Centering rod calibration method, device and equipment and storage medium

Abstract

The invention provides a centering rod calibration method, device and equipment and a storage medium, and relates to the field of surveying and mapping, and the method comprises the steps: obtaining the real-time positioning data and real-time acceleration information of a centering rod at the current moment in the shaking process under the condition that the rod tip of the centering rod is kept in contact with a ground contact point; according to real-time positioning information in the detection data at the current moment, determining an actual observation value and a predicted observation value at the current moment by adopting a preset Kalman filtering algorithm; determining filtering information at the current moment according to the actual observation value and the predicted observation value; according to the filtering information at the current moment and the real-time acceleration information at the current moment, whether the centering rod meets a preset error constraint condition at the current moment is determined; if the current moment meets the preset error constraint condition, the error estimation value of the centering rod at the current moment is determined according to the estimation state corresponding to the actual observation value at the current moment, and therefore the situation that the final error estimation value is affected due to wrong measurement information updating can be avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surveying and mapping, in particular to a method and device for calibrating a plumb rod, equipment and a storage medium. BACKGROUND

[0002] In recent years, tilt measurement technology has played an increasingly important role in the field of surveying and mapping due to its efficient, convenient and precise technical advantages. The main principle is to convert the position information of the antenna phase center to the position information of the rod tip using inertial navigation information and rod height information, achieving efficient operation efficiency without the need for vertical plumb rod, and facilitating the measurement of special locations such as corners and partial obstructions.

[0003] The tilt measurement device mainly consists of a main machine and a plumb rod. Due to factors such as processing technology, the main machine cannot be guaranteed to be completely perpendicular to the plumb rod when installed on the plumb rod, and there will be a certain horizontal installation error, which is usually a small error of degrees, but it will affect the final result of the tilt measurement output and cause a certain measurement error. Therefore, it is generally necessary to calibrate the plumb rod of the tilt measurement device to estimate the above-mentioned horizontal installation error angle and possible plumb rod height error. SUMMARY

[0004] The purpose of the present application is to provide a plumb rod calibration method, device, equipment and storage medium to avoid affecting the final error estimation accuracy by using a preset Kalman filter algorithm to process the real-time positioning information at the current time, determine the filter innovation at the current time, and then combine the real-time acceleration information at the current time to update the state at the current time to obtain the error estimation value at the current time.

[0005] To achieve the above-mentioned purpose, the technical solutions adopted by the embodiments of the present application are as follows: In a first aspect, the embodiments of the present application provide a plumb rod calibration method, which comprises: In the case that the rod tip of the plumb rod keeps contact with the ground contact point, real-time positioning data and real-time acceleration information of the plumb rod at the current time during the shaking process are obtained, wherein the real-time positioning data is the real-time positioning information collected by the positioning sensor in the main machine provided at the top of the plumb rod, and the real-time acceleration information is the real-time acceleration information collected by the inertial navigation sensor in the main machine; According to the real-time positioning information at the current time, a preset Kalman filter algorithm is used to determine the actual observation value and the predicted observation value at the current time; According to the actual observation value and the predicted observation value, the filter innovation at the current time is determined; determining whether the goniometer satisfies a preset error constraint condition at the current time according to the filter innovation at the current time and real-time acceleration information at the current time; if the current time satisfies the preset error constraint condition, determining an error estimation value of the goniometer at the current time according to an estimated state corresponding to an actual observation value at the current time.

[0006] In an optional implementation, the determining whether the goniometer satisfies a preset error constraint condition at the current time according to the filter innovation at the current time and real-time acceleration information at the current time comprises: determining whether a positioning error at the current time satisfies a preset positioning constraint condition according to the filter innovation at the current time; if the positioning error at the current time satisfies the preset positioning constraint condition, determining whether the goniometer satisfies a preset deformation constraint condition at the current time according to real-time acceleration information at the current time; if the current time satisfies the preset deformation constraint condition, determining whether the goniometer satisfies a preset rod tip sliding constraint condition at the current time according to filter innovations in a preset historical time period before the current time; if the current time satisfies the preset rod tip sliding constraint condition, determining that the current time satisfies the preset error constraint condition.

[0007] In an optional implementation, the determining whether a positioning error at the current time satisfies a preset positioning constraint condition according to the filter innovation at the current time comprises: determining a new information statistical parameter at the current time according to the filter innovation at the current time; if the new information statistical parameter at the current time is greater than or equal to a preset rejection chi-square test threshold, determining that the positioning error at the current time does not satisfy the preset positioning constraint condition; if the new information statistical parameter at the current time is less than the preset rejection chi-square test threshold and greater than or equal to a preset downweight chi-square test threshold, increasing noise at the current time for measurement at a next time and determining whether the positioning error at the current time satisfies the preset positioning constraint condition; if the new information statistical parameter at the current time is less than the preset downweight chi-square test threshold, determining that the positioning error at the current time satisfies the preset positioning constraint condition.

[0008] In an optional implementation, the real-time acceleration information comprises acceleration information in multiple dimensions, and the determining whether the goniometer satisfies a preset deformation constraint condition at the current time according to real-time acceleration information at the current time comprises: determining total acceleration information of the current moment according to the multiple dimensions of acceleration information of the current moment; if the total acceleration information is greater than or equal to a preset acceleration threshold, determining that the alignment rod does not satisfy the preset deformation constraint condition at the current moment; if the total acceleration information is less than the preset acceleration threshold, determining that the alignment rod satisfies the preset deformation constraint condition at the current moment.

[0009] In an optional implementation, the determining whether the alignment rod satisfies a preset rod tip sliding constraint condition at the current moment according to filtered new information in a preset historical time period before the current moment comprises: performing sliding mean processing on the filtered new information in the preset historical time period before the current moment to obtain sliding filtered new information of the current moment; if the sliding filtered new information of the current moment is greater than or equal to a preset sliding new information threshold, determining that the alignment rod does not satisfy the preset rod tip sliding constraint condition at the current moment; if the sliding filtered new information of the current moment is less than the preset sliding new information threshold, determining that the alignment rod satisfies the preset rod tip sliding constraint condition at the current moment.

