Method, device and storage medium for determining a heading angle

Abstract

A heading angle determination method, device and storage medium, the heading deviation value of the target at the current time is determined according to the GNSS track angle and the heading angle of the target at the current time; the heading angle of the target at the current time is corrected according to the heading deviation value, speed, turning angle rate and heading angle rate of the target at the current time, the GNSS track angle is used as the tracked signal, the heading angle is used as the controlled signal, the heading angle error is smoothed by the GNSS track angle, the heading angle is corrected, and the heading angle precision is improved.

Description

Technical Field

[0001] This article relates to data processing techniques, particularly a method, device, and storage medium for determining heading angles. Background Technology

[0002] The heading angle, especially the heading angle corresponding to the vehicle's front direction, is one of the key measurement parameters of vehicle navigation. It is usually obtained through methods such as Global Navigation Satellite System (GNSS) velocity vector direction smoothing, dual-antenna GNSS orientation, and combined navigation heading estimation.

[0003] The GNSS velocity vector direction smoothing method utilizes the characteristic that "the vehicle velocity direction is parallel to the vehicle's heading under straight-line conditions," obtaining the vehicle's heading from the GNSS velocity vector direction. To reduce noise in velocity vector calculations, it also employs methods such as neighboring data smoothing. However, this method is limited by the accuracy of GNSS velocity measurement. Under low-speed conditions (<1m / s), the noise is relatively large, and under conditions such as turning, its accuracy is not high due to the fixed deviation between the GNSS track angle and the actual vehicle heading.

[0004] The dual-antenna GNSS orientation method combines an inertial navigation system with a dual-antenna GNSS system. The dual-antenna GNSS provides the dual-antenna baseline orientation and sends it to the inertial navigation system to improve the observability of heading errors in integrated navigation, thereby enhancing the accuracy and convergence speed of heading error estimation. However, the dual-antenna GNSS orientation method requires a GNSS receiver that supports this function, and the dual-antenna installation baseline needs to be parallel to the vehicle's forward direction. This results in problems such as inconvenient installation and high cost. Furthermore, the heading output frequency is constrained by GNSS, and its dynamic performance cannot meet the requirements of vehicle applications.

[0005] Integrated navigation heading estimation utilizes GNSS system velocity and position information for integrated navigation. It estimates and corrects heading errors under special maneuvering conditions such as turning, acceleration, and deceleration. In vehicle navigation applications, methods such as lateral zero-speed constraints are also introduced to help reduce the accumulation rate of heading errors in scenarios without satellite navigation signals. Integrated navigation heading estimation methods suffer from drawbacks such as long convergence times and accuracy being affected by vehicle motion. In particular, when the accuracy of the Inertial Measurement Unit (IMU) is low (consumer-grade Micro-Electro-Mechanical Systems Gyroscope (MEMS-IMU)), the integrated navigation time is short, and the vehicle speed is low (<3m / s), heading accuracy is difficult to improve due to factors such as vehicle vibration, IMU nonlinearity, and cross-coupling, and the convergence time is significantly increased. Therefore, for low-speed vehicles such as agricultural machinery and low-speed delivery vehicles, the vehicle heading cannot meet high-precision control requirements for a long period after startup. Even during navigation, the low vehicle speed leads to low observability of heading errors, and the heading accuracy still falls short of the required level. Summary of the Invention

[0006] This application provides a method, device, and storage medium for determining heading angle, which can correct the heading angle estimated by traditional methods and improve the accuracy of heading angle.

[0007] In a first aspect, embodiments of this application provide a method for determining a heading angle, including: Determine the target's heading deviation value at the current moment based on the target's GNSS track angle and heading angle at the current moment; Based on the target's current heading deviation, speed, turning rate, and heading rate, correct the target's heading angle at the current moment.

[0008] In one possible implementation, the target's heading angle is corrected based on its current heading deviation, speed, turning rate, and heading rate, including: Determine whether the target's speed at the current moment is greater than or equal to a first preset threshold, and determine whether the target's turning rate at the current moment is less than or equal to a second preset threshold; If the target's speed at the current moment is greater than or equal to the first preset threshold, and the target's turning rate at the current moment is less than or equal to the second preset threshold, then the target's heading angle at the current moment is corrected based on the target's heading deviation value and heading rate at the current moment.

