Measurement system initialization method and system, electronic device, and storage medium

Abstract

The present disclosure provides a measurement system initialization method and system, an electronic device, and a storage medium. The measurement system initialization method comprises: acquiring raw attitude information, the raw attitude information being obtained by means of calculation on the basis of first raw attitude data acquired from an accelerometer and second raw attitude data acquired from a magnetometer; performing fusion calculation on the first raw attitude data, the second raw attitude data, and third raw attitude data, the third raw attitude data being obtained from a gyroscope; and updating the raw attitude information on the basis of the fusion calculation result so as to obtain attitude information for initialization. The measurement system initialization method can shorten the time spent by measurement personnel in an initialization stage, improve the working efficiency of a measurement system, and has low operational difficulty, thereby facilitating the reduction of errors caused by improper operation.

Description

Measurement system initialization method, system, electronic equipment and storage medium

[0001] Cross-references to related applications

[0002] This disclosure claims priority to Chinese Patent Application No. 202411857923.9, filed on December 17, 2024, entitled "Measuring System Initialization Method, System, Electronic Device and Storage Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of measurement and mapping technology, and in particular to a measurement system initialization method, system, electronic device and storage medium. Background Technology

[0004] In the field of surveying and mapping, the technology of using inertial navigation RTK (Real Time Kinematic) receivers to realize tilt measurement functions is widely used in various high-precision measurement scenarios.

[0005] Before use, an inertial navigation RTK receiver needs to be initialized. While the three-dimensional position and velocity can be directly obtained from the RTK results, obtaining the three-dimensional attitude angles is more complex. Therefore, traditional initialization methods are time-consuming, requiring at least tens of seconds to complete, and are cumbersome for measurement personnel, making them prone to errors for those without measurement experience.

[0006] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0007] Based on this, the present disclosure provides a measurement system initialization method, system, electronic device, and storage medium, which can shorten the time spent by measurement personnel in the initialization phase, improve the working efficiency of the measurement system, and has a low operation difficulty, which helps to reduce errors caused by improper operation.

[0008] According to some embodiments, this disclosure provides a measurement system initialization method, the measurement system including an inertial measurement unit and a magnetometer, the inertial measurement unit including an accelerometer and a gyroscope;

[0009] The initialization method includes:

[0010] Obtain raw attitude information, which is calculated based on first raw attitude data obtained from the accelerometer and second raw attitude data obtained from the magnetometer;

[0011] The first original attitude data, the second original attitude data, and the third original attitude data are fused and calculated, wherein the third original attitude data is obtained from the gyroscope;

[0012] The original attitude information is updated based on the fusion solution results to obtain the initial attitude information.

[0013] In some embodiments, the initialization method further includes:

[0014] During the process of the magnetometer acquiring the second raw attitude data, it is detected whether the magnetometer is subjected to magnetic interference;

[0015] If the magnetic interference is detected, the magnetometer is calibrated.

[0016] In some embodiments, obtaining the original pose information includes:

[0017] The first raw attitude data is obtained from the accelerometer, and the first raw attitude data includes the three-axis data a of the accelerometer. x a y and a z ;

[0018] According to the triaxial data a from the accelerometer x a y and a z The pitch angle (pitch0) and roll angle (roll0) are calculated.

[0019] The second raw attitude data is obtained from the magnetometer, and the second raw attitude data includes the three-axis data of the magnetometer. and

[0020] The three-axis data of the magnetometer are calculated based on the pitch angle (pitch0) and roll angle (roll0). and Projection data in navigation system and

[0021] According to the projection data under the navigation system and The magnetic heading angle yaw0 is calculated, and the pitch angle pitch0, the roll angle roll0, and the magnetic heading angle yaw0 together constitute the original attitude information.

[0022] In some embodiments, a Kalman filter is used to fuse and solve the first original attitude data, the second original attitude data, and the third original attitude data.

[0023] In some embodiments, detecting whether the magnetometer is subject to magnetic interference includes:

[0024] Provides the hard magnetic correction values ​​O, P, and Q of the magnetometer, and the soft magnetic correction matrix of the magnetometer.

