obtained, conversion is performed by using GeographicLib, and UTM coordinates are obtained.

[0013] According to the double-satellite antenna and vehicle body installation angle calibration method, the mileage increment of the target carrier is obtained, the UTM coordinates, the heading data and the mileage increment are processed by using error Kalman filtering to obtain error estimation results, including:

[0014] The installation angle error is predicted by using the system state equation of error Kalman filtering to obtain a predicted value of the installation angle error, the UTM coordinates are processed by using the system observation equation of error Kalman filtering to obtain the mileage increment, the projection of the mileage increment in the heading direction and the change of the UTM coordinates are constructed to obtain the observation value of the installation angle error, and finally the installation angle error is estimated by using the error Kalman filtering method.

[0015] According to the double-satellite antenna and vehicle body installation angle calibration method, the system state equation is:

[0016]

[0017] Wherein θ is a transformation matrix of the carrier coordinate system to the double-satellite antenna coordinate system in the Lie algebra form.

[0018] According to the double-satellite antenna and vehicle body installation angle calibration method, the system observation equation system is:

[0019]

[0020] Wherein Δs n is a difference vector of the current position and the last position of the double-satellite antenna output in the navigation coordinate system n, Δs v is a mileage increment of the carrier coordinate system at the speed v, is a transformation matrix from the double-antenna coordinate system r to the navigation coordinate system, and × represents transforming a vector into an antisymmetric matrix, wherein the navigation coordinate system is a coordinate system for collecting position information and heading data of the double-satellite antenna.

[0021] According to the double-satellite antenna and vehicle body installation angle calibration method, the mileage increment is obtained by the following method:

[0022] The [sign(x)As, 0, 0] is obtained by transforming the difference vector [Dpx, Dpy, Dpz] of the current position and the last position of the target carrier, wherein As is the module length of the difference vector, and wherein

[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, takes the value -1 when x<0, and takes the value 0 when x=0; wherein x>0 when the target carrier is moving forward, x<0 when the target carrier is moving backward, and x=0 when the target carrier is stationary.

[0026] Another aspect of the embodiment of the application provides a double-satellite antenna and vehicle body installation angle calibration device, comprising:

[0027] A first module is configured to acquire position information and heading data of a double-satellite antenna on a target carrier;

[0028] A second module is configured to perform coordinate conversion on the position information to obtain UTM coordinates;

[0029] A third module is configured to acquire a mileage increment of the target carrier, and perform error Kalman filtering processing on the UTM coordinates, the heading data and the mileage increment to obtain an error estimation result;

[0030] A fourth module is configured to calibrate the double-satellite antenna and the installation angle according to the error estimation result.

[0031] Another aspect of the embodiment of the application provides an electronic device, comprising a processor and a memory;

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

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

[0034] The embodiment of the application further discloses a computer program product or a computer program, which comprises computer instructions stored in a computer readable storage medium. A processor of a 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 application are: through real-time dynamic carrier phase difference collection of double satellites, realizing two satellite antenna position error correction and direction error correction, realizing accurate calibration of the existence of non-strict parallel or vertical installation error and calibration of the installation angle of double satellite antennas and the vehicle body during irregular driving, and improving the accuracy of automatic driving control, planning and perception of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

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

[0037] Figure 1 is a double satellite antenna and vehicle body installation angle calibration flowchart of an embodiment of the present application.

[0038] Figure 2 is a double satellite antenna and vehicle body installation angle calibration device schematic diagram of an embodiment of the present application. DETAILED DESCRIPTION

[0039] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, in which the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. In the following description, the suffixes used to denote elements such as "module", "component", or "unit" are used only for the convenience of the description of the present application, and have no particular meaning in themselves. Therefore, "module", "component", or "unit" can be used interchangeably. "First", "second", and the like are only used to distinguish technical features for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the chronological relationship of indicated technical features. In the following description, the consecutive numbers of the method steps are for the convenience of review and understanding, and adjusting the implementation order between the steps will not affect the technical effects achieved by the technical scheme of the present application in combination with the overall technical scheme of the present application and the logical relationship between the steps. The embodiments described below by reference to the drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0040] Reference Figure 1 , Figure 1 is a double satellite antenna and vehicle body installation angle calibration flowchart of an embodiment of the present application. It includes but is not limited to steps S100-S400:

[0041] S100, acquiring position information and heading data of a double satellite antenna on a target carrier.