[0010] In an optional implementation, the method further comprises: if the current moment does not satisfy the preset error constraint condition, stopping error calibration of the alignment rod at the current moment.

[0011] In an optional implementation, before the determining actual observation values and predicted observation values of the current moment according to real-time positioning information in the detection data of the current moment by using a preset Kalman filtering algorithm, the method further comprises: constructing state equations and measurement equations of the preset Kalman filtering algorithm by using a calibration mathematical model of the alignment rod, a preset rod arm expression of the alignment rod, a first direction cosine matrix of an inertial navigation coordinate system of the inertial navigation sensor to a geographic navigation coordinate system, and a second direction cosine matrix of a coordinate system of the alignment rod to the inertial navigation coordinate system; the determining actual observation values and predicted observation values of the current moment according to real-time positioning information in the detection data of the current moment by using a preset Kalman filtering algorithm comprises: obtaining a state vector of the current moment according to state equations of the preset Kalman filtering algorithm and the real-time positioning information in the detection data of the current moment; According to the state vector of the current moment, a measurement equation of the preset Kalman filtering algorithm is used to determine actual observation values and predicted observation values of the current moment.

[0012] In a second aspect, the embodiments of the present application further provide a calibration device for a centering rod, the device comprising: The acquisition module is configured to acquire real-time positioning data and real-time acceleration information of the centering rod at a current moment during the shaking process, under the condition that a rod tip of the centering rod keeps in contact with a contact point on the ground, wherein the real-time positioning data is real-time positioning information collected by a positioning sensor in a host computer arranged at a top of the centering rod, and the real-time acceleration information is real-time acceleration information collected by an inertial navigation sensor in the host computer. The determination module is configured to determine actual observation values and predicted observation values of the current moment by using a preset Kalman filtering algorithm according to the real-time positioning information of the current moment. The determination module is further configured to determine filter new information of the current moment according to the actual observation values and the predicted observation values. The determination module is further configured to determine whether the centering rod meets a preset error constraint condition at the current moment according to the filter new information of the current moment and the real-time acceleration information of the current moment. The determination module is further configured to determine an error estimation value of the centering rod at the current moment according to an estimated state corresponding to the actual observation values of the current moment, if the current moment meets the preset error constraint condition.

[0013] In a third aspect, the embodiments of the present application further provide a computer device, which comprises a processor, a storage medium and a bus, the storage medium stores program instructions executable by the processor, when the computer device is running, the processor and the storage medium communicate through the bus, and the processor executes the program instructions to perform the steps of the centering rod calibration method according to any one of the first aspect.

[0014] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium, the storage medium stores a computer program, and the computer program is executed by a processor to perform the steps of the centering rod calibration method according to any one of the first aspect.

[0015] The present application has the following beneficial effects: The embodiment of the application provides a centering rod calibration method, device, equipment and storage medium, the method comprises the following steps: in the case that the rod tip of the centering rod and the ground contact point keep contact, real-time positioning data and real-time acceleration information of the centering rod at the current moment in the shaking process are acquired, wherein the real-time positioning data is real-time positioning information collected by a host positioning sensor arranged at the top of the centering rod, and the real-time acceleration information is real-time acceleration information collected by an inertial navigation sensor in the host; according to the real-time positioning information in the detection data at the current moment, a preset Kalman filtering algorithm is used to determine an actual observation value at the current moment and a predicted observation value; according to the actual observation value and the predicted observation value, filter new information at the current moment is determined; according to the filter new information at the current moment and the real-time acceleration information at the current moment, whether the centering rod at the current moment satisfies a preset error constraint condition is determined; if the current moment satisfies the preset error constraint condition, an error estimation value of the centering rod at the current moment is determined according to an estimated state corresponding to the actual observation value at the current moment. The method of the application processes the real-time positioning information at the current moment by using the preset Kalman filtering algorithm, determines the filter new information at the current moment, and then determines whether the centering rod at the current moment satisfies the preset error constraint condition in combination with the real-time acceleration information at the current moment. Only when the current moment satisfies the preset error constraint condition, the state at the current moment is updated to obtain the error estimation value at the current moment, so that the error estimation value is not affected by the update of the wrong state, thereby affecting the accuracy of subsequent inclination measurement. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0017] Figure 1 One of the flowcharts of the centering rod calibration method provided by the embodiment of the application; Figure 2 The centering rod calibration force and deformation schematic diagram provided by the embodiment of the application; Figure 3 The second flowchart of the centering rod calibration method provided by the embodiment of the application; Figure 4 The third flowchart of the centering rod calibration method provided by the embodiment of the application; Figure 5 The fourth flowchart of the centering rod calibration method provided by the embodiment of the application; Figure 6A flowchart of a centering rod calibration method provided by an embodiment of the present application is shown in Figure 5; Figure 7 A flowchart of a centering rod calibration method provided by an embodiment of the present application is shown in Figure 6; Figure 8 A functional module diagram of a centering rod calibration device provided by an embodiment of the present application is shown in Figure 7; Figure 9 A schematic diagram of a computer device provided by an embodiment of the present application is shown in Figure 8. DETAILED DESCRIPTION

[0018] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application.

[0019] Therefore, the detailed description of the embodiments of the present application provided below in the description of the present application is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0020] In the description of the present application, it should be noted that if the terms "upper", "lower", etc. indicate the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the product of the present application is usually placed, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0021] In addition, the terms "first", "second", etc. in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0022] It should be noted that the features in the embodiments of the present application can be combined with each other without conflict.

