Vehicle-mounted inertial navigation vibration distortion elimination method based on dynamic adjustment framework

Abstract

The invention discloses a vehicle-mounted inertial navigation vibration distortion elimination method based on a dynamic adjustment frame. The method comprises the following steps: acquiring position information of a vehicle; determining a driving area where the vehicle is located according to the position information of the vehicle; collecting vehicle motion parameters of the vehicle, and determining a current driving scene of the vehicle according to the vehicle motion parameters and a preset rule; dynamically adjusting parameters of a vibration buffer device according to the driving area and the driving scene; and based on the adjusted sensor data, carrying out vibration distortion elimination on the inertial navigation system through an error compensation algorithm. According to the scheme provided by the invention, the vibration buffering degree is changed by regions and scenes, so that the vibration distortion of the vehicle-mounted inertial navigation system is effectively eliminated, and the navigation precision is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle-mounted inertial navigation systems, and in particular to a vehicle-mounted inertial navigation vibration distortion elimination method based on a dynamic adjustment framework. BACKGROUND

[0002] Vehicle-mounted inertial navigation systems play a crucial role in vehicle driving, however, the vehicle is inevitably disturbed by various vibrations during driving, which can cause distortion in the sensor measurement data of the inertial navigation system, thereby seriously affecting navigation accuracy. Some existing vibration elimination methods, such as simple shock absorber installation, cannot dynamically adjust the vibration damping level according to different driving areas of the vehicle (such as urban roads, highways, rugged mountain roads, etc.) and driving scenarios (such as acceleration, deceleration, turning, etc.), and are difficult to meet the demand for high-precision navigation of vehicle-mounted inertial navigation systems under complex driving conditions. SUMMARY

[0003] In view of the above, the present application aims to provide a vehicle-mounted inertial navigation vibration distortion elimination method based on a dynamic adjustment framework to solve the aforementioned technical problems.

[0004] The technical solutions adopted by the present application are as follows:

[0005] The present application provides a vehicle-mounted inertial navigation vibration distortion elimination method based on a dynamic adjustment framework, which comprises:

[0006] Obtaining position information of the vehicle;

[0007] Determining the driving area of the vehicle according to the position information of the vehicle;

[0008] Collecting vehicle motion parameters of the vehicle, and determining the current driving scenario of the vehicle according to the vehicle motion parameters and a preset rule;

[0009] Adjusting the parameters of the vibration damping device dynamically according to the driving area and the driving scenario;

[0010] Based on the adjusted sensor data, the inertial navigation system is subjected to vibration distortion elimination through an error compensation algorithm.

[0011] Optionally, the vehicle motion parameters of the vehicle include acceleration data and angular velocity data of the vehicle.

[0012] Optionally, the driving area includes at least one of urban roads, highways, rural roads and rugged mountain roads, and the driving scenario includes at least one of straight driving, acceleration, deceleration, turning and sudden braking.

[0013] Optionally, the dynamic adjustment of the parameters of the vibration damping device includes:

[0014] Adjust at least one of the stiffness, damping coefficient of the shock absorber.

[0015] Optionally, the dynamic adjustment of the parameter of the vibration buffering device further comprises:

[0016] In the turning scenario, the lateral stiffness of the vehicle suspension system is adjusted.

[0017] Optionally, based on the adjusted sensor data, the vibration distortion of the inertial navigation system is eliminated by an error compensation algorithm, comprising:

[0018] The state equation and the observation equation of the vehicle are established;

[0019] According to the current driving area and scenario, the parameters of the state equation and the observation equation of the vehicle are optimized by using an adaptive Kalman filtering algorithm, so as to eliminate the vibration distortion of the inertial navigation system.

[0020] The application also provides a vehicle-mounted inertial navigation vibration distortion elimination system based on a dynamic adjustment framework, which executes the method as shown above, and the system comprises:

[0021] The positioning module is used to acquire vehicle position information;

[0022] The sensor module is used to collect vehicle motion parameters;

[0023] The control unit is used to judge the driving area and scenario and output adjustment instructions;

[0024] The adjustable shock absorbing device is used to execute the adjustment of the vibration buffering parameter;

[0025] The processing unit is used to run an error compensation algorithm to eliminate vibration distortion.

[0026] Optionally, the adjustable shock absorbing device is an electromagnetic shock absorber or a hydraulic adjustable shock absorber.

[0027] The application also provides a computing device, comprising a processor and a memory storing a computer program, wherein the computer program is run by the processor to execute the method as described above.

[0028] The application also provides a computer-readable storage medium storing instructions, wherein the instructions are run on a computer to make the computer execute the method as described above.