[0042] In some embodiments, after accessing real-time dynamic carrier phase difference data, satellite signal collection is performed on 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 line connecting the main satellite antenna and the auxiliary satellite antenna.

[0043] It can be understood that the dual-satellite antenna refers to a navigation terminal host connected with two satellite antennas, one main antenna and one auxiliary antenna, the main antenna is mainly used for positioning, and the auxiliary antenna is mainly used for orientation, the line connecting the two satellite antennas is generally parallel or perpendicular to the longitudinal axis of the target carrier, 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; due to the small distance between the two satellite antennas, the satellites that can be observed in the sky are almost the same, and the heading of the line connecting the two satellite antennas can be estimated by subtracting the line connecting vectors of the two satellite antennas observing the same satellite; the RTK reference station provides error correction information for the two satellite antennas, which improves the positioning accuracy and also improves the orientation accuracy; the position output by the navigation terminal refers to the position of the main satellite antenna, 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, the dual-satellite antenna navigation terminal is powered on, the RTK reference station data is transmitted to the navigation terminal through a wireless network, the position and heading data information output by the navigation terminal is read by the vehicle-mounted computer, and after the position and heading data state display is fixed and converged, the data is input into the coordinate conversion module.

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

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

[0048] In some embodiments, the UTM coordinates are converted by GeographicLib, which is a high-precision geographic calculation library.

[0049] S300, obtaining the mileage increment of the target carrier, and performing error Kalman filtering on the UTM coordinates, the heading data, and the mileage increment to obtain an error estimation result.

[0050] In some embodiments, the installation angle error is predicted by a system state equation of error Kalman filter to obtain a predicted value of the installation angle error, and the UTM coordinates are processed by a system observation equation of error Kalman filter to obtain a mileage increment, an observation value of the installation angle error is obtained by constructing a difference value between a projection of the mileage increment in the heading direction and a change amount of the UTM coordinates, and finally the installation angle error is estimated by the error Kalman filter method.

[0051] The system state equation is:

[0052]

[0053] wherein θ is a transformation matrix of the carrier coordinate system to the dual-satellite antenna coordinate system in the Lie algebra form.

[0054] The system observation equation is:

[0055]

[0056] wherein Δs n is a difference vector between a current time position and a last time position of the dual-satellite antenna output in the navigation coordinate system n, Δs v is a mileage increment of the carrier coordinate system at the velocity v, is a transformation matrix from the dual-satellite antenna coordinate system r to the navigation coordinate system, and × represents transforming a vector into an anti-symmetric matrix, wherein the navigation coordinate system is a coordinate system for collecting 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 a difference vector [Δpx, Δpy, Δpz] between a current time position and a last time position of the target carrier into [sign(x)Δs, 0, 0], wherein Δs is a module length of the difference vector, and the value of sign(x) is determined according to the value of x:

[0060]

[0061] That is, the value of sign(x) is 1 when x>0, the value of sign(x) is -1 when x<0, and the value of sign(x) is 0 when x=0; wherein x>0 when the target carrier moves forward, x<0 when the target carrier moves backward, and x=0 when the target carrier is stationary.

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

[0063] Figure 2 Fig. 1 is a schematic diagram of a dual-satellite antenna and vehicle body installation angle calibration device according to an embodiment of the present application. The device comprises a first module 210, a second module 220, a third module 230 and a fourth module 240.