[0025] Based on the hard magnetic correction values ​​O, P, and Q of the magnetometer, and the soft magnetic correction matrix of the magnetometer. The magnetometer detects triaxial data x m y m and z m The magnetometer is calibrated to obtain the calibrated triaxial data x, y, and z.

[0026] The observed geomagnetic field strength B of the magnetometer is calculated based on the corrected triaxial data x, y, and z. obs And determine the observed geomagnetic field strength B. obs Does it exceed the preset threshold range for geomagnetic field strength?

[0027] If the observed geomagnetic field strength B obs If the magnetic field strength exceeds the threshold range, the magnetometer is determined to be subject to magnetic interference.

[0028] In some embodiments, calibrating the magnetometer includes:

[0029] Provides calibration of geomagnetic field strength B calib ;

[0030] According to the calibrated geomagnetic field strength B calib The hard magnetic correction values ​​O, P, and Q of the magnetometer, and the soft magnetic correction matrix of the magnetometer. The hard magnetic calibration value and soft magnetic calibration matrix of the magnetometer are calculated, and the calibration is completed.

[0031] According to some embodiments, this disclosure also provides a measurement system initialization device for implementing the measurement system initialization method provided in the foregoing embodiments. The measurement system includes an inertial measurement unit and a magnetometer, and the inertial measurement unit includes an accelerometer and a gyroscope.

[0032] The initialization device includes:

[0033] The original attitude information acquisition module is configured to: acquire first original attitude data from the accelerometer, acquire second original attitude data from the magnetometer, and calculate original attitude information based on the first original attitude data and the second original attitude data;

[0034] The fusion calculation module, connected to the original attitude information acquisition module, is configured to: acquire third original attitude data from the gyroscope, and perform fusion calculation on the first original attitude data, the second original attitude data, and the third original attitude data;

[0035] The initial attitude information acquisition module, connected to the fusion calculation module, is configured to update the original attitude information based on the fusion calculation result to obtain the initial attitude information.

[0036] In some embodiments, the initialization device further includes:

[0037] The magnetic interference detection module is configured to detect whether the magnetometer is subjected to magnetic interference during the process of the magnetometer acquiring the second original attitude data;

[0038] The magnetometer calibration module, connected to the magnetic interference detection module, is configured to calibrate the magnetometer if the magnetic interference is detected.

[0039] According to some embodiments, this disclosure also provides a testing apparatus, including:

[0040] processor;

[0041] A memory in which executable instructions of the processor are stored;

[0042] The processor is configured to execute the steps of the measurement system initialization method provided in the foregoing embodiments by executing the executable instructions.

[0043] According to some embodiments, this disclosure also provides a computer-readable storage medium for storing a program that, when executed by a processor, implements the steps of the measurement system initialization method provided in the foregoing embodiments.

[0044] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure.

[0045] The embodiments disclosed herein may have, or at least have, the following advantages:

[0046] This disclosure acquires second raw attitude data using a magnetometer, and then fuses this second raw attitude data with first raw attitude data acquired from an accelerometer and third raw attitude data acquired from a gyroscope. Based on the fusion calculation result, the raw attitude information is updated to obtain the initialized attitude information, which is the attitude information required for inertial navigation RTK initialization, thus completing the initialization process. Compared with traditional initialization methods, this disclosure fully utilizes the second raw attitude data acquired from the magnetometer in the process of predictively updating the raw attitude information to obtain the initialized attitude information. This solves the problem of the heading angle constantly diverging due to lack of observation when relying solely on the inertial measurement unit for initialization. Especially in complex environments, it can significantly improve the accuracy and stability of the initialized attitude information, achieving more accurate attitude estimation.

[0047] The initialization method proposed in this disclosure is applicable to measurement systems in complex environments, including those with dynamic changes. After the measurement system is powered on, the first, second, and third original attitude data for each state can be acquired and fused under simple dynamic conditions by the measurement personnel. Multiple fused solutions continuously converge to an accurate value, eliminating the need for repeated value acquisition steps with shaking, thus simplifying and accelerating the initialization process. This significantly reduces the time spent by the measurement personnel during the initialization phase, thereby improving the efficiency of the measurement system. The simplified initialization steps also allow even inexperienced personnel to quickly get started, reducing operational difficulty and errors caused by improper operation. Therefore, this disclosure can significantly improve the efficiency and convenience of using the measurement system.

