Inertial measurement unit measuring range self-adaptive adjusting method and measuring range self-adaptive adjusting system

Abstract

The invention belongs to the technical field of inertial measurement, and particularly relates to an inertial measurement unit measuring range self-adaptive adjusting method and a measuring range self-adaptive adjusting system.The inertial measurement unit measuring range self-adaptive adjusting method comprises the steps that inertial measurement data are collected in real time, and the vector sum of the inertial measurement data is obtained according to the inertial measurement data; setting a threshold value of the vector sum of the inertia test data; and comparing the vector sum of each piece of inertia test data with a corresponding threshold value, and executing a corresponding range switching operation according to a comparison result.

Description

Technical Field

[0001] The present invention belongs to the technical field of inertial measurement, and in particular relates to an inertial measurement unit range adaptive adjustment method and a range adaptive adjustment system. Background Art

[0002] In the automotive field, calibration of inertial measurement units (IMUs) ensures high-precision output of attitude, acceleration, and angular velocity data, which is crucial for systems such as electronic stability control (ESC), autonomous driving, and navigation. However, vehicles frequently experience nonlinear motion during driving, such as sudden acceleration, braking, and cornering, which poses multiple challenges to IMU calibration.

[0003] The existing method for calibrating an inertial measurement unit (IMU) involves obtaining target motion data measured by the IMU to be evaluated, inputting this data into a constructed IMU evaluation model, and obtaining target error parameters. The IMU evaluation model then determines the IMU's corresponding motion state based on the motion data and outputs error parameters corresponding to different motion states. The IMU is then calibrated based on the target error parameters. This method enables rapid and accurate error correction of the IMU in various dynamic motion scenarios, thereby improving measurement accuracy after error correction.

[0004] However, existing technical solutions mostly perform error correction on the IMU, and most of them are single-range or fixed dual-range, designed only for specific acceleration or angular velocity ranges. They are not suitable for scenarios with frequent range switching, such as sharp turns, lane changes, emergency braking when a vehicle is driving on complex road conditions, or nonlinear changes caused by sideslip.

[0005] Therefore, the existing IMU calibration technology has a technical problem that it cannot be applied to calibration scenarios with frequent range switching due to single range or fixed dual range. Summary of the Invention

[0006] The object of the present invention is to provide an inertial measurement unit range adaptive adjustment method and range adaptive adjustment system.

[0007] In order to solve the above technical problems, the present invention provides an inertial measurement unit range adaptive adjustment method, comprising:

[0008] Collect inertial measurement data in real time, and obtain the vector sum of each inertial test data based on the inertial measurement data;

[0009] Setting a threshold value for the vector sum of each inertia test data; and

[0010] The vector sum of each inertia test data is compared with the corresponding threshold value, and the corresponding range switching operation is performed according to the comparison result.

[0011] In another aspect, the present invention further provides a method for adaptively adjusting the range of an inertial measurement unit (IMU) during steady vehicle driving, comprising:

[0012] Collect acceleration data and angular velocity data of the vehicle in real time when the vehicle is running smoothly, and obtain the acceleration vector sum and the angular velocity vector sum according to the acceleration data and the angular velocity data;

[0013] Setting a threshold value of the acceleration vector sum and a threshold value of the angular velocity vector sum; and

[0014] The acceleration vector sum and the angular velocity vector sum are compared with corresponding thresholds, and a corresponding range switching operation is performed according to the comparison result.

[0015] In a third aspect, the present invention further provides a method for adaptively adjusting the range of an inertial measurement unit during rapid acceleration of a vehicle, comprising:

[0016] Collect acceleration data and angular velocity data of the vehicle in real time during rapid acceleration, and obtain the acceleration vector sum and the angular velocity vector sum based on the acceleration data and angular velocity data;

[0017] Setting a threshold value of the acceleration vector sum and a threshold value of the angular velocity vector sum; and

[0018] The acceleration vector sum and the angular velocity vector sum are compared with corresponding thresholds, and a corresponding range switching operation is performed according to the comparison result.