[0023] The tilt measuring device mainly comprises a main machine and a centering rod, and the main machine is installed on the top of the centering rod through the screw thread of the centering rod. The main machine comprises a positioning sensor and an inertial navigation sensor, and the basic principle of the tilt measurement is to use the attitude information of the inertial navigation and the rod height information of the centering rod to output the position of the antenna phase center to the position of the tip of the centering rod through the arm compensation. Generally, the attitude information of the inertial navigation can output relatively accurate attitude information after being combined with the position and speed information of the global navigation satellite system (GNSS), and the rod height information of the centering rod can also be accurately obtained, so as to ensure the accuracy of the arm compensation, thereby accurately obtaining the position information of the tip of the centering rod, so as to achieve the purpose of accurate measurement. However, in the production process of the tilt measuring device, due to the process and other problems, an inevitable problem is that the horizontal plane of the inertial navigation coordinate system of the inertial navigation sensor is difficult to reach the accurate verticality with the centering rod, which will directly affect the effect of the arm compensation, thereby reducing the accuracy of the position information of the tip of the centering rod. The main reason is that the inertial navigation sensor needs to be installed on the PCB through the welding process, the PCB is fixedly installed in the tilt measuring main machine through screws, and the main machine is installed on the centering rod through the screw thread of the centering rod. Therefore, there is an inevitable installation error in the whole process. This installation error is called horizontal installation error angle, which includes pitch installation error angle and roll installation error angle. Generally, the horizontal installation error angle is about 1 degree, which belongs to a small installation error angle. However, it generally causes an error of about centimeter in the final measurement accuracy, so it needs to be accurately estimated and compensated.

[0024] Since the centering rod calibration mainly estimates the horizontal installation error angle, the centering rod calibration method provided by the embodiment of the present application can monitor the quality of the measurement information in the centering rod calibration process in real time by using a preset Kalman filtering algorithm, remove the measurement information that affects the error estimation value, and effectively guarantee the estimation accuracy of the horizontal installation error angle, so as to be used for subsequent compensation of the measurement accuracy.

[0025] The centering rod calibration method provided by the embodiment of the present application will be explained in detail by specific examples in combination with the accompanying drawings. The centering rod calibration method provided by the embodiment of the present application can be realized by running an algorithm or software by a computer device pre-installed with a preset centering rod calibration algorithm or detection software. The computer device can be a server or a terminal, and the terminal can be a user computer. Figure 1 One of the flowcharts of the centering rod calibration method provided by the embodiment of the present application; Figure 2 The centering rod calibration force and the centering rod deformation schematic diagram provided by the embodiment of the present application is shown in FIG. 2. Figure 1 As shown in the figure, the method comprises: S101, acquiring real-time positioning data and real-time acceleration information of the centralizer at the current moment in the shaking process, under the condition that the rod tip of the centralizer is kept in contact with the ground contact point.

[0026] The real-time positioning data is real-time positioning information collected by a positioning sensor in the host at the top of the centralizer, and the real-time acceleration information is real-time acceleration information collected by an inertial navigation sensor in the host.

[0027] In this embodiment, during the calibration of the centralizer, the rod tip A point of the centralizer needs to be kept in contact with the ground contact point, and then the operator will shake the centralizer in different directions, so that the antenna phase center B point collected by the positioning sensor on the host will move back and forth in space, as shown in Figure 2 .

[0028] The positioning sensor in the host can be a GNSS module, and the real-time positioning information collected by the positioning sensor is the antenna phase center coordinates at each moment in the shaking process. The inertial navigation sensor in the host is an inertial measurement unit (IMU) composed of an accelerometer and a gyroscope, and the real-time acceleration information collected by the inertial navigation sensor is the acceleration information of the host at each moment in the shaking process. The real-time acceleration information can be used to assist in analyzing the deformation state of the centralizer.

[0029] Specifically, as shown in Figure 2 , the operator applies a force to the centralizer by hand, driving it to swing back and forth. If the operator applies too much force during this process, since the host is installed at the top of the centralizer and the centralizer is relatively long, it is easy to cause the centralizer to deform. At this time, it will have a very large impact on the calibration of the centralizer. Because of the deformation, the virtual projection point of the rod tip has changed significantly, which will have a very obvious impact on the estimation results of the installation angle and the rod height. Since the force is applied to the centralizer, it will drive the host to generate acceleration, and then the real-time acceleration information is obtained through the inertial navigation sensor of the host. By monitoring the acceleration state, the force of the calibration shaking process can be monitored, and the function of monitoring the deformation of the centralizer can be completed. The greater the force, the greater the possibility of deformation of the centralizer, and the greater the acceleration of the host at this time. In this way, the size of the acceleration can be monitored to assist in judging the situation that may occur deformation.

[0030] S102, determining the actual observation value and the predicted observation value at the current moment by using a preset Kalman filtering algorithm according to the real-time positioning information at the current moment.

[0031] S103, determining the filter innovation at the current moment according to the actual observation value and the predicted observation value.

[0032] Specifically, the actual observation value is real-time positioning information directly collected by the current time positioning sensor, i.e., the observed host position; the predicted observation value is the position of the host at the current time predicted by using the filtering result at the previous time and the system motion model according to the prediction equation of the Kalman filter.

[0033] The filtering new information at the current time The difference between the actual observation value and the predicted observation value can be represented as:

[0034] wherein, the actual observation value is represented as, the observation matrix is represented as, the estimated value of the current state and the state at the previous time is represented as.

[0035] S104, determining whether the error constraint condition of the centering rod at the current time is satisfied according to the filtering new information at the current time and the real-time acceleration information at the current time.

[0036] S105, if the error constraint condition at the current time is satisfied, determining the error estimation value of the centering rod at the current time according to the estimated state corresponding to the actual observation value at the current time.

[0037] By comparing the filtering new information at the current time and the real-time acceleration information at the current time, it is determined whether the error constraint condition of the centering rod at the current time is satisfied. Only when the error constraint condition at the current time is satisfied, the state at the current time is updated to obtain the error estimation value at the current time, wherein the error estimation value includes: the horizontal installation error angle and the rod arm error.