[0048] Other advantages, objectives, and features of this disclosure will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination and study, or may be learned from practice of this disclosure. The objectives and other advantages of this disclosure may be realized and obtained through the following description. Attached Figure Description

[0049] Other features, objects, and advantages of this disclosure will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0050] Figure 1 is a flowchart illustrating a measurement system initialization method provided in some embodiments of this disclosure;

[0051] Figure 2 is a flowchart illustrating a measurement system initialization method provided in some other embodiments of this disclosure;

[0052] Figure 3 is a schematic diagram of the structure of a measurement system initialization device provided in some embodiments of this disclosure;

[0053] Figure 4 is a schematic diagram of the structure of an electronic device provided in some embodiments of this disclosure;

[0054] Figure 5 is a schematic diagram of the structure of a computer-readable storage medium provided in some embodiments of this disclosure. Detailed Implementation

[0055] To facilitate understanding of this disclosure, a more complete description will now be given with reference to the accompanying drawings, which illustrate embodiments of the present disclosure. However, this disclosure can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure.

[0057] It is understood that the terms "first," "second," etc., as used in this disclosure may be used herein to describe various features, but these features are not limited by these terms. These terms are only used to distinguish one feature from another. For example, without departing from the scope of this disclosure, the first original pose data may be referred to as the second original pose data, and similarly, the second original pose data may be referred to as the first original pose data. Both the first original pose data and the second original pose data are original pose data, but they are not the same original pose data.

[0058] It is understood that the term "connection" in the following embodiments should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have electrical signal or data transmission with each other.

[0059] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, the term “and / or” as used in this specification includes any and all combinations of the associated listed items.

[0060] Before using an inertial navigation RTK (Real-Time Kinematic) receiver, its inertial navigation state needs to be initialized. While the three-dimensional position and velocity can be directly obtained from the RTK results, obtaining the three-dimensional attitude angles is more complex. Therefore, traditional initialization methods are time-consuming, requiring at least tens of seconds to complete, and are cumbersome for measurement personnel, making them prone to errors for those without measurement experience.

[0061] Therefore, this disclosure aims to provide a solution that can address the aforementioned technical problems, shorten the time spent by measurement personnel during the initialization phase, improve the working efficiency of the measurement system, and has a lower operational difficulty, thus reducing errors caused by improper operation. Details will be elaborated in subsequent embodiments.

[0062] The measurement system disclosed herein includes an IMU (Inertial Measurement Unit) and a magnetometer, wherein the IMU includes an accelerometer and a gyroscope.

[0063] Taking a measurement system that includes an inertial navigation RTK receiver as an example, it may also include a measurement medium. The measurement medium refers to the connection between the inertial navigation RTK receiver and the target point to be measured, such as a centering rod, a laser rangefinder, etc.

[0064] According to some embodiments, this disclosure provides a measurement system initialization method. Referring to Figure 1, the measurement system initialization method may specifically include the following steps S110 to S130:

[0065] S110: Obtain raw attitude information, which is calculated based on the first raw attitude data obtained from the accelerometer and the second raw attitude data obtained from the magnetometer.

[0066] S120: The first original attitude data, the second original attitude data, and the third original attitude data are fused and calculated. The third original attitude data is obtained from the gyroscope.

[0067] S130: Update the original attitude information based on the fusion solution results to obtain the initial attitude information. The initial attitude information is also the attitude information required for inertial navigation RTK initialization.

[0068] The initialization method proposed in this disclosure acquires second raw attitude data using a magnetometer, and then fuses this second raw attitude data with first raw attitude data acquired from an accelerometer and third raw attitude data acquired from a gyroscope. Based on the fusion calculation result, the raw attitude information is updated to obtain the initialized attitude information, thus completing the initialization process. Compared with traditional initialization methods, this method fully utilizes the second raw attitude data acquired from the magnetometer during the prediction and updating of the raw attitude information to obtain the initialized attitude information. This solves the problem of the heading angle continuously diverging due to lack of observation when relying solely on the inertial measurement unit for initialization. Especially in complex environments, it can significantly improve the accuracy and stability of the initialized attitude information, achieving more accurate attitude estimation.