[0019] In a fourth aspect, the present invention further provides a method for adaptively adjusting the range of an inertial measurement unit when a vehicle makes a sharp turn, comprising:

[0020] Collect acceleration data and angular velocity data of the vehicle in real time when it makes a sharp turn, and obtain the acceleration vector sum and the angular velocity vector sum based on the acceleration data and angular velocity data;

[0021] Setting a threshold value of the sum of the acceleration vector and a threshold value of the sum of the angular velocity vector; and

[0022] The acceleration vector sum and the angular velocity vector sum are compared with corresponding thresholds, and a corresponding range switching operation is performed according to the comparison result.

[0023] In a fifth aspect, the present invention further provides an inertial measurement unit range adaptive adjustment system, comprising: a computer device, wherein the computer device is configured to include:

[0024] an acquisition module configured to acquire inertial measurement data in real time and obtain a vector sum of various inertial test data based on the inertial measurement data;

[0025] A setting module configured to set a threshold value of a vector sum of each inertia test data; and

[0026] The switching module is configured to compare the vector sum of each inertia test data with a corresponding threshold value and perform a corresponding range switching operation according to the comparison result.

[0027] In a sixth aspect, the present invention further provides a computer-readable storage medium having a computer program / instruction stored thereon, which, when executed by a processor, implements the aforementioned method for adaptively adjusting the range of an inertial measurement unit.

[0028] In a seventh aspect, the present invention further provides a device / system comprising: an inertial measurement unit configured to output inertial measurement data; and a control module configured to execute the inertial measurement unit range adaptive adjustment method as described above.

[0029] The beneficial effect of the present invention is that the inertial measurement unit range adaptive adjustment method of the present invention obtains the vector sum of acceleration and angular velocity in real time and realizes automatic switching of the range based on a dynamic threshold, thereby meeting the measurement requirements under complex road conditions or nonlinear scenarios, that is, avoiding data overflow or truncation, and improving the accuracy and stability of IMU data measurement.

[0030] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 A diagram showing the steps of a method for adaptively adjusting the range of an inertial measurement unit according to some embodiments is shown;

[0034] Figure 2 A schematic diagram showing a case of a method for processing data using a moving average method according to some embodiments;

[0035] Figure 3 A principle block diagram of an inertial measurement unit range adaptive adjustment system according to some embodiments is shown;

[0036] Figure 4 Shown is a functional block diagram of an apparatus / system involved in some embodiments. DETAILED DESCRIPTION

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0038] Most existing technical solutions are for error correction of IMU, and most of them are single-range or fixed dual-range, designed only for specific acceleration or angular velocity ranges. They are not suitable for scenarios with frequent range switching, such as sharp turns, lane changes, emergency braking when a vehicle is driving on complex road conditions, or nonlinear changes caused by sideslip.

[0039] Existing IMU calibration technology has a technical problem that it cannot be applied to calibration scenarios with frequent range switching due to its single range or fixed dual range.

[0040] Therefore, at least one embodiment provides a method for adaptively adjusting the range of an inertial measurement unit, including: collecting inertial measurement data in real time, and obtaining the vector sum of each inertial test data based on the inertial measurement data; setting a threshold for the vector sum of each inertial test data; and comparing the vector sum of each inertial test data with the corresponding threshold, and performing a corresponding range switching operation based on the comparison result.

[0041] Compared with fixed-range or dual-range solutions, the inertial measurement unit range adaptive adjustment method of this embodiment can adaptively adjust the appropriate range according to the actual motion state of the device under test through vector synthesis and dynamic threshold judgment, thereby avoiding data overflow or truncation and improving the accuracy and stability of IMU data measurement.

[0042] Various non-limiting implementations of the embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0043] like Figure 1 As shown, this embodiment provides a method for adaptively adjusting the range of an inertial measurement unit, including:

[0044] Step S101, collecting inertial measurement data in real time, and obtaining a vector sum of various inertial test data according to the inertial measurement data;

[0045] Step S102, setting a threshold value of the vector sum of each inertia test data; and

[0046] Step S103 : comparing the vector sum of each inertia test data with a corresponding threshold value, and performing a corresponding range switching operation according to the comparison result.