[0038] It should be noted that after the state update of the real-time positioning data and the real-time acceleration information at the current time, the real-time positioning data and the real-time acceleration information at the next time are continuously obtained, and the real-time positioning data and the real-time acceleration information at the next time are processed. If the error constraint condition at the next time is satisfied, the state at the next time is updated until the state at the last time is updated to obtain the final error estimation value, and the centering rod calibration process is completed. The final error estimation value is used for subsequent tilt measuring equipment to perform corresponding error compensation processing on the measurement precision to improve the measurement precision.

[0039] In summary, the embodiment of the present application provides a method for calibrating a centering rod, which comprises: obtaining real-time positioning data and real-time acceleration information of the centering rod at a current moment during the shaking process, while the tip of the centering rod keeps in contact with the contact point of the ground, wherein the real-time positioning data is real-time positioning information collected by a positioning sensor in a host set at the top of the centering rod, and the real-time acceleration information is real-time acceleration information collected by an inertial navigation sensor in the host; determining actual observation value and predicted observation value at the current moment by using a preset Kalman filtering algorithm according to the real-time positioning information in the detection data at the current moment; determining filter innovation at the current moment according to the actual observation value and the predicted observation value; determining whether the centering rod meets a preset error constraint condition at the current moment according to the filter innovation at the current moment and the real-time acceleration information at the current moment; and determining error estimation value of the centering rod at the current moment according to the estimated state corresponding to the actual observation value at the current moment, if the centering rod meets the preset error constraint condition at the current moment. In the method, the real-time positioning information at the current moment is processed by using the preset Kalman filtering algorithm to determine the filter innovation at the current moment, and then the filter innovation at the current moment and the real-time acceleration information at the current moment are combined to determine whether the centering rod meets the preset error constraint condition at the current moment. Only if the centering rod meets the preset error constraint condition at the current moment, the state at the current moment is updated to obtain the error estimation value at the current moment, so that the state error is avoided to be updated, the final error estimation value is affected, and the accuracy of subsequent tilt measurement is affected.

[0040] The embodiment of the present application also provides another possible implementation manner of the method for calibrating the centering rod, Figure 3 A flowchart of the method for calibrating the centering rod provided by the embodiment of the present application is shown in FIG. 2. Figure 3 As shown in FIG. 2, determining whether the centering rod meets the preset error constraint condition at the current moment according to the filter innovation at the current moment and the real-time acceleration information at the current moment comprises: S201, determining whether the positioning error at the current moment meets a preset positioning constraint condition according to the filter innovation at the current moment.

[0041] In the embodiment, due to the influence of factors such as dynamic change, temporary shielding or unstable difference signal, there may be certain error in the fixed solution of the real-time positioning information, and if the positioning error is obvious, it may have a relatively large influence on the final result of the calibration of the centering rod. Therefore, the filter innovation at the current moment is determined according to the real-time positioning information at the current moment, and then it is determined whether the positioning error at the current moment meets the preset positioning constraint condition according to the filter innovation at the current moment.

[0042] S202, if the positioning error at the current moment meets the preset positioning constraint condition, determining whether the centering rod meets a preset deformation constraint condition at the current moment according to the real-time acceleration information at the current moment.

[0043] S203, if the current moment satisfies the preset deformation constraint condition, determining whether the centering rod satisfies the preset rod tip sliding constraint condition at the current moment according to the filtering innovation in the preset historical time period before the current moment.

[0044] S204, if the current moment satisfies the preset rod tip sliding constraint condition, determining that the current moment satisfies the preset error constraint condition.

[0045] Specifically, only when the positioning error at the current moment satisfies the preset positioning constraint condition, further determining whether the centering rod satisfies the preset deformation constraint condition at the current moment according to the real-time acceleration information at the current moment. Only when the current moment satisfies the preset deformation constraint condition, further determining whether the centering rod satisfies the preset rod tip sliding constraint condition at the current moment according to the filtering innovation in the preset historical time period before the current moment.

[0046] If the current moment satisfies the preset rod tip sliding constraint condition, it is determined that the current moment satisfies the preset error constraint condition, which can be understood as that the current moment satisfies the preset positioning constraint condition, the preset deformation constraint condition and the preset rod tip sliding constraint condition at the same time, that is, the current moment satisfies the preset error constraint condition from the three dimensions, so that it can be judged that the detection data at the current moment is reliable and can be used for subsequent error estimation value calculation.

[0047] The present application embodiment also provides another possible implementation manner of the centering rod calibration method, Figure 4 A flowchart of a third centering rod calibration method provided by the present application embodiment is shown in FIG. 6. Figure 4 As shown in FIG. 6, determining whether the positioning error at the current moment satisfies the preset positioning constraint condition according to the filtering innovation at the current moment comprises: S301, determining the innovation statistical parameter at the current moment according to the filtering innovation at the current moment.

[0048] In the present embodiment, according to the Kalman filtering theory, the filtering innovation at the current moment obeys the following normal distribution:

[0049] wherein, , represents the measurement noise.

[0050] Let , . According to the requirements of the missed detection rate and the false detection rate, the rejection chi-square test threshold ( ) and the weight reduction chi-square test threshold ( ) of each filtering innovation component can be set respectively.

[0051] According to each filter innovation component, a new innovation statistical parameter corresponding to each filter innovation component at the current moment is determined, and is expressed as: wherein, is the i-th diagonal element of the matrix .

[0052] S302, if the new innovation statistical parameter at the current moment is greater than or equal to a preset rejection chi-square test threshold, it is determined that the positioning error at the current moment does not satisfy the preset positioning constraint condition.