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

[0065] Exemplarily, under the cooperation of the first module, the second module, the third module and the fourth module in the device, the device according to the embodiment can implement any one of the dual-satellite antenna and vehicle body installation angle calibration methods described above, i.e., obtaining position information and heading data of the dual-satellite antenna on the target carrier; performing coordinate conversion on the position information to obtain UTM coordinates; obtaining mileage increments of the target carrier, and performing processing on the UTM coordinates, the heading data and the mileage increments by using error Kalman filtering to obtain an error estimation result; and calibrating the dual-satellite antenna and the installation angle according to the error estimation result. The present application has the following beneficial effects: by accessing RTK base station data, the position error correction and the direction error correction of the two satellite antennas are realized, the accurate calibration of the installation error of the dual-satellite antenna and the vehicle body installation angle in irregular driving is realized, and the accuracy of automatic driving control, planning and perception of the vehicle is improved.

[0066] The embodiment of the present application further provides an electronic device, which comprises a processor and a memory.

[0067] The memory stores a program.

[0068] The processor executes the program to perform the dual-satellite antenna and vehicle body installation angle calibration method described above; the electronic device has the function of carrying and running the software system for calibrating the dual-satellite antenna and the vehicle body installation angle according to the embodiment of the present application, such as a personal computer, a mini computer, a mainframe, a workstation, a network or a distributed computing environment, a separate or integrated computer platform, or communication with a charged particle tool or other imaging device, etc.

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

[0070] In some alternative embodiments, the functions / operations described in the block diagrams can not occur in the order presented in the operational illustrations. For example, two blocks shown in succession can in fact be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality / operations involved. Also, although the embodiments presented in the flow diagrams are shown as a sequence of operations, it is to be understood that the logical flow is merely illustrative of alternative embodiments. The disclosed methods can be implemented in any number of variations not expressly described herein. For example, the order of the operations can be changed, or alternative embodiments can be implemented where additional or alternative operations are performed, or where the described operations are performed in a different order.

[0071] Embodiments of the present application also disclose a computer program product or computer program, which comprises computer instructions stored in a computer readable storage medium. A processor of a computer device can read the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the aforementioned method for calibrating a mounting angle between a dual-satellite antenna and a vehicle body.

[0072] Furthermore, although the present application is described in the context of functional modules, it is to be understood that one or more of the described functions and / or features can be integrated in a single physical device and / or software module, or one or more functions and / or features can be implemented in separate physical devices or software modules. It is also to be understood that detailed discussion of the actual implementation of each module is unnecessary to an understanding of the present application. Rather, the actual implementation is within the routine skill of engineers familiar with the properties, functions and internal relationships of the various functional modules disclosed in the devices herein. Accordingly, the present application is not limited to purely hardware implementations, but also encompasses software implementations, including program instructions stored on computer-readable media. Moreover, the disclosed specific concepts are merely illustrative and are not intended to limit the scope of the present application, which is defined by the full scope of the appended claims and equivalents thereof.

[0073] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the parts of the technical solutions that essentially contribute to the prior art or the parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0074] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a list of executable instructions for implementing logic functions, which can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus or device, such as a computer-based system, a system including a processor or other system that can fetch the instructions from the instruction execution system, apparatus or device and execute the instructions, or in conjunction with these instructions execution systems, apparatus or devices. For the purpose of this specification, the "computer-readable medium" can be any device that can contain, store, communicate, propagate or transport programs for use by or in connection with an instruction execution system, apparatus or device, or in conjunction with these instruction execution systems, apparatus or devices.

[0075] More specific examples (non-exhaustive list) of the computer-readable medium include the following: an electrical connection having one or more wires (electrical devices), a portable computer diskette (magnetic devices), 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). In addition, the computer-readable medium can even be paper or other suitable medium on which the program can be printed, because the program can be electronically obtained, for example, by optical scanning of the paper or other medium, followed by editing, interpreting or otherwise processing, if necessary, in other suitable ways, to be electronically obtained and then stored in the computer memory.

[0076] It should be understood that aspects of the application can be implemented in hardware, software, firmware or a combination thereof. In the above embodiments, various steps or methods can be implemented in software or firmware which is stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, and in another embodiment, any of the following technologies, known in the art, can be used: a combination of discrete logic circuits having logic gates for implementing logic functions upon an application of data signals, application specific integrated circuits having logic gates, field programmable gate arrays (FPGA), or other components, in combination or as the case can be.

[0077] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a 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 application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in one or more embodiments or examples.