[0009] In one possible implementation, the target's heading angle is corrected based on its current heading deviation and heading angular rate, including: The inertial integral heading angle is obtained based on the target's heading deviation and heading angular rate at the current moment; The heading angle of the target at the current moment is corrected based on the target's heading deviation and inertial integral heading angle.

[0010] In one possible implementation, the inertial integral heading angle is obtained based on the target's heading deviation and heading angular rate at the current moment, including: The angular rate deviation value is determined by using the preset first proportional controller and the target's heading deviation value at the current moment; The inertial integral heading angle is obtained based on the angular rate deviation value and the heading angular rate of the target at the current moment.

[0011] In one possible implementation, the inertial integral heading angle is obtained based on the angular rate deviation value and the target's heading angular rate at the current moment, including: The first heading angular rate is determined by the angular rate deviation value and the heading angular rate of the target at the current moment; Integrating the first heading angular rate yields the inertial integral heading angle.

[0012] In one possible implementation, the target's heading angle is corrected based on the target's current heading deviation and inertial integral heading angle, including: The angular position deviation is determined by using a preset proportional-integral-derivative controller and the target's heading deviation value at the current moment; The heading angle of the target at the current moment is corrected based on the inertial integral heading angle and the angular position deviation value.

[0013] In one possible implementation, before determining the target's heading deviation value based on the target's GNSS track angle and heading angle at the current moment, the following steps are also included: The heading angle of the target at the current moment is determined by using a combined navigation heading estimation method.

[0014] In one possible implementation, before determining the target's heading deviation value based on the target's GNSS track angle and heading angle at the current moment, the following steps are also included: Determine the GNSS track angle.

[0015] Secondly, embodiments of this application also provide an electronic device, including a memory and a processor, wherein the memory is used to store a computer program; when the computer program is executed by the processor, it implements the steps of any of the methods provided in the first aspect.

[0016] Thirdly, embodiments of this application also provide a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the steps of any of the methods provided in the first aspect.

[0017] The heading angle determination method, device, and storage medium provided in this application determine the heading deviation value of the target at the current moment based on the GNSS track angle and heading angle of the target at the current moment; and correct the heading angle of the target at the current moment based on the heading deviation value, speed, turning rate, and heading rate of the target at the current moment. This method uses the GNSS track angle as the tracked signal and the heading angle as the controlled signal, and uses the GNSS track angle to smooth the heading angle error, thereby correcting the heading angle and improving the heading angle accuracy.

[0018] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. Other advantages of this application can be realized and obtained by means of the embodiments described in the description and the accompanying drawings. Attached Figure Description

[0019] The accompanying drawings are used to provide an understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0020] Figure 1 A flowchart illustrating a method for determining a heading angle provided in an embodiment of this application; Figure 2 A control principle diagram of an angular rate deviation value determination process provided in an embodiment of this application; Figure 3 A control principle diagram corresponding to a method for determining the heading angle provided in an embodiment of this application; Figure 4 A control principle diagram of an angular position deviation value determination process provided in an embodiment of this application; Figure 5 A set of experimental results diagrams provided for embodiments of this application. Detailed Implementation

[0021] This application describes several embodiments, but these descriptions are exemplary and not limiting, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may replace, any feature or element of any other embodiment.

[0022] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application can also be combined with any conventional features or elements to form unique inventive solutions. Any feature or element of any embodiment can also be combined with features or elements from other inventive solutions to form another unique inventive solution. Therefore, it should be understood that any feature shown and / or discussed in this application can be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes can be made within the scope of the appended claims.

[0023] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to a specific order of steps to the extent that it does not depend on this specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims relating to the method and / or process should not be limited to the steps performed in the order written, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments of this application.