[0053] Specifically, the new innovation statistical parameter at the current moment being greater than or equal to the preset rejection chi-square test threshold can be expressed as:

[0054] If it is judged that the new innovation statistical parameters corresponding to each filter innovation component are all greater than or equal to the preset rejection chi-square test threshold, it is considered that the positioning error is relatively obvious, and the strategy of rejecting the current observation is adopted, and it is determined that the positioning error at the current moment does not satisfy the preset positioning constraint condition.

[0055] S303, if the new innovation statistical parameter at the current moment is less than the preset rejection chi-square test threshold and greater than or equal to a preset weight reduction chi-square test threshold, the noise at the current moment is increased for measurement at the next moment, and it is determined whether the positioning error at the current moment satisfies the preset positioning constraint condition.

[0056] Specifically, the new innovation statistical parameter at the current moment being less than the preset rejection chi-square test threshold and greater than or equal to the preset weight reduction chi-square test threshold can be expressed as:

[0057] If it is judged that the new innovation statistical parameters corresponding to each filter innovation component are less than the preset rejection chi-square test threshold and greater than or equal to the preset weight reduction chi-square test threshold, it is considered that there may be a small amount of positioning error, and the weight reduction strategy is performed on the current actual observation value. The weight reduction can be realized by increasing the noise at the current moment , and the weight reduction coefficient can be determined according to the degree of exceeding the limit of the chi-square test coefficient, and it is determined that the positioning error at the current moment satisfies the preset positioning constraint condition.

[0058] S304, if the new innovation statistical parameter at the current moment is less than the preset weight reduction chi-square test threshold, it is determined that the positioning error at the current moment satisfies the preset positioning constraint condition.

[0059] Specifically, the new innovation statistical parameter at the current moment being less than the preset weight reduction chi-square test threshold can be expressed as:

[0060] If the statistical parameters of the innovation corresponding to each filtered innovation component are less than the preset weighted chi-square test threshold, then it is considered that there is no positioning error, and the positioning error at the current time satisfies the preset positioning constraint condition.

[0061] In the method provided in this application embodiment, by determining whether the positioning error at the current moment meets the preset positioning constraint conditions, the influence of erroneous positioning information on the final calibration result can be effectively avoided, thereby ensuring the accuracy of the calibration result.

[0062] This application also provides another possible implementation of the centering rod calibration method, wherein the real-time acceleration information includes: acceleration information in multiple dimensions; Figure 5 This is the fourth schematic flowchart illustrating a centering rod calibration method provided in this application. Figure 5 As shown, based on the real-time acceleration information at the current moment, it is determined whether the centering rod meets the preset deformation constraint conditions at the current moment, including: S401. Determine the total acceleration information at the current moment based on the acceleration information in multiple dimensions at the current moment.

[0063] In this embodiment, the multi-dimensional acceleration information can be three-dimensional acceleration information. Therefore, the three-dimensional acceleration information collected by the inertial navigation sensor can be expressed as follows: The total acceleration information is calculated as follows:

[0064] S402. If the total acceleration information is greater than or equal to the preset acceleration threshold, then it is determined that the centering rod does not meet the preset deformation constraint condition at the current moment.

[0065] Specifically, if the total acceleration information is greater than or equal to a preset acceleration threshold, it can be expressed as:

[0066] When total acceleration information Greater than or equal to the preset acceleration threshold If deformation is detected at this time, the current measurement update will not be executed to prevent the deformation of the centering rod at this moment from causing a shift in the rod tip projection, which would affect the estimated state due to the calibration measurement update. It is determined that the centering rod does not meet the preset deformation constraint conditions at the current moment. Simultaneously, a prompt to reduce the swaying speed can be given to the operator as needed. A preset acceleration threshold is included. The value can be determined by actual measurement of the mass of the center rod.

[0067] S403. If the total acceleration information is less than the preset acceleration threshold, then the centering rod is determined to meet the preset deformation constraint condition at the current moment.

[0068] Specifically, the total acceleration information is less than a preset acceleration threshold, which can be expressed as:

[0069] When the total acceleration information is less than the preset acceleration threshold , the current acceleration is normal, which meets the requirement of deformation monitoring, and it is determined that the centering rod meets the preset deformation constraint condition at the current moment.

[0070] In the method provided by the embodiments of the present application, whether the centering rod meets the preset deformation constraint condition at the current moment is determined to monitor whether the deformation of the centering rod meets the requirement, thereby ensuring the accuracy of the error estimation value.

[0071] The embodiments of the present application also provide another possible implementation manner of the centering rod calibration method, Figure 6 and a flowchart of the centering rod calibration method provided by the embodiments of the present application is shown in FIG. 5. Figure 6 As shown in FIG. 5, whether the centering rod meets the preset rod tip sliding constraint condition at the current moment is determined according to the filtered innovation in a preset historical time period before the current moment, including the following steps. S501, the filtered innovation in the preset historical time period before the current moment is subjected to sliding mean value processing to obtain the sliding filtered innovation at the current moment.

[0072] In the embodiments, according to the preset Kalman filtering theory, the filtered innovation is a white noise sequence with a mean value of 0. When the rod tip slides, it will be reflected on the filtered innovation. In the process of calibrating the centering rod, the actual observation value contains noise and dynamic error, which will affect the filtered innovation and affect the innovation performance of a single epoch. The update frequency of general real-time positioning information is 10 Hz, and the normal measurement update frequency is the same as the real-time positioning information update frequency. After real-time positioning information monitoring and dynamic acceleration monitoring, in order to reduce the influence of the positioning information noise of the observation real-time positioning information and the dynamic error, the filtered innovation after normal measurement update is subjected to mean value processing. The preset historical time period can be 2 seconds, and the filtered innovation in 2 seconds can be subjected to sliding mean value processing. After the sliding mean value processing of the filtered innovation , the sliding filtered innovation at the current moment is obtained.

[0073] S502, if the sliding filtered innovation at the current moment is greater than or equal to a preset sliding innovation threshold, it is determined that the centering rod does not meet the preset rod tip sliding constraint condition at the current moment.