[0069] The initialization method proposed in this disclosure is applicable to measurement systems in complex environments, including those with dynamic changes. After the measurement system is powered on, the first, second, and third original attitude data for each state can be acquired and fused under simple dynamic conditions by the measurement personnel. Multiple fused solutions continuously converge to an accurate value, eliminating the need for repeated value acquisition steps with shaking, thus simplifying and accelerating the initialization process. This significantly reduces the time spent by the measurement personnel during the initialization phase, thereby improving the system's efficiency. The simplified initialization steps also allow even inexperienced personnel to quickly get started, reducing operational difficulty and errors caused by improper operation. Therefore, the aforementioned initialization method can significantly improve the efficiency and convenience of using the measurement system.

[0070] During the use of the magnetometer, changes in the magnetic field or interference may affect the attitude data acquired by the magnetometer, leading to deviations in the fusion calculation results. To address this issue, please refer to Figure 2. In some embodiments, the measurement system initialization method may further include the following steps S210 to S220:

[0071] S210: During the process of the magnetometer acquiring the second raw attitude data, detect whether the magnetometer is subjected to magnetic interference.

[0072] S220: If magnetic interference is detected, calibrate the magnetometer.

[0073] The above embodiments can continuously monitor the presence of magnetic interference during the magnetometer's attitude data acquisition process and calibrate the magnetometer when magnetic interference is detected. Through real-time monitoring and dynamic adjustment, errors caused by magnetic interference can be effectively avoided, ensuring the accuracy and reliability of the attitude data acquired by the magnetometer. This allows the initialization method to work effectively and stably in various practical application scenarios, especially in environments with magnetic interference.

[0074] Furthermore, the seamless automatic calibration process of the magnetometer allows measurement personnel to quickly calibrate the magnetometer during actual measurements, eliminating the need for tedious calibration procedures. For example, the above embodiments enable seamless calibration of the magnetometer in dynamic scenarios such as walking, measuring points, and shaking during normal use of the measurement system. Therefore, the above embodiments also effectively improve the working efficiency of the measurement system, helping to save measurement time, reduce the complexity and uncertainty of on-site operations, and help measurement personnel obtain high-precision measurement data within a limited time.

[0075] The measurement system initialization method provided in this disclosure will be described in more detail below with reference to some embodiments.

[0076] In some embodiments, the process of obtaining the original attitude information in step S110 can be specifically represented by the following steps S111 to S115.

[0077] In step S111, first raw attitude data is acquired from the accelerometer of the IMU. The first raw attitude data includes the three-axis data a of the accelerometer. x a y and a z .

[0078] In step S112, based on the triaxial data a from the accelerometer x a y and a z The pitch angle (pitch0) and roll angle (roll0) are calculated.

[0079] Specifically, the pitch angle (pitch0) and roll angle (roll0) can be calculated using the following formulas:

[0080] In step S113, second raw attitude data is acquired from the magnetometer, the second raw attitude data including the three-axis data of the magnetometer. and

[0081] In step S114, the three-axis data of the magnetometer are calculated based on the pitch angle (pitch0) and roll angle (roll0). and Projection data in navigation system and

[0082] Specifically, the projection data under the navigation system can be obtained using the following formula. and

[0083] Where s and c represent the sin function and cos function, respectively.

[0084] In step S115, based on the projection data under the navigation system and The calculated magnetic heading angle yaw0, pitch angle pitch0, roll angle roll0, and magnetic heading angle yaw0 together constitute the original attitude information.

[0085] Steps S111 to S115 are not necessarily executed in the order described above. For example, the IMU and magnetometer can be turned on simultaneously, and either step S111 (acquiring the first raw attitude data) or step S113 (acquiring the second raw attitude data) can be executed first or simultaneously.