[0024] Integrated navigation heading estimation has the advantages of high accuracy and strong resistance to maneuvering interference, and can directly obtain the heading angle in the IMU coordinate system. However, it requires high maneuverability (such as acceleration, deceleration, and turning). When the vehicle speed is low (e.g., below 5 m / s) or when traveling straight continuously, its performance cannot meet the requirements for vehicle trajectory control. Furthermore, integrated navigation heading estimation has a relatively long convergence time and poor accuracy during convergence. GNSS track angle, on the other hand, has the advantages of fast convergence, high vehicle speed, and high accuracy in vehicle heading under straight-line conditions. Combining the two and integrating their advantages can effectively solve the problems existing in the prior art. Based on this, this application provides a method for determining the heading angle.

[0025] Figure 1 A flowchart illustrating a method for determining a heading angle provided in an embodiment of this application is shown below. Figure 1 As shown, the method includes: S101. Determine the target's heading deviation value at the current moment based on the target's GNSS track angle and heading angle at the current moment.

[0026] The target can be any movable carrier, such as a vehicle, an airplane, or a ship.

[0027] The GNSS track angle is the angle between the projection of the vehicle's instantaneous velocity vector onto the horizontal plane and the geographic north direction; that is, the angle between the vector direction formed by the vehicle's GNSS northward and eastward velocities and the north direction itself. When the vehicle is a vehicle, the GNSS track angle is the same as the vehicle system heading angle, which is specifically the angle between the vehicle's heading and the north direction. The difference between the vehicle system heading angle and the GNSS track angle is the IMU installation angle. The heading angle can be obtained through integrated navigation heading estimation methods, specifically the heading angle in the IMU coordinate system. The heading angle in the IMU coordinate system can specifically be the angle between the IMU's forward direction and the north direction. Specifically, the target's heading deviation at the current moment can be the difference between the target's GNSS track angle and heading angle at the current moment.

[0028] In one possible implementation, before determining the heading deviation value of the target at the current moment based on the GNSS track angle and heading angle of the target at the current moment, the method further includes: using a combined navigation heading estimation method to determine the heading angle of the target at the current moment.

[0029] In one possible implementation, before determining the target's heading deviation value based on the target's GNSS track angle and heading angle at the current moment, the method further includes: determining the GNSS track angle.

[0030] S102. Based on the target's heading deviation, speed, turning rate, and heading rate at the current moment, correct the target's heading angle at the current moment.

[0031] The heading angle determination method provided in this application determines the heading deviation value of the target at the current moment based on the GNSS track angle and heading angle of the target at the current moment; and corrects the heading angle of the target at the current moment based on the heading deviation value, speed, turning rate, and heading rate of the target at the current moment. This method uses the GNSS track angle as the tracked signal and the heading angle as the controlled signal, and uses the GNSS track angle to smooth the heading angle error, corrects the heading angle, and improves the heading angle accuracy.

[0032] GNSS track angles are characterized by fast convergence and high heading accuracy under high vehicle speed and straight-line conditions. Based on this, in one possible implementation, the heading angle of the target at the current moment is corrected according to the target's heading deviation, speed, turning rate, and heading rate at the current moment. This includes: determining whether the target's speed at the current moment is greater than or equal to a first preset threshold, and determining whether the target's turning rate at the current moment is less than or equal to a second preset threshold; if the target's speed at the current moment is greater than or equal to the first preset threshold, and the target's turning rate at the current moment is less than or equal to the second preset threshold, then the target's heading angle is corrected according to the target's heading deviation and heading rate at the current moment.

[0033] The first preset threshold and the second preset threshold can be set according to actual conditions. For example, the first preset threshold is: The second preset threshold is .

[0034] This method can ensure that the heading angle is corrected by GNSS track angle when traveling straight and at a high speed, thereby giving full play to the optimization of GNSS track angle and improving the heading angle correction effect and efficiency.

[0035] Optionally, if the target's speed at the current moment is less than the first preset threshold, or if the target's turning rate at the current moment is greater than the second preset threshold, then the target's heading angle at the current moment is directly output.

[0036] This method can disconnect GNSS track angle correction in scenarios such as turning and low-speed driving, and directly use traditional methods, such as combined navigation heading estimation methods, to estimate the current heading angle, so as to maintain relatively high heading accuracy, avoid the pollution of heading angle accuracy by GNSS track angle measurement error, and achieve relatively high-precision heading angle measurement.

[0037] The above flexible selection can also expand the applicability of the heading angle determination method provided in the embodiments of this application, output better results in different situations, and improve user experience.