[0074] Specifically, the sliding filtered innovation at the current moment is greater than or equal to the preset sliding innovation threshold, which can be expressed as: ​​​

[0075] the sliding filter innovation is greater than or equal to a preset sliding innovation threshold value the sliding filter innovation is greater than or equal to a preset sliding innovation threshold value the sliding filter innovation is greater than or equal to a preset sliding innovation threshold value The preset sliding innovation threshold value can be set according to the detection sensitivity requirement.

[0076] S503, if the sliding filter innovation at the current time is less than the preset sliding innovation threshold value, it is determined that the centering rod satisfies the preset rod tip sliding constraint condition at the current time.

[0077] Specifically, the sliding filter innovation at the current time is less than the preset sliding innovation threshold value, which can be expressed as:

[0078] the sliding filter innovation is greater than or equal to a preset sliding innovation threshold value the sliding filter innovation is greater than or equal to a preset sliding innovation threshold value the sliding filter innovation is greater than or equal to a preset sliding innovation threshold value

[0079] Optionally, if the preset error constraint condition is not satisfied at the current time, the error calibration of the centering rod is stopped at the current time.

[0080] Specifically, if the preset error constraint condition is not satisfied at the current time, that is, the preset rod tip sliding constraint condition is not satisfied at the current time, the current centering rod calibration needs to be terminated, and the operator is prompted that the rod tip moves. According to the requirement, the centering rod calibration can be automatically restarted or the operator is prompted to manually restart the centering rod calibration process.

[0081] The present application also provides another possible implementation manner of the centering rod calibration method, Figure 7 a sixth flowchart of the centering rod calibration method provided by the present application. As shown in the figure, Figure 7 according to the real-time positioning information in the detection data at the current time, the actual observation value at the current time is determined by using the preset Kalman filter algorithm, and before the predicted observation value, the method further includes: S601, using the calibration mathematical model of the centering rod, the preset rod arm expression of the centering rod, the first direction cosine matrix of the inertial navigation sensor from the inertial navigation coordinate system to the geographic navigation coordinate system, and the second direction cosine matrix of the coordinate system of the centering rod to the inertial navigation coordinate system, the state equation and the measurement equation of the preset Kalman filter algorithm are constructed.

[0082] In the present application, the calibration mathematical model of the centering rod is expressed as:

[0083] wherein, is real-time positioning information; is a position information to be estimated of the rod tip; is a direction cosine matrix from a coordinate system of the centering rod (b system) to a geographic navigation coordinate system (n system), wherein the x axis and the y axis of the b system are consistent with the IMU coordinate axis direction of the inertial navigation coordinate system, and are perpendicular to the centering rod, and the z axis is parallel to the centering rod. is a rod arm information of the actual centering rod.

[0084] Generally, the x axis and the y axis of the centering rod arm model are considered to be 0, and only the z axis is the length information corresponding to the rod height. Generally, the rod height information of the centering rod is known, and only the unknown residual small rod arm error remains, so the preset rod arm expression can be expressed as:

[0085] wherein, is a known nominal value of the rod arm, that is, ; is an unknown rod arm error to be estimated, which is generally a small error, and can be expressed as .

[0086] The direction cosine matrix from the coordinate system of the centering rod to the geographic navigation coordinate system can be modeled as:

[0087] wherein, is a first direction cosine matrix from the inertial navigation coordinate system of the inertial navigation sensor to the geographic navigation coordinate system, which can be expressed as:

[0088] is a second direction cosine matrix from the coordinate system of the centering rod to the inertial navigation coordinate system, that is, the attitude conversion matrix established due to the installation error angle caused by comprehensive factors such as process, and since the pitch installation angle and the roll installation angle are small, the following relationship can be obtained:

[0089] wherein, is a 3D unit matrix, is a skew-symmetric matrix of the installation error angle, the installation error angle is , and here the heading installation has no effect, so it is considered that , then the skew-symmetric matrix is expressed as:

[0090] Thus, according to the preset lever arm expression of the centering lever, the first direction cosine matrix and the second direction cosine matrix, the calibration mathematical model of the centering lever is arranged to obtain the following expression:

[0091] Neglecting the second-order small amount, further arrangement obtains:

[0092] Taking the to-be-estimated state as 3-dimensional position information , , , , the installation error angle , , and the lever height error , a total of 6-dimensional to-be-estimated state variables, and all are constant. The to-be-estimated state variable is expressed as:

[0093] Since the to-be-estimated state is a time-invariant constant, the discretized state equation is:

[0094] wherein, is the corresponding process noise.

[0095] According to the arranged calibration mathematical model, the measurement equation is constructed to obtain:

[0096] wherein, is the corresponding measurement noise, and the actual observation value . The measurement matrix is expressed as:

[0097] The state equation and the measurement equation of the preset Kalman filtering algorithm are obtained as follows:

[0098] Based on the real-time positioning information in the detection data at the current moment, the preset Kalman filtering algorithm is used to determine the actual observation value at the current moment and the predicted observation value, including: S602, according to the real-time positioning information in the detection data at the current moment, the state equation of the preset Kalman filtering algorithm is used to obtain the state vector at the current moment.

[0099] S603, according to the state vector at the current moment, the measurement equation of the preset Kalman filtering algorithm is used to determine the actual observation value at the current moment and the predicted observation value.

[0100] Specifically, the preset Kalman filtering algorithm is used for state updating estimation, and the algorithm is as follows:

[0101]

[0102]

[0103]

[0104]

[0105] wherein, represents a state estimation value, represents a covariance matrix estimation value, represents a Kalman gain, represents an error estimation value at the Kth moment, represents a covariance matrix at the Kth moment. Thus, according to real-time positioning information in the detection data at the current moment, a state vector at the current moment is obtained by using a state equation of the preset Kalman filtering algorithm, and according to the state vector at the current moment, actual observation values and predicted observation values at the current moment are determined by using a measurement equation of the preset Kalman filtering algorithm.