[0047] In some embodiments, the method of collecting inertial measurement data in real time and obtaining the vector sum of each inertial test data according to the inertial measurement data includes:

[0048] Real-time acquisition of the three-axis acceleration data (α x ,α y ,α z ) and three-axis angular velocity data (ω x ,ω y ,ω z );

[0049] Get the acceleration vector and α total and the angular velocity vector and ω total , the calculation formulas are as follows:

[0050] Acceleration vector sum

[0051] Angular velocity vector sum

[0052] Specifically, by obtaining the three-axis acceleration vector and a total and the angular velocity vector and ω total , can comprehensively and fully evaluate the motion state of the device under test, avoid misjudgment caused by single-axis sudden increase, and improve the accuracy and stability of measurement.

[0053] In some embodiments, the method for setting the threshold value of the vector sum of each inertia test data includes: dynamically setting the corresponding threshold value according to the vector sum of each inertia test data and the current gear range, that is,

[0054] Take 85%-95% of the maximum value of the acceleration vector and the current range as the upper threshold a of the acceleration vector sum thres hold_high , take 65%-75% of the maximum value of the acceleration vector and the current range as the lower threshold α of the acceleration vector sum thres hold_low ;as well as

[0055] Take 85%-95% of the maximum value of the angular velocity vector sum of the current gear range as the upper threshold limit of the angular velocity vector sum ω thres hold_high , take 65%-75% of the maximum value of the angular velocity vector sum of the current gear range as the lower threshold of the angular velocity vector sum ω thres hold_low .

[0056] Specifically, the corresponding threshold is dynamically set based on the vector sum of each inertia test data and the current range. To prevent data overflow, the upper threshold limit of the corresponding vector sum is set to 85%-95% of the maximum value of the current range. To prevent data truncation, the lower threshold limit of the corresponding vector sum is set to 65%-75% of the maximum value of the current range. This threshold ratio ensures both a safety margin and calibration stability.

[0057] In the following case, 90% of the maximum value of the acceleration vector sum of the current gear range is taken as the upper threshold α of the acceleration vector sum thres hold_high , take 70% of the maximum value of the acceleration vector and the current range as the lower threshold α of the acceleration vector sum thres hold_low ; and take 90% of the maximum value of the angular velocity vector and the current range as the upper threshold limit of the angular velocity vector and ω thres hold_high , take 70% of the maximum value of the angular velocity vector sum of the current gear range as the lower threshold of the angular velocity vector sum ω thres hold_low .

[0058] The method of comparing the vector sum of each inertia test data with a corresponding threshold value and performing a corresponding range switching operation according to the comparison result includes:

[0059] When α total >α thres hold_high or ω total >ω thres hold_hig h , the current range is switched to a higher range. If the current range is already the highest range when switching, the highest range is maintained and no switching is done; and

[0060] When α total <α thres hold_low And ω total <ω thres hold_low , the current range will be switched to the lower range. If the current range is already the lowest range when switching, the lowest range will be maintained without switching.

[0061] The following describes in detail the method of comparing the vector sum of each inertia test data with the corresponding threshold value and performing the corresponding range switching operation based on the comparison result using several cases:

[0062] Assume that the acceleration vector and has two ranges, namely ±2g and ±6g, of which the current range is ±2g, and the angular velocity vector and also have two ranges, namely ±100° / s and ±250° / s, of which the current range is ±100° / s.

[0063] The threshold values are set as follows:

[0064]

[0065]

[0066] Scenario 1: During steady driving

[0067] The acceleration vector sum obtained is 0.5-1.2g;

[0068] The obtained angular velocity vector sum is 10-30° / s;

[0069] The acceleration vector and the angular velocity vector are compared with corresponding thresholds respectively, and the range switching operation performed according to the comparison result is: maintaining the corresponding low range and not switching.

[0070] Scenario 2: Rapid acceleration

[0071] The obtained acceleration vector sum is 2.5g;

[0072] The obtained angular velocity vector sum is 20° / s;

[0073] The acceleration vector and the angular velocity vector sum are compared with corresponding thresholds respectively, and the range switching operation performed according to the comparison results is: switching the acceleration vector sum to the high range of ±6g.

