3 results about "Total least squares" patented technology

A self-calibration method for frame non-orthogonality error and accelerometer error in a dual-axis frame inertial system is proposed. Under static base conditions, the platform is locked at 10 frame angular positions, accelerometer measurements are collected, and the specific force measurement of the inertial system in the platform coordinate system at each locked position is calculated. The attitude matrix of the inertial system from the platform coordinate system to the local horizontal coordinate system at each locked position is also calculated, yielding the acceleration of the inertial system in the local horizontal coordinate system at each locked position, which is used as the error observation. The residuals of the error coefficients are calculated using a total least squares algorithm, and the estimated values ​​of the measured parameters are corrected. Iterative calculations are performed until the iterative convergence criterion is met, obtaining the self-calibration results for each error coefficient. Through the self-calibration and compensation of the error coefficients, the accuracy of attitude measurement of the dual-axis frame inertial system carrier or base affected by the non-orthogonality error of the axis system can be improved.

The application discloses a vehicle roll angle estimation method and device based on point cloud under critical working conditions and belongs to the technical field of intelligent automobile environment perception. Laser radar point cloud data and vehicle kinematics signals are acquired; a region of interest is dynamically adjusted according to the kinematics signals to adaptively focus on a ground plane; ground plane robust estimation is carried out in the dynamic region of interest based on a weighted total least squares method and a Huber loss function to obtain a ground plane normal vector; and the vehicle roll angle is solved according to the geometric relationship between the ground plane normal vector and a reference normal vector. The application solves the point cloud distortion problem caused by the violent movement of the vehicle body under critical working conditions, realizes stable and reliable estimation of the roll angle without increasing hardware, and effectively improves the adaptability of the perception system under extreme working conditions.

A method for rapidly detecting a straight line, a plane and a hyperplane in a multi-dimensional space. The new method has two important advantages: firstly, the model corresponds to a total least square fitting algorithm and has better tolerance to data noise, so as to solve the problem of the precision of detecting a target on a parameter space segmentation line by means of fast Hough transform being too low; and secondly, in the integrated fast Hough transform, targets that are close to each other in a data space are gathered together in a parameter space, and a calculation process in the parameter space can be displayed by using a visual graph, thereby rapidly determining the number of targets, guiding the setting of system parameters, and distinguishing a target that is repeatedly recognized.