[0106] The centering rod calibration device and the computer device provided by any of the above embodiments of the present application are continuously explained as follows, and the specific implementation process and the technical effects are the same as those of the corresponding method embodiments. For brief description, the parts not mentioned in the present embodiment can be referred to the corresponding contents in the method embodiments.

[0107] Figure 8 A functional module schematic diagram of the centering rod calibration device provided by the embodiments of the present application is shown in FIG. 1. Figure 8 As shown in FIG. 1, the centering rod calibration device 100 comprises: An acquisition module 110 is configured to acquire real-time positioning data and real-time acceleration information of the centering rod at the current moment in the shaking process, under the condition that the tip of the centering rod and the ground contact point keep contact, wherein the real-time positioning data is real-time positioning information collected by a positioning sensor in a host computer arranged at the top of the centering rod, and the real-time acceleration information is real-time acceleration information collected by an inertial navigation sensor in the host computer; A determination module 120 is configured to determine actual observation values and predicted observation values at the current moment by using a preset Kalman filtering algorithm according to the real-time positioning information at the current moment; The determination module 120 is further configured to determine filter new information at the current moment according to the actual observation values and the predicted observation values; The determining module 120 is further configured to determine whether the centering rod satisfies the preset error constraint condition at the current moment according to the filter innovation at the current moment and the real-time acceleration information at the current moment. The determining module 120 is further configured to, if the current moment satisfies the preset error constraint condition, determine the error estimation value of the centering rod at the current moment according to the estimated state corresponding to the actual observation value at the current moment.

[0108] Optionally, the determining module 120 is further configured to determine whether the positioning error at the current moment satisfies a preset positioning constraint condition according to the filter innovation at the current moment, determine whether the centering rod satisfies the preset deformation constraint condition at the current moment according to the real-time acceleration information at the current moment if the positioning error at the current moment satisfies the preset positioning constraint condition, determine whether the centering rod satisfies the preset rod tip sliding constraint condition at the current moment according to the filter innovation in a preset historical time period before the current moment if the current moment satisfies the preset deformation constraint condition, and determine that the current moment satisfies the preset error constraint condition if the current moment satisfies the preset rod tip sliding constraint condition.

[0109] Optionally, the determining module 120 is further configured to determine the innovation statistical parameter at the current moment according to the filter innovation at the current moment, determine that the positioning error at the current moment does not satisfy the preset positioning constraint condition if the innovation statistical parameter at the current moment is greater than or equal to a preset rejection chi-square test threshold, increase the noise at the current moment for measurement at the next moment and determine whether the positioning error at the current moment satisfies the preset positioning constraint condition if the innovation statistical parameter at the current moment is less than the preset rejection chi-square test threshold and greater than or equal to a preset down-weight chi-square test threshold, and determine that the positioning error at the current moment satisfies the preset positioning constraint condition if the innovation statistical parameter at the current moment is less than the preset down-weight chi-square test threshold.

[0110] Optionally, the real-time acceleration information includes acceleration information in multiple dimensions, and the determining module 120 is further configured to determine the total acceleration information at the current moment according to the acceleration information in the multiple dimensions at the current moment, determine that the centering rod does not satisfy the preset deformation constraint condition at the current moment if the total acceleration information is greater than or equal to a preset acceleration threshold, and determine that the centering rod satisfies the preset deformation constraint condition at the current moment if the total acceleration information is less than the preset acceleration threshold.

[0111] Optionally, the determining module 120 is further configured to perform sliding mean processing on the filter innovation in a preset historical time period before the current moment to obtain sliding filter innovation at the current moment, determine that the centering rod does not satisfy the preset rod tip sliding constraint condition at the current moment if the sliding filter innovation at the current moment is greater than or equal to a preset sliding innovation threshold, and determine that the centering rod satisfies the preset rod tip sliding constraint condition at the current moment if the sliding filter innovation at the current moment is less than the preset sliding innovation threshold.

[0112] Optionally, the apparatus further comprises: A stopping module, configured to stop the error calibration of the goniometer at the current time if the preset error constraint condition is not met at the current time.

[0113] Optionally, the apparatus further comprises: A constructing module, configured to construct a state equation and a measurement equation of the preset Kalman filtering algorithm by using a calibration mathematical model of the goniometer, a preset lever arm expression of the goniometer, a first direction cosine matrix of an inertial navigation coordinate system of the inertial navigation sensor to a geographic navigation coordinate system, and a second direction cosine matrix of a coordinate system of the goniometer to the inertial navigation coordinate system. The determining module 120 is also configured to obtain a state vector at the current time by using the state equation of the preset Kalman filtering algorithm according to real-time positioning information in the detection data at the current time, and determine an actual observation value and a predicted observation value at the current time by using the measurement equation of the preset Kalman filtering algorithm according to the state vector at the current time.

[0114] The apparatus is used for executing the method provided by the foregoing embodiments, and has similar implementation principles and technical effects, which will not be described here.

[0115] The modules above can be one or more integrated circuits configured to implement the methods above, for example, one or more application specific integrated circuits (ASICs), or one or more microprocessors, or one or more field programmable gate arrays (FPGAs), etc. For another example, when a certain module above is implemented in the form of a processing element scheduling program code, the processing element can be a general-purpose processor, for example, a central processing unit (CPU) or other processor capable of invoking program code. For another example, the modules can be integrated together to be implemented in the form of a system on a chip (SOC).

[0116] Figure 9 A schematic diagram of a computer device according to an embodiment of the present application is shown in FIG. 1. The computer device can be used for goniometer calibration. As shown in FIG. 1, the computer device includes a processor 210, a storage medium 220, and a bus 230. Figure 9

[0117] ​The storage medium 220 stores machine readable instructions executable by the processor 210. When the computer device is running, the processor 210 and the storage medium 220 communicate through the bus 230. The processor 210 executes the machine readable instructions to perform the steps of the method embodiments described above. The specific implementation and technical effects are similar, and will not be repeated here.