[0074] Scenario 3: Sharp Turn

[0075] The obtained acceleration vector sums to 1.0g;

[0076] The obtained angular velocity vector sum is 110° / s;

[0077] The acceleration vector and the angular velocity vector sum are compared with corresponding thresholds respectively, and the range switching operation performed according to the comparison results is: the angular velocity vector sum is switched to the high range of ±250° / s.

[0078] In some embodiments, a moving average method is used to process the data collected during the switching range. The data processing methods include:

[0079]

[0080] Where: i is the number of data to be processed, χ1, χ2, ..., χ i are the data to be processed, and k is the window size.

[0081] Specifically, because switching ranges may result in data loss or large differences, some embodiments employ a simple moving average method to reduce fluctuations. After determining the size of the data window, data points within the window are taken at each time point, and their average value is calculated as the smoothed data point. As new data points arrive, the window is continuously moved and the average value is recalculated. The simple moving average method averages the data points within a fixed window of time series data and uses this average value to replace the data points at the center or end of the window.

[0082] Specifically, by processing the data collected during the range switching period using a moving average method, error data can be effectively suppressed and the stability of the measurement during range switching can be improved.

[0083] In this embodiment, in order to prioritize the real-time performance of the inertial measurement data, the window size k is reduced to 3-5. In the following case, the window size k is 3 as an example.

[0084] like Figure 2 As shown, a case study is used to illustrate in detail how to process data using the moving average method, as follows:

[0085] Assume that there are 10 data to be processed, that is, i=10, and the window size k=3 is set. Then the data to be processed starts from subscript i=3, with a total of 8 data. The output of the i-th point is the average of the i-2 point, the i-1 point, and the i-th point.

[0086] Figure 2 The middle dots are the original data input:

[0087] Data sequence [0.1, 0.2, 0.15, 0.3, 0.25, 0.4, 0.35, 0.5, 0.45, 0.6], time points 1-10.

[0088] Window size k = 3, such as Figure 2 In the box where time points 4 to 6 are located, the mean value within the window is calculated each time the window is slid. For example, the smoothed value at time point 6 is approximately equal to the mean of the original values from time points 4 to 6.

[0089] Figure 2 The square box points are the data output after smoothing:

[0090] The resulting sequence is [0.15, 0.22, 0.23, 0.32, 0.33, 0.42, 0.43, 0.52], time points 3-10 (aligned at the end of the window).

[0091] In summary, the adaptive range adjustment of the inertial measurement unit is achieved by obtaining the three-axis acceleration vector and α total With the angular velocity vector and ω totalIt can comprehensively evaluate the motion state of the device under test, avoid misjudgment caused by single-axis sudden increase, and then dynamically adjust the range according to the motion state to avoid data overflow or truncation, thereby improving the accuracy and stability of the measurement. The moving average method is used to process the data collected during the switching range, further improving the accuracy and stability of the measurement.

[0092] Some embodiments also provide a method for adaptively adjusting the range of an inertial measurement unit when a vehicle is driving steadily, including: collecting acceleration data and angular velocity data of the vehicle when it is driving steadily in real time, and obtaining an acceleration vector sum and an angular velocity vector sum based on the acceleration data and angular velocity data; setting a threshold value of the acceleration vector sum and a threshold value of the angular velocity vector sum; and comparing the acceleration vector sum and the angular velocity vector sum with corresponding threshold values, and performing corresponding range switching operations based on the comparison results.

[0093] Specifically, regarding the method for adaptively adjusting the range of the inertial measurement unit when the vehicle is driving steadily, please refer to the content of the aforementioned method for adaptively adjusting the range of the inertial measurement unit, which will not be repeated here.