[0086] The above embodiments will use the three-axis data of the magnetometer and Project onto a navigation frame (e.g., a horizontal navigation frame) to obtain projection data under that navigation frame. and The magnetic heading angle yaw0 is then calculated based on this. Adding yaw0 to the local magnetic declination yields the accurate heading angle. Therefore, the above embodiment solves the problem of the heading angle continuously diverging due to a lack of observations when initialization is performed solely using an inertial measurement unit.

[0087] In step S120, as an example, a Kalman filter can be used to fuse and solve the first original attitude data, the second original attitude data, and the third original attitude data.

[0088] Here, the state vector can be set as: X=[q0 q1 q2 q3 b x b y b z ] T

[0089] Where q0 represents the real part of the quaternion, and q1, q2, and q3 represent the imaginary parts of the quaternion. Quaternions are a way to represent the rotational relationship between the local navigation system and the carrier system; similar methods include rotation matrices, etc., which can be converted to and from the attitude information required for inertial navigation RTK initialization. x b y and b z This indicates the zero bias of the gyroscope across three axes.

[0090] Based on the geomagnetic properties, the geomagnetic field in the local navigation system can be decomposed into a horizontal component pointing to magnetic north and a vertical component. Ignoring the vertical component, which is irrelevant to the calculation of the magnetic heading angle, and normalizing the horizontal component to 1, the measurement equation can be as follows:

[0091] in, This represents the rotation matrix between the local navigation system and the carrier system.

[0092] Based on this, the Jacobian matrix H of the magnetometer measurement equation can be as follows:

[0093] The complete magnetometer equation is H Magn =[H 0 3×3 The specific implementation of the fusion solution using the Kalman filter is as follows:

[0094] The Kalman filter gain is calculated using the following formula:

[0095] After the update, the status is checked using the following formula:

[0096] Among them, the observation Z k Normalization has been applied.

[0097] After the update, the covariance matrix is ​​verified using the following formula:

[0098] In a Kalman filter, attitude information is represented using quaternions. For example, it can be converted to Euler angles for easier intuitive understanding.

[0099] In step S130, the first original attitude data, the second original attitude data, and the third original attitude data under each state can be obtained and fused. Multiple fused solutions continuously converge to the accurate value, thereby completing the non-sensory initialization of the inertial navigation RTK receiver so that the tilt measurement function can be used immediately.

[0100] To address the issue that magnetic interference may affect the magnetometer's attitude data acquisition during use, steps S210-S220 are used to automatically detect magnetic interference during the measurement system's operation, and to automatically perform non-inductive calibration after detecting magnetic interference, thereby ensuring the accuracy and reliability of the magnetometer's operation.

[0101] In some embodiments, the process of detecting whether the magnetometer is subject to magnetic interference in step S210 can be specifically manifested as the following steps S211 to S214.

[0102] In step S211, the hard magnetic correction values ​​O, P, and Q of the magnetometer, and the soft magnetic correction matrix of the magnetometer are provided.

[0103] The soft magnetic correction matrix consists of unknowns A to F. Optionally, the off-diagonal elements in the soft magnetic correction matrix can be ignored, and only the diagonal elements are retained. In this case, the soft magnetic correction matrix can be expressed as...

[0104] In step S212, the hard magnetic correction values ​​O, P, and Q of the magnetometer, and the soft magnetic correction matrix of the magnetometer are used as the basis for the calculation. triaxial data of the magnetometer m y m and z m The magnetometer is calibrated to obtain the calibrated triaxial data x, y, and z.

[0105] Specifically, for a magnetometer that has undergone soft magnetic and hard magnetic calibration, the expression for calibrating the triaxial data is as follows:

[0106] In step S213, the observed geomagnetic field strength B of the magnetometer is calculated based on the calibrated triaxial data x, y, and z. obs And determine the observed geomagnetic field strength B obs Does it exceed the preset threshold range for geomagnetic field strength?

[0107] Specifically, the observed geomagnetic field strength B of the magnetometer can be calculated using the following formula. obs B obs =sqrt(x 2 +y 2 +z 2 )

[0108] It is understood that the magnetic field strength at the Earth's surface is constant within a certain range. Therefore, the local geomagnetic field strength can be obtained through location information. For example, the geomagnetic field strength threshold range can be preset to (B-β). l ,B+β u Where B is the local geomagnetic field strength, β u and β l This is an empirical threshold for judging the difference between the observed geomagnetic field strength of the magnetometer and the local geomagnetic field strength.