[0118] Optionally, the present application also provides a storage medium 220, which stores a computer program. When the computer program is run by the processor, it performs the steps of the method embodiments described above. The specific implementation and technical effects are similar, and will not be repeated here.

[0119] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented by other means. For example, the apparatus embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, 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 coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0120] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they 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 scheme.

[0121] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware, or in the form of hardware plus software functional unit.

[0122] The integrated unit in the form of software function unit can be stored in a computer readable storage medium. The software function unit is stored in a storage medium, and includes a plurality of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute part of steps of the method according to various embodiments of the present application. The storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various storage media capable of storing program codes.

[0123] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of aligning a gage, the method comprising: The method comprises: In the case that the tip of the centering rod is kept in contact with the contact point of the ground, real-time positioning data and real-time acceleration information of the centering rod at the current time during the wobbling are acquired, wherein the real-time positioning data is real-time positioning information collected by a host positioning sensor arranged at the top of the centering rod, and the real-time acceleration information is real-time acceleration information collected by an inertial navigation sensor in the host; According to the real-time positioning information at the current time, a preset Kalman filtering algorithm is used to determine actual observation values at the current time and predicted observation values; According to the actual observation values and the predicted observation values, filtering new information at the current time is determined; According to the filtering new information at the current time and the real-time acceleration information at the current time, whether the centering rod at the current time meets a preset error constraint condition is determined; If the current time meets the preset error constraint condition, error estimation values of the centering rod at the current time are determined according to estimated states corresponding to the actual observation values at the current time.

2. The method of claim 1, wherein, The determination of whether the centering rod at the current time meets the preset error constraint condition according to the filtering new information at the current time and the real-time acceleration information at the current time comprises: According to the filtering new information at the current time, whether a positioning error at the current time meets a preset positioning constraint condition is determined; If the positioning error at the current time meets the preset positioning constraint condition, whether the centering rod at the current time meets a preset deformation constraint condition is determined according to the real-time acceleration information at the current time; If the current time meets the preset deformation constraint condition, whether the centering rod at the current time meets a preset tip sliding constraint condition is determined according to filtering new information in a preset historical time period before the current time; If the current time meets the preset tip sliding constraint condition, it is determined that the current time meets the preset error constraint condition.

3. The method of claim 2, wherein, The determination of whether the positioning error at the current time meets the preset positioning constraint condition according to the filtering new information at the current time comprises: According to the filtering new information at the current time, new information statistical parameters at the current time are determined; If the new information statistical parameters at the current time are greater than or equal to a preset rejection chi-square test threshold value, it is determined that the positioning error at the current time does not meet the preset positioning constraint condition; If the new information statistical parameters at the current time are less than the preset rejection chi-square test threshold value and greater than or equal to a preset weight reduction chi-square test threshold value, the noise at the current time is increased for measurement at the next time and for determination of whether the positioning error at the current time meets the preset positioning constraint condition; If the new information statistical parameters at the current time are less than the preset weight reduction chi-square test threshold value, it is determined that the positioning error at the current time meets the preset positioning constraint condition.

4. The method of claim 2, wherein, The real-time acceleration information comprises acceleration information in multiple dimensions; and the determination of whether the centering rod at the current time meets the preset deformation constraint condition according to the real-time acceleration information at the current time comprises: determine total acceleration information of the current moment according to the multiple dimensions of acceleration information of the current moment; if the total acceleration information is greater than or equal to a preset acceleration threshold, it is determined that the alignment rod does not satisfy the preset deformation constraint condition at the current moment; if the total acceleration information is less than the preset acceleration threshold, it is determined that the alignment rod satisfies the preset deformation constraint condition at the current moment.

5. The method of claim 2, wherein, The method further comprises: if the current moment does not satisfy the preset error constraint condition, stopping error calibration of the alignment rod at the current moment. The method further comprises: if the current moment does not satisfy the preset error constraint condition, stopping error calibration of the alignment rod at the current moment.

6. The method of claim 1, wherein, The method further comprises: if the current moment does not satisfy the preset error constraint condition, stopping error calibration of the alignment rod at the current moment.

7. The method of claim 1, wherein, The method further comprises: if the current moment does not satisfy the preset error constraint condition, stopping error calibration of the alignment rod at the current moment. The device comprises: an acquisition module, configured to acquire real-time positioning data and real-time acceleration information of an alignment rod at a current moment in a swaying process, under the condition that a rod tip of the alignment rod and a ground contact point keep contact, wherein the real-time positioning data is real-time positioning information collected by a positioning sensor in a host set at a top of the alignment rod, and the real-time acceleration information is real-time acceleration information collected by an inertial navigation sensor in the host; a determination module, configured to determine actual observation value and predicted observation value of the current moment by using a preset Kalman filtering algorithm according to real-time positioning information of the current moment.

8. A gage rod alignment device, characterized by, ​ ​ ​ The determining module is further configured to determine filter innovation of the current time according to the actual observation value and the predicted observation value; The determining module is further configured to determine whether the goniometer satisfies a preset error constraint condition at the current time according to the filter innovation of the current time and the real-time acceleration information of the current time; The determining module is further configured to determine an error estimation value of the goniometer at the current time according to an estimated state corresponding to the actual observation value of the current time, if the goniometer satisfies the preset error constraint condition at the current time.

9. A computer device, comprising: The method comprises the following steps: A processor, a storage medium and a bus, the storage medium stores program instructions executable by the processor, when the computer device is running, the processor and the storage medium communicate through the bus, the processor executes the program instructions to execute the steps of the goniometer calibration method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, when the computer program is run by the processor, the steps of the goniometer calibration method according to any one of claims 1 to 7 are executed.

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