[0094] Some embodiments also provide a method for adaptively adjusting the range of an inertial measurement unit during rapid acceleration of a vehicle, including: real-time collection of acceleration data and angular velocity data during rapid acceleration of the vehicle, and obtaining an acceleration vector sum and an angular velocity vector sum based on the acceleration data and angular velocity data; setting a threshold value for the acceleration vector sum and a threshold value for the angular velocity vector sum; and comparing the acceleration vector sum and the angular velocity vector sum with corresponding threshold values, and performing corresponding range switching operations based on the comparison results.

[0095] Specifically, regarding the method for adaptively adjusting the range of the inertial measurement unit during rapid acceleration of the vehicle, reference may be made to the aforementioned method for adaptively adjusting the range of the inertial measurement unit, which will not be described in detail here.

[0096] Some embodiments also provide a method for adaptively adjusting the range of an inertial measurement unit when a vehicle makes a sharp turn, including: collecting acceleration data and angular velocity data of the vehicle when making a sharp turn in real time, and obtaining an acceleration vector sum and an angular velocity vector sum based on the acceleration data and angular velocity data; setting a threshold value of the acceleration vector sum and a threshold value of the angular velocity vector sum; and comparing the acceleration vector sum and the angular velocity vector sum with corresponding threshold values, and performing corresponding range switching operations based on the comparison results.

[0097] Specifically, regarding the method for adaptively adjusting the range of the inertial measurement unit when the vehicle makes a sharp turn, the details of the method for adaptively adjusting the range of the inertial measurement unit can be referred to above, and will not be repeated here.

[0098] like Figure 3As shown, some embodiments further provide an inertial measurement unit range adaptive adjustment system, comprising: a computer device, wherein the computer device is configured to include:

[0099] an acquisition module configured to acquire inertial measurement data in real time and obtain a vector sum of various inertial test data based on the inertial measurement data;

[0100] A setting module configured to set a threshold value of a vector sum of each inertia test data; and

[0101] The switching module is configured to compare the vector sum of each inertia test data with a corresponding threshold value and perform a corresponding range switching operation according to the comparison result.

[0102] Specifically, the specific implementation functions of the acquisition module, the setting module and the switching module are implemented in the computer device. For details, please refer to the content of the aforementioned inertial measurement unit range adaptive adjustment method, which will not be repeated here.

[0103] Some embodiments further provide a computer-readable storage medium having a computer program / instruction stored thereon, which, when executed by a processor, implements the aforementioned method for adaptively adjusting the range of an inertial measurement unit.

[0104] Please refer to the detailed description of the adaptive range adjustment method of the inertial measurement unit mentioned above, which will not be repeated here.

[0105] like Figure 4 As shown, some embodiments further provide a device / system, including: an inertial measurement unit, configured to output inertial measurement data; and a control module, configured to execute the inertial measurement unit range adaptive adjustment method as described above.

[0106] For the specific implementation process of the above-mentioned device / system, please refer to the detailed description of the aforementioned inertial measurement unit range adaptive adjustment method.

[0107] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a portion of code, and the module, program segment or a portion of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0108] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0109] If the functions are implemented in the form of software modules 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, or the portion that contributes to the prior art, or the portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention.

[0110] With the above-described preferred embodiments of the present invention as a guide, and with reference to the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical scope of this invention. The technical scope of this invention is not limited to the contents of the specification and must be determined according to the scope of the claims.

Claims

1. A method for adaptively adjusting the range of an inertial measurement unit, characterized in that: include: Collect inertial measurement data in real time, and obtain the vector sum of each inertial test data based on the inertial measurement data; Setting a threshold value for the vector sum of each inertia test data; and The vector sum of each inertia test data is compared with the corresponding threshold value, and the corresponding range switching operation is performed according to the comparison result.