[0109] In step S214, if the observed geomagnetic field strength B obs Exceeding the threshold range of geomagnetic field strength, for example, when the observed geomagnetic field strength B obs >B+β u , or B obs <B-β l If this occurs, it is determined that the magnetometer is experiencing magnetic interference.

[0110] Once magnetic interference is detected in real time, step S220 can be executed to perform non-inductive calibration of the magnetometer during use.

[0111] In some embodiments, the process of calibrating the magnetometer in step S220 can be specifically represented by the following steps S221 to S222.

[0112] In step S221, the calibrated geomagnetic field strength B is provided. calib (1)

[0113] Specifically, based on the characteristic that the magnetic field strength on the Earth's surface is constant within a certain range, the following equation (1) can be listed:

[0114] The physical meanings of the variables in equation (1) are the same as those described above, and will not be repeated here.

[0115] In step S222, based on the calibrated geomagnetic field strength B calib The hard magnetic correction values ​​O, P, and Q of the magnetometer, and the soft magnetic correction matrix of the magnetometer. The hard magnetic calibration value and soft magnetic calibration matrix of the magnetometer are calculated, and the calibration is completed.

[0116] Specifically, equation (1) can be expanded to obtain the following expression:

[0117] Collecting multiple sets of triaxial data from the magnetometer can be expressed as a homogeneous system of equations in matrix form: Ax = 0.

[0118] To solve the above homogeneous equations, matrix A can be decomposed using SVD matrix decomposition. The eigenvector corresponding to the smallest eigenvalue can be taken as the solution to the above homogeneous equations, which is the three-axis data x, y and z of the magnetometer, thus completing the non-inductive calibration of the magnetometer.

[0119] Taking a measurement system including an inertial navigation RTK receiver as an example, the initialization of the inertial navigation RTK receiver refers to acquiring the position, velocity, and attitude information of the inertial navigation system. RTK can provide accurate position and velocity information, while attitude information represents the transformation relationship between the local navigation coordinate system and the carrier coordinate system.

[0120] In an open environment, the surveyor turns on the inertial navigation RTK receiver, along with the IMU and magnetometer sensors, and connects to satellite differential data. After the RTK is fixed, the operator moves to the target point and performs a non-intrusive initialization of the inertial navigation RTK receiver using the initialization method provided in the above embodiment. Once the non-intrusive initialization is complete, the inertial navigation RTK receiver can be used to perform tilt measurements on the target point.

[0121] Using the initialization method provided in the above embodiment, after the RTK is fixed, a simple dynamic process can complete the sensorless initialization and enter the measurement-ready state. For example, carrying / lifting the centering rod and walking 3m to 4m, or shaking it once in place, etc. These dynamic actions are easily satisfied during the measurement personnel's operation of the equipment or movement to the measurement target point, thus allowing the measurement personnel to complete the initialization process without feeling anything, achieving immediate use after measurement.

[0122] Based on the same inventive concept, this disclosure also provides a measurement system initialization apparatus for implementing the measurement system initialization method provided in the foregoing embodiments.

[0123] Please refer to Figure 3. The initialization device of the measurement system may specifically include: a raw attitude information acquisition module 110, a fusion calculation module 120, and an initial attitude information acquisition module 130.

[0124] The original attitude information acquisition module 110 is configured to: acquire first original attitude data from the accelerometer, acquire second original attitude data from the magnetometer, and calculate the original attitude information based on the first original attitude data and the second original attitude data.

[0125] The fusion calculation module 120 is connected to the original attitude information acquisition module 110 and is configured to: acquire the third original attitude data from the gyroscope and perform fusion calculation on the first original attitude data, the second original attitude data and the third original attitude data.

[0126] The initial attitude information acquisition module 130 is connected to the fusion calculation module 120 and is configured to update the original attitude information based on the fusion calculation result to obtain the initial attitude information. The initial attitude information is also the attitude information required for inertial navigation RTK initialization.