[0078] Although the embodiments of the present application have been shown and described, it would be appreciated by those skilled in the art that changes, modifications, alternatives and variations can be made to the embodiments without departing from the principles and spirit of the application, and the scope of the present application is defined by the claims and their equivalents.

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

Claims

1. A method for calibrating the installation angle of a dual-satellite antenna with a vehicle body, characterized in that, The method comprises the following steps: acquiring position information and heading data of a double-satellite antenna on a target carrier, wherein the heading data indicates that the line connecting the primary satellite antenna and the secondary satellite antenna points to; performing coordinate conversion on the position information to obtain UTM coordinates; acquiring a mileage increment of the target carrier, and processing the UTM coordinates, the heading data and the mileage increment by using error Kalman filtering to obtain error estimation results, including: predicting the installation angle error by using the system state equation of error Kalman filtering to obtain a predicted value of the installation angle error, and processing the UTM coordinates by using the system observation equation of error Kalman filtering to obtain the mileage increment, constructing a difference value by projecting the mileage increment in the heading direction and the change of the UTM coordinates to obtain an observed value of the installation angle error, and finally estimating the installation angle error by using the error Kalman filtering method; calibrating the double-satellite antenna and the installation angle according to the error estimation results.

2. The method of claim 1, wherein The acquiring of the position information and the heading data of the double-satellite antenna on the target carrier comprises: after accessing real-time differential data of the carrier phase, respectively collecting satellite signals of the primary satellite antenna and the secondary satellite antenna of the double-satellite antenna to obtain the position information and the heading data, wherein the position information indicates the position of the primary satellite antenna.

3. The method of claim 1, wherein The coordinate conversion on the position information to obtain the UTM coordinates comprises: acquiring the position information, and performing conversion by using GeographicLib to obtain the UTM coordinates.

4. The dual-satellite antenna and vehicle body mounting angle calibration method according to claim 1, characterized by, The system state equation is: =0 where θ is the transformation matrix from the carrier coordinate system to the dual-satellite antenna coordinate system of Lie algebra form.

5. The dual satellite antenna and vehicle body mounting angle calibration method according to claim 1, characterized by, The system observation equation system is: - =- wherein is the representation of the difference vector between the current and the last time position of the dual satellite antenna output in the navigation coordinate system n, is the incremental distance of the carrier coordinate system at the velocity v, is the transformation matrix from the dual antenna coordinate system r to the navigation coordinate system, denotes the transformation of the vector into a skew-symmetric matrix, wherein the navigation coordinate system is a coordinate system centered on the acquisition of the position information and heading data of the dual satellite antenna.

6. The dual satellite antenna and vehicle body mounting angle calibration method according to claim 1, characterized by, The mileage increment is obtained by the following method: by the difference vector between the current time position and the last time position of the target carrier is transformed to obtain wherein is the length of the difference vector, wherein The value of sign(x) is determined according to the value of x: that is, sign(x) takes the value 1 when x>0, takes the value -1 when x<0, and takes the value 0 when x=0; wherein x>0 when the target carrier moves forward, x<0 when the target carrier moves backward, and x=0 when the target carrier is stationary.

7. A dual satellite antenna and vehicle body mounting angle calibration device using the dual satellite antenna and vehicle body mounting angle calibration method according to any one of claims 1 to 6, characterized by The method comprises the following steps: a first module for acquiring position information and heading data of a double-satellite antenna on a target carrier; a second module for performing coordinate conversion on the position information to obtain UTM coordinates; a third module for acquiring a mileage increment of the target carrier, and processing the UTM coordinates, the heading data and the mileage increment by using error Kalman filtering to obtain error estimation results; a fourth module for calibrating the double-satellite antenna and the installation angle according to the error estimation results.

8. An electronic device, comprising: The method comprises a processor and a memory; The memory is used for storing a program; The processor executes the program to realize the double-satellite antenna and vehicle body installation angle calibration method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The storage medium stores a program, and the program is executed by the processor to realize the double-satellite antenna and vehicle body installation angle calibration method according to any one of claims 1-6.

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