[0038] In one possible implementation, the heading angle of the target at the current moment is corrected based on the heading deviation value and heading angular rate of the target at the current moment, including: obtaining the inertial integral heading angle based on the heading deviation value and heading angular rate of the target at the current moment; and correcting the heading angle of the target at the current moment based on the heading deviation value and inertial integral heading angle of the target at the current moment.

[0039] Optionally, the inertial integral heading angle is obtained based on the heading deviation value and heading angular rate of the target at the current moment, including: determining the angular rate deviation value through a preset first proportional controller and the heading deviation value of the target at the current moment; and obtaining the inertial integral heading angle based on the angular rate deviation value and the heading angular rate of the target at the current moment.

[0040] Figure 2 A control principle diagram for determining angular rate deviation value provided in an embodiment of this application is shown below. Figure 2 As shown, the process of determining the angular rate deviation value can be expressed as follows: , , in, express k Angular velocity deviation at time t, This represents the proportional coefficient of the first proportional controller, which can be set according to actual conditions. express k The heading deviation of the target at any given time. express k The GNSS track angle of the target at any given time. express k- The heading angle corrected at time 1.

[0041] Figure 3 The control principle diagram corresponding to the heading angle determination method provided in this application embodiment can also identify and smooth inertial navigation heading errors to improve the correction effect, thereby outputting a more accurate heading angle. Figure 3 As shown, the inertial integral heading angle can be expressed as: , in, express The inertial integral heading angle of the target at any given moment. This indicates integration. express The heading angular rate of the target at any given time. This indicates the angular rate error.

[0042] Optionally, the heading angle of the target at the current moment is corrected based on the heading deviation value and the inertial integral heading angle, including: determining the angular position deviation value through a preset proportional-integral-derivative controller and the heading deviation value of the target at the current moment; and correcting the heading angle of the target at the current moment based on the inertial integral heading angle and the angular position deviation value.

[0043] Figure 4 A control principle diagram for determining angular position deviation value provided in an embodiment of this application is shown below. Figure 4As shown, the heading deviation value can be expressed as: , in, express k The angular position deviation of the target at any given time. This represents the proportional coefficient corresponding to the proportional-integral-derivative (PID) controller. This represents the integral coefficient corresponding to the proportional-integral-derivative (PID) controller. This represents the differential coefficients corresponding to the proportional-integral-derivative (PID) controller. express i The heading deviation of the target at any given time. i =0,1… k , express k The heading deviation of the target at time -1.

[0044] like Figure 3 As shown, to improve correction accuracy, abnormal track angles at low speeds and abnormal installation angle deviations caused by turns are identified and smoothed to output high-precision heading angles, such as... Figure 3 As shown, the corrected heading angle can be expressed as: in, express k The heading angle after time correction, This represents the constant error in heading, specifically the installation angle deviation between the GNSS track angle and the heading angle in the IMU coordinate system.

[0045] like Figure 3 As shown, the heading angle determination method provided in this application adopts a control loop design concept. At the control distance level, the angular rate deviation determination process and the heading deviation determination process are divided into two control loops, which work together to improve correction efficiency. By flexibly determining whether to activate the two control loops based on speed and turning angular rate, error feedback errors caused by any abnormal signal are avoided, further improving the correction effect. The heading angle determination method provided in this application is applied to the output end of the traditional heading angle estimation result, forming an independent heading channel. This avoids the shortcomings of increased cross-correlation of observations and increased computational load caused by introducing GNSS track angles into integrated navigation, making it easier to further improve the vehicle heading accuracy on the basis of existing integrated navigation without affecting the performance of the original algorithm.

[0046] This application also provides an electronic device, including a memory and a processor, wherein the memory is used to store a computer program; when the computer program is executed by the processor, it implements the steps of any of the methods provided in the above method embodiments.

[0047] This application also provides a computer-readable storage medium storing computer instructions thereon, which, when executed by a processor, implement the steps of any of the methods provided in the above-described method embodiments.