[0127] The specific limitations of each module in the initialization device can be referred to the limitations of the initialization method mentioned above. Furthermore, the technical features between the method embodiment and the device embodiment can be substituted and supplemented for each other without causing conflict, so that those skilled in the art can understand the technical content of this disclosure.

[0128] It is understandable that the initialization device can also achieve the same technical effects as the aforementioned initialization method, so it will not be elaborated here.

[0129] In some embodiments, the initialization device may further include a magnetic interference detection module and a magnetometer calibration module.

[0130] The magnetic interference detection module is configured to detect whether the magnetometer is subject to magnetic interference during the process of the magnetometer acquiring the second raw attitude data.

[0131] The magnetometer calibration module is connected to the magnetic interference detection module and is configured to calibrate the magnetometer if magnetic interference is detected.

[0132] Each module in the aforementioned initialization device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0133] It is understood that the initialization apparatus provided in this disclosure may also include other existing functional modules that support the operation of the initialization process. The initialization apparatus shown in Figure 3 is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this disclosure.

[0134] This disclosure also provides an electronic device, including a processor; a memory storing executable instructions of the processor; wherein the processor is configured to perform the steps of the measurement system initialization method described in the foregoing embodiments by executing the executable instructions.

[0135] Those skilled in the art will understand that various aspects of this disclosure can be implemented as a system, method, or program product. Therefore, various aspects of this disclosure can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "platform."

[0136] The electronic device 600 according to this embodiment of the present disclosure will now be described with reference to FIG4. The electronic device 600 shown in FIG4 is merely an example and should not be construed as limiting the functionality and scope of the embodiments of the present disclosure.

[0137] As shown in Figure 4, the electronic device 600 is presented in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different system components (including storage unit 620 and processing unit 610), a display unit 640, etc.

[0138] The storage unit stores program code that can be executed by the processing unit 610, causing the processing unit 610 to perform the steps described in the measurement system initialization method section of this specification according to various exemplary embodiments of the present disclosure. For example, the processing unit 610 can perform the steps shown in Figures 1 and 2.

[0139] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 6201 and / or a cache storage unit 6202, and may further include a read-only memory unit (ROM) 6203.

[0140] The storage unit 620 may also include a program / utility 6204 having a set (at least one) program module 6205, such program module 6205 including but not limited to: an operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0141] Bus 630 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0142] Electronic device 600 can also communicate with one or more external devices 700 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 600, and / or with any device that enables electronic device 600 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 650. Furthermore, electronic device 600 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 660. Network adapter 660 can communicate with other modules of electronic device 600 via bus 630. It should be understood that, although not shown in Figure 4, other hardware and / or software modules can be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0143] In the electronic device, when the program in the memory is executed by the processor, it implements the steps of the measurement system initialization method described in the foregoing embodiments. Therefore, the electronic device can also obtain the technical effects of the foregoing measurement system initialization method.

[0144] This disclosure also provides a computer-readable storage medium for storing a program that, when executed by a processor, implements the steps of the measurement system initialization method described in the foregoing embodiments. In some possible implementations, various aspects of this disclosure can also be implemented as a program product comprising program code that, when executed on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of this disclosure described in the measurement system initialization method section of this specification.

[0145] Referring to Figure 5, a program product 800 for implementing the above-described method according to an embodiment of the present disclosure is depicted. This product may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may be executed on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0146] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0147] The computer-readable storage medium may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0148] Program code for performing the operations of this disclosure can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0149] When the program in the computer storage medium is executed by the processor, it implements the steps of the measurement system initialization method. Therefore, the computer storage medium can also achieve the technical effects of the measurement system initialization method described above.

[0150] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features of the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0151] The embodiments described above are merely illustrative of several implementations of this disclosure, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this disclosure, and these all fall within the scope of protection of this disclosure. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A measurement system initialization method, characterized in that, The measurement system includes an inertial measurement unit and a magnetometer, and the inertial measurement unit includes an accelerometer and a gyroscope; The initialization method includes: Obtain raw attitude information, which is calculated based on first raw attitude data obtained from the accelerometer and second raw attitude data obtained from the magnetometer; The first original attitude data, the second original attitude data, and the third original attitude data are fused and calculated, wherein the third original attitude data is obtained from the gyroscope; The original attitude information is updated based on the fusion solution results to obtain the initial attitude information.