[0029] The above-mentioned scheme of the application at least has the following beneficial effects:

[0030] The above scheme of the present application comprises the following steps: acquiring position information of a vehicle; determining a driving area where the vehicle is located according to the position information of the vehicle; collecting vehicle motion parameters of the vehicle, and determining a current driving scene of the vehicle according to the vehicle motion parameters and a preset rule; dynamically adjusting parameters of a vibration buffering device according to the driving area and the driving scene; and eliminating vibration distortion of an inertial navigation system through an error compensation algorithm based on the adjusted sensor data. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described below with reference to the drawings, in which:

[0032] Figure 1 A flowchart of the vehicle-mounted inertial navigation vibration distortion elimination method based on a dynamic adjustment framework provided by the embodiment of the present application is shown in FIG. 4. DETAILED DESCRIPTION

[0033] The embodiments of the present application will be described in detail below, and examples of the embodiments are shown in the drawings, in which the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application, and cannot be interpreted as a limitation on the present application.

[0034] The present application provides an embodiment of a vehicle-mounted inertial navigation vibration distortion elimination method based on a dynamic adjustment framework, as shown in FIG. 1, which comprises the following steps: Figure 1

[0035] Step 11: acquiring position information of a vehicle;

[0036] Step 12: determining a driving area where the vehicle is located according to the position information of the vehicle;

[0037] Here, the driving area comprises at least one of an urban road, an expressway, a rural road and a rugged mountain road, and the driving area is divided into different categories according to the detail level of map data and actual application requirements. The urban road can be further subdivided into trunk roads, secondary trunk roads, branch roads and the like, and the vibration characteristics of different subdivided areas may be different, and different strategies can be adopted in subsequent vibration buffering adjustment. The expressway can be classified according to road conditions (such as whether there is construction, road surface quality, etc.). The rural road and the rugged mountain road are divided according to the complexity of the terrain and the common road surface conditions.

[0038] ​In a specific implementation, map data is obtained by using a map navigation software installed on the vehicle, and position information of the vehicle is obtained in real time by using a global positioning system (GPS) or other high-precision positioning module, so that a driving area where the vehicle is located is determined. For example, the map data has clear geographical identification of urban roads, expressways, and other areas, and the area where the vehicle is located can be determined by matching the position of the vehicle with the identification.

[0039] In step 13, vehicle motion parameters of the vehicle are collected, and a current driving scene of the vehicle is determined according to the vehicle motion parameters and a preset rule.

[0040] Specifically, the driving scene includes at least one of straight driving, acceleration, deceleration, turning, and emergency braking. The vehicle motion parameters of the vehicle include acceleration data and angular velocity data of the vehicle. The acceleration and angular velocity data of the vehicle are collected in real time by using an inertial measurement unit (IMU) installed on the vehicle, including an accelerometer and a gyroscope. The data is analyzed and processed by using a microprocessor, and a current driving scene of the vehicle is determined according to a preset scene determination rule, such as an acceleration threshold value, an angular velocity change rate, and the like. For the straight driving scene, the acceleration and angular velocity of the vehicle are required to be stable within a certain range; for the acceleration scene, the longitudinal acceleration is greater than a set threshold value; for the deceleration scene, the longitudinal acceleration is negative and greater than a certain amplitude; for the turning scene, the vehicle roll angular velocity, the vehicle pitch angular velocity, and the curvature of the driving track are comprehensively determined; and for the emergency braking scene, the longitudinal acceleration sharply decreases and is greater than a certain threshold value. For example, when the longitudinal acceleration measured by the accelerometer is greater than a set acceleration threshold value, it is determined that the vehicle is in the acceleration scene; when the roll angular velocity and the pitch angular velocity measured by the gyroscope are greater than a certain range and last for a period of time, the driving track of the vehicle is combined to determine that the vehicle is in the turning scene.

[0041] In step 14, parameters of the vibration buffering device are dynamically adjusted according to the driving area and the driving scene.

[0042] In this embodiment, vibration buffering adjustment is achieved by adjusting parameters of the shock absorber. Specifically, a shock absorber with adjustable stiffness and damping is used, such as an electromagnetic shock absorber or a hydraulic adjustable shock absorber. The stiffness and damping characteristics of these shock absorbers can be changed by controlling the current or the flow of hydraulic oil.

[0043] When driving on urban roads, the control unit sends instructions to the shock absorber to reduce the stiffness and increase the damping of the shock absorber, so that the shock absorber can better absorb high-frequency and small-amplitude vibrations. When driving straight on the expressway, the stiffness of the shock absorber is appropriately increased, and the damping is reduced, so as to improve the driving stability of the vehicle, and at the same time, effectively cope with low-frequency and large-amplitude road unevenness vibrations.