2. The method for adaptively adjusting the range of an inertial measurement unit according to claim 1, wherein: The method of collecting inertial measurement data in real time and obtaining the vector sum of each inertial test data according to the inertial measurement data includes: Real-time acquisition of the three-axis acceleration data (α x ,α y ,α z ) and three-axis angular velocity data (ω x ,ω y ,ω z ); Get the acceleration vector and α total and the angular velocity vector and ω total , the calculation formulas are as follows: Acceleration vector sum Angular velocity vector sum 3. The method for adaptively adjusting the range of an inertial measurement unit according to claim 2, wherein: Methods for setting the threshold value of the vector sum of each inertia test data include: Dynamically set the corresponding threshold value according to the vector of each inertia test data and the current range, that is, Take 85%-95% of the maximum value of the acceleration vector and the current range as the upper threshold α of the acceleration vector sum threshold_hiht , take 65%-75% of the maximum value of the acceleration vector and the current range as the lower threshold α of the acceleration vector sum threshold_low ;as well as Take 85%-95% of the maximum value of the angular velocity vector sum of the current gear range as the upper threshold limit of the angular velocity vector sum ω threshold_high , take 65%-75% of the maximum value of the angular velocity vector sum of the current gear range as the lower threshold of the angular velocity vector sum ω threshold_low .

4. The method for adaptively adjusting the range of an inertial measurement unit according to claim 3, wherein: The method of comparing the vector sum of each inertia test data with a corresponding threshold value and performing a corresponding range switching operation according to the comparison result includes: When α total >α threshold_high or ω total >ω threshold_high , the current range is switched to a higher range. If the current range is already the highest range when switching, the highest range is maintained and no switching is done; and When α total <α threshold_low And ω total <ω threshold_low , the current range will be switched to the lower range. If the current range is already the lowest range when switching, the lowest range will be maintained without switching.

5. The method for adaptively adjusting the range of an inertial measurement unit according to claim 3, wherein: Also includes: The moving average method is used to process the data collected during the switching range. The data processing methods include: Where: i is the number of data to be processed, χ1, χ2, ..., χ i are the data to be processed, and k is the window size.

6. A method for adaptively adjusting the range of an inertial measurement unit during steady vehicle driving, characterized in that: include: Collect acceleration data and angular velocity data of the vehicle in real time when the vehicle is running smoothly, and obtain the acceleration vector sum and the angular velocity vector sum according to the acceleration data and the angular velocity data; Setting a threshold value of the sum of the acceleration vector and a threshold value of the sum of the angular velocity vector; and The acceleration vector sum and the angular velocity vector sum are compared with corresponding thresholds, and a corresponding range switching operation is performed according to the comparison result.

7. A method for adaptively adjusting the range of an inertial measurement unit during rapid acceleration of a vehicle, characterized in that: include: Collect acceleration data and angular velocity data of the vehicle in real time during rapid acceleration, and obtain the acceleration vector sum and the angular velocity vector sum based on the acceleration data and angular velocity data; Setting a threshold value of the sum of the acceleration vector and a threshold value of the sum of the angular velocity vector; and The acceleration vector sum and the angular velocity vector sum are compared with corresponding thresholds, and a corresponding range switching operation is performed according to the comparison result.

8. A method for adaptively adjusting the range of an inertial measurement unit when a vehicle makes a sharp turn, characterized in that: include: Collect acceleration data and angular velocity data of the vehicle in real time when it makes a sharp turn, and obtain the acceleration vector sum and the angular velocity vector sum based on the acceleration data and angular velocity data; Setting a threshold value of the sum of the acceleration vector and a threshold value of the sum of the angular velocity vector; and The acceleration vector sum and the angular velocity vector sum are compared with corresponding thresholds, and a corresponding range switching operation is performed according to the comparison result.

9. An inertial measurement unit range adaptive adjustment system, characterized in that: include: A computer device, the computer device being configured to include: an acquisition module configured to acquire inertial measurement data in real time and obtain a vector sum of various inertial test data based on the inertial measurement data; A setting module configured to set a threshold value of a vector sum of each inertia test data; and The switching module is configured to compare the vector sum of each inertia test data with a corresponding threshold value and perform a corresponding range switching operation according to the comparison result.

10. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instruction is executed by a processor, the method for adaptively adjusting the range of an inertial measurement unit according to any one of claims 1 to 5 is implemented.

11. A device / system, characterized in that: include: an inertial measurement unit configured to output inertial measurement data; The control module is configured to execute the method for adaptively adjusting the range of an inertial measurement unit according to any one of claims 1 to 5.

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