2. The measurement system initialization method according to claim 1, characterized in that, The initialization method further includes: During the process of the magnetometer acquiring the second raw attitude data, it is detected whether the magnetometer is subjected to magnetic interference; If the magnetic interference is detected, the magnetometer is calibrated.

3. The measurement system initialization method according to claim 1, characterized in that, The acquisition of the original attitude information includes: The first raw attitude data is obtained from the accelerometer, and the first raw attitude data includes the three-axis data a of the accelerometer. x a y and a z ; According to the triaxial data a from the accelerometer x a y and a z The pitch angle (pitch0) and roll angle (roll0) are calculated. The second raw attitude data is obtained from the magnetometer, and the second raw attitude data includes the three-axis data of the magnetometer. and The three-axis data of the magnetometer are calculated based on the pitch angle (pitch0) and roll angle (roll0). and Projection data in navigation system and According to the projection data under the navigation system and The magnetic heading angle yaw0 is calculated, and the pitch angle pitch0, the roll angle roll0, and the magnetic heading angle yaw0 together constitute the original attitude information.

4. The measurement system initialization method according to claim 1, characterized in that, The first, second, and third original attitude data are fused and solved using a Kalman filter.

5. The measurement system initialization method according to claim 2, characterized in that, The detection of whether the magnetometer is subject to magnetic interference includes: Provides the hard magnetic correction values ​​O, P, and Q of the magnetometer, and the soft magnetic correction matrix of the magnetometer. Based on the hard magnetic correction values ​​O, P, and Q of the magnetometer, and the soft magnetic correction matrix of the magnetometer. The magnetometer detects triaxial data x m y m and z m The magnetometer is calibrated to obtain the calibrated triaxial data x, y, and z. The observed geomagnetic field strength B of the magnetometer is calculated based on the corrected triaxial data x, y, and z. obs And determine the observed geomagnetic field strength B. obs Does it exceed the preset threshold range for geomagnetic field strength? If the observed geomagnetic field strength B obs If the magnetic field strength exceeds the threshold range, the magnetometer is determined to be subject to magnetic interference.

6. The measurement system initialization method according to claim 2, characterized in that, The calibration of the magnetometer includes: Provides calibration of geomagnetic field strength B calib ; According to the calibrated geomagnetic field strength B calib The hard magnetic correction values ​​O, P, and Q of the magnetometer, and the soft magnetic correction matrix of the magnetometer. The hard magnetic calibration value and soft magnetic calibration matrix of the magnetometer are calculated, and the calibration is completed.

7. A measurement system initialization device, characterized in that, For implementing the measurement system initialization method as described in any one of claims 1 to 6, the measurement system includes an inertial measurement unit and a magnetometer, the inertial measurement unit including an accelerometer and a gyroscope; The initialization device includes: The original attitude information acquisition module is configured to: acquire first original attitude data from the accelerometer, acquire second original attitude data from the magnetometer, and calculate original attitude information based on the first original attitude data and the second original attitude data; The fusion calculation module, connected to the original attitude information acquisition module, is configured to: acquire third original attitude data from the gyroscope, and perform fusion calculation on the first original attitude data, the second original attitude data, and the third original attitude data; The initial attitude information acquisition module, connected to the fusion calculation module, is configured to update the original attitude information based on the fusion calculation result to obtain the initial attitude information.

8. The measurement system initialization device according to claim 7, characterized in that, The initialization device further includes: The magnetic interference detection module is configured to detect whether the magnetometer is subjected to magnetic interference during the process of the magnetometer acquiring the second original attitude data; The magnetometer calibration module, connected to the magnetic interference detection module, is configured to calibrate the magnetometer if the magnetic interference is detected.

9. A testing device, characterized in that, include: processor; A memory in which executable instructions of the processor are stored; The processor is configured to perform the steps of the measurement system initialization method as described in any one of claims 1 to 6 by executing the executable instructions.

10. A computer-readable storage medium for storing a program, characterized in that, When the program is executed by the processor, it implements the steps of the measurement system initialization method as described in any one of claims 1 to 6.

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