[0044] Lateral stiffness adjustment: For cornering scenarios, devices with adjustable lateral stiffness are added to the suspension system of the vehicle, such as variable stiffness anti-roll bars or adjustable lateral damping shock absorber attachments. When the vehicle is detected to be in a cornering scenario, the required lateral stiffness is calculated by the control unit according to the cornering radius and vehicle speed, and the parameters of the corresponding devices are adjusted. For example, when the cornering radius is small and the vehicle speed is high, the stiffness of the anti-roll bar is increased to improve the lateral stability of the vehicle and reduce the influence of vibrations caused by centrifugal force on the inertial navigation system.

[0045] Step 15: Based on the adjusted sensor data, the inertial navigation system is subjected to vibration distortion elimination through an error compensation algorithm.

[0046] In this embodiment, an adaptive filtering algorithm such as Kalman filtering algorithm is run in the microprocessor on the vehicle. First, according to the working principle of the inertial navigation system and the kinematic model of the vehicle, the state equation and the observation equation are established. The state equation describes the relationship between the attitude, velocity and position of the inertial navigation system and time, and the observation equation relates the measurement data of the accelerometer and gyroscope to the state variables. The sensor data adjusted by the vibration buffering is input into the Kalman filtering algorithm, and through the prediction and update steps, the state of the inertial navigation system is optimally estimated, thereby eliminating the measurement data distortion caused by vibration and improving the navigation accuracy.

[0047] The state vector is: ;

[0048] wherein, is the state vector, is the position error in the North-East-Geodetic coordinate system, is the velocity error in the North-East-Geodetic coordinate system, is the attitude error, is the bias of the accelerometer, is the bias of the gyroscope.

[0049] The state equation is: + ;

[0050] wherein, is the derivative of the state vector; is the state transition matrix, which describes the dynamic relationship between the state variables; is the noise input matrix; is the process noise.

[0051] The observation equation is: ;

[0052] wherein, is the observation vector; is the observation matrix, which maps the state vector to the observation space; For observation noise, it is also modeled as Gaussian white noise; For the current observation state.

[0053] Optimization of algorithm parameters: according to different driving areas and scenes, the parameters of the error compensation algorithm are optimized. For example, when driving on urban roads, the noise covariance matrix in the Kalman filter algorithm is appropriately adjusted to better adapt to the complex vibration environment and improve the filtering effect. When driving on the highway, according to the relatively stable vibration characteristics, the state transition matrix and observation matrix in the algorithm are optimized to improve the calculation efficiency and estimation accuracy of the algorithm.

[0054] The vehicle-mounted inertial navigation vibration distortion elimination method based on the dynamic adjustment framework of the embodiment can minimize the interference of vibration on the sensors of the inertial navigation system by accurately adjusting the vibration damping degree in different areas and scenes, and significantly improves the navigation accuracy of the vehicle-mounted inertial navigation system in combination with the error compensation algorithm, providing more accurate position, speed and attitude information for the vehicle.

[0055] It can adapt to the change of vibration characteristics of the vehicle in various different driving areas and scenes, has strong environmental adaptability and robustness, and can effectively ensure the normal work of the inertial navigation system whether in complex urban traffic environment or in different road conditions of highways, rural roads or rugged mountain roads. Accurate navigation information helps the driver to drive the vehicle more safely and efficiently, reduces the situation of getting lost or taking the wrong route due to navigation error, and improves the user's driving experience.

[0056] Embodiments of the application also provide a vehicle-mounted inertial navigation vibration distortion elimination system based on a dynamic adjustment framework, which executes the method as described above, and the system comprises:

[0057] A positioning module for obtaining vehicle position information;

[0058] A sensor module for collecting vehicle motion parameters;

[0059] A control unit for judging the driving area and scene and outputting adjustment instructions;

[0060] An adjustable damping device for executing adjustment of vibration damping parameters;

[0061] A processing unit for running an error compensation algorithm to eliminate vibration distortion.

[0062] Specifically, the adjustable damping device is an electromagnetic shock absorber or a hydraulic adjustable shock absorber.

[0063] It should be noted that the system corresponds to the above method, and all implementation manners in the above method embodiments are applicable to the embodiments of the system and can achieve the same technical effects.

[0064] The embodiment of the present application also provides a computing device, comprising a processor and a memory storing a computer program, when the computer program is run by the processor, the method described in the above embodiment is executed. All implementation manners in the above method embodiment are applicable to this embodiment, and the same technical effects can also be achieved.

[0065] The embodiment of the present application also provides a computer readable storage medium storing instructions, when the instructions are run on a computer, the computer executes the method described in the above embodiment. All implementation manners in the above method embodiment are applicable to this embodiment, and the same technical effects can also be achieved.