[0048] To further demonstrate the beneficial effects of the heading angle determination method provided in the embodiments of this application, a set of experimental data is also provided. The heading angle determination method provided in the embodiments of this application was verified on a low-speed motion platform, and the error curves were compared. Figure 5 As shown in the figure, yaw1 represents the heading error of traditional integrated navigation, and yaw2 represents the heading error of this proposal. Compared with the heading error of traditional integrated navigation, the maximum error of this proposal has been reduced from 5.2° to 1.6°, and the error curve is smoother. The average error has been reduced from 2.6° to 0.3° compared with traditional integrated navigation, and the accuracy has been significantly improved.

[0049] It is easy to see that the heading angle determination method provided in this application accelerates the convergence speed of heading angle error, enabling the integrated navigation to complete initialization quickly after startup; in turning and extremely low speed (<1m / s) scenarios, the integrated navigation maintains relatively high heading accuracy by disconnecting GNSS track angle feedback correction; and by adopting the control loop design concept, the noise of GNSS track measurement and the error estimation noise in the integrated navigation heading estimation process are suppressed, thus meeting the user's requirements for heading accuracy.

[0050] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term "computer storage medium" includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0051] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include at least one of those features.

[0052] In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

[0053] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0054] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0055] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0056] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for determining a heading angle, characterized in that, include: Based on the target's GNSS track angle and heading angle at the current moment, determine the target's heading deviation value at the current moment; Based on the target's heading deviation, speed, turning rate, and heading rate at the current moment, correct the target's heading angle at the current moment.

2. The method according to claim 1, characterized in that, The step of correcting the target's heading angle at the current moment based on the target's heading deviation value, speed, turning rate, and heading rate at the current moment includes: Determine whether the target's speed at the current moment is greater than or equal to a first preset threshold, and determine whether the target's turning rate at the current moment is less than or equal to a second preset threshold; If the target's speed at the current moment is greater than or equal to the first preset threshold, and the target's turning rate at the current moment is less than or equal to the second preset threshold, then the target's heading angle at the current moment is corrected based on the target's heading deviation value and heading rate at the current moment.

3. The method according to claim 2, characterized in that, The step of correcting the heading angle of the target at the current moment based on the heading deviation value and heading angular rate of the target at the current moment includes: Based on the target's heading deviation and heading angular rate at the current moment, the inertial integral heading angle is obtained; Based on the target's heading deviation value and the inertial integral heading angle at the current moment, the target's heading angle at the current moment is corrected.

4. The method according to claim 3, characterized in that, The step of obtaining the inertial integral heading angle based on the heading deviation value and heading angular rate of the target at the current moment includes: The angular rate deviation value is determined by using a preset first proportional controller and the heading deviation value of the target at the current moment; The inertial integral heading angle is obtained based on the angular rate deviation value and the heading angular rate of the target at the current moment.

5. The method according to claim 4, characterized in that, The step of obtaining the inertial integral heading angle based on the angular rate deviation value and the heading angular rate of the target at the current moment includes: The first heading angular rate is determined by the angular rate deviation value and the heading angular rate of the target at the current moment; The first heading angular rate is integrated to obtain the inertial integral heading angle.

6. The method according to any one of claims 3-5, characterized in that, The step of correcting the target's heading angle at the current moment based on the target's heading deviation value and the inertial integral heading angle includes: The angular position deviation value is determined by using a preset proportional-integral-derivative controller and the heading deviation value of the target at the current moment; The heading angle of the target at the current moment is corrected based on the inertial integral heading angle and the angular position deviation value.

7. The method according to claim 1, characterized in that, Before determining the target's heading deviation value at the current moment based on the target's GNSS track angle and heading angle at the current moment, the method further includes: The heading angle of the target at the current moment is determined by using a combined navigation heading estimation method.

8. The method according to claim 1, characterized in that, Before determining the target's heading deviation value at the current moment based on the target's GNSS track angle and heading angle at the current moment, the method further includes: Determine the GNSS track angle.

9. An electronic device, characterized in that, It includes a memory and a processor, the memory being used to store a computer program; when the computer program is executed by the processor, it implements the steps of the method as described in any one of claims 1-8.

10. A computer-readable storage medium storing computer instructions thereon, characterized in that, When the instructions are executed by the processor, they implement the steps of the method according to any one of claims 1-8.

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