[0066] Those skilled in the art can understand that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0067] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

[0068] In the embodiments provided by the present application, it should be understood that the disclosed device and method can be implemented by other ways. For example, the device embodiments described above are only schematic, and for example, the division of the units is only a logical function division, and there can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0069] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. According to actual needs, some or all of the units can be selected to achieve the purpose of the embodiment.

[0070] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit.

[0071] If the functions are realized 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 solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of software products. 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 method described in each embodiment of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various program code storage media.

[0072] In addition, it should be noted that in the device and method of the present application, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombination should be considered as equivalent solutions of the present application. And the steps of performing the above series of processes can naturally be executed in time sequence according to the order of description, but it is not necessary to be executed in time sequence. Some steps can be executed in parallel or independently of each other. It can be understood by those skilled in the art that all or any steps or components of the method and device of the present application can be realized in hardware, firmware, software or their combination in any computing device (including processor, storage medium, etc.) or network of computing devices, which can be realized by those skilled in the art using their basic programming skills after reading the description of the present application.

[0073] Therefore, the purpose of the present application can also be realized by running a program or a group of programs on any computing device. The computing device can be a commonly known general-purpose device. Therefore, the purpose of the present application can also be realized only by providing a program product containing program code for realizing the method or device. That is, such a program product also constitutes the present application, and the storage medium storing such a program product also constitutes the present application. Obviously, the storage medium can be any commonly known storage medium or any storage medium developed in the future. It should be noted that in the device and method of the present application, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombination should be considered as equivalent solutions of the present application. And the steps of performing the above series of processes can naturally be executed in time sequence according to the order of description, but it is not necessary to be executed in time sequence. Some steps can be executed in parallel or independently of each other.

[0074] The above is the preferred embodiment of the present application, it should be noted that for those skilled in the art, without departing from the principles described in the present application, can also be made several improvements and refinements, these improvements and refinements should also be considered the scope of protection of the present application.

Claims

1. A vehicle-mounted inertial navigation vibration distortion elimination method based on a dynamic adjustment framework, characterized in that, The method comprises: acquiring position information of the vehicle; determining a driving area where the vehicle is located according to the position information of the vehicle; collecting vehicle motion parameters of the vehicle, and determining a current driving scene of the vehicle according to the vehicle motion parameters and a preset rule; dynamically adjusting parameters of a vibration damping device according to the driving area and the driving scene; and eliminating vibration distortion of an inertial navigation system through an error compensation algorithm based on the adjusted sensor data.

2. The method according to claim 1, wherein, The vehicle motion parameters of the vehicle include acceleration data and angular velocity data of the vehicle.

3. The method of claim 1, wherein, The driving area includes at least one of an urban road, an expressway, a rural road and a rugged mountain road, and the driving scene includes at least one of straight driving, acceleration, deceleration, turning and sudden braking.

4. The method of claim 1, wherein, The dynamic adjustment of the parameters of the vibration damping device includes: adjusting at least one of the stiffness and the damping coefficient of the shock absorber.

5. The method of claim 1, wherein, The dynamic adjustment of the parameters of the vibration damping device further includes: adjusting the lateral stiffness of the vehicle suspension system in the turning scene.

6. The dynamic adjustment framework based on-board inertial navigation vibration distortion elimination method according to claim 1, characterized in that, Eliminating vibration distortion of an inertial navigation system through an error compensation algorithm based on the adjusted sensor data includes: establishing a state equation and an observation equation of the vehicle; optimizing parameters of the state equation and the observation equation of the vehicle by using an adaptive Kalman filtering algorithm according to the current driving area and scene, and eliminating vibration distortion of the inertial navigation system.

7. A vehicle-mounted inertial navigation vibration distortion elimination system based on a dynamic adjustment framework, characterized in that, The system for executing the method of any one of claims 1 to 6 comprises: a positioning module for acquiring vehicle position information; a sensor module for collecting vehicle motion parameters; a control unit for determining the driving area and the scene and outputting adjustment instructions; an adjustable shock absorbing device for executing adjustment of vibration damping parameters; and a processing unit for running an error compensation algorithm to eliminate vibration distortion.

8. The dynamic adjustment framework based vehicular inertial navigation vibration distortion elimination system of claim 7, wherein, The adjustable shock absorbing device is an electromagnetic shock absorber or a hydraulic adjustable shock absorber.

9. A computing device, comprising: The method comprises: a processor and a memory storing a computer program, wherein the computer program is run by the processor to execute the method of any one of claims 1 to 7.

10. A computer readable storage medium, characterized in that, instructions stored in a computer, wherein the instructions are run on the computer to cause the computer to execute the method of any one of claims 1 to 7.

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