CN109387219A - Error calibration system - Google Patents
Error calibration system Download PDFInfo
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- CN109387219A CN109387219A CN201710651730.1A CN201710651730A CN109387219A CN 109387219 A CN109387219 A CN 109387219A CN 201710651730 A CN201710651730 A CN 201710651730A CN 109387219 A CN109387219 A CN 109387219A
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- inertial measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The present invention provides a kind of error calibration system, comprising: moving cell；Inertial Measurement Unit is set on the moving cell；Information acquisition unit is set on the moving cell；Wherein, the moving cell is for driving the Inertial Measurement Unit and information acquisition unit to do translational motion and rotate in a plane；The information acquisition unit acquires the information of one or more characteristic points in ambient enviroment when rotating or translational motion, and acquires the parameter information of the Inertial Measurement Unit；The information and parameter information of the characteristic point demarcate the error of the Inertial Measurement Unit to establish error model accordingly；Error calibration system of the invention realizes smaller cumulative errors, and user is helped to establish error model, realizes that global position error corrects by instant positioning and the map structuring technology of view-based access control model, to obtain the higher precision of Inertial Measurement Unit.
Description
Technical field
The present invention relates to error measure fields, more particularly to a kind of error calibration system.
Background technique
Strapdown inertial navigation system is the precision instrument of a kind of measurement motion carrier position, speed and posture, it is by top
Spiral shell instrument and accelerometer connect firmly on carrier, and replace physical platform with computer platform.Strapdown inertial navigation system is because of its knot
The obvious advantages such as structure is simple, at low cost, reliability is high and the main direction of development for becoming inertial navigation technology.
The core of strapdown inertial navigation system is Inertial Measurement Unit, and Inertial Measurement Unit is mainly by gyroscope, acceleration
Meter and interlock circuit composition, error include ascertainment error and random error two parts.Wherein it is determined that property error is
System error, accounts for about 90% of overall error or so, is the most important error source of strapdown inertial navigation system.Therefore, strap down inertial navigation
Navigation system must pass through every error coefficient that rating test determines Inertial Measurement Unit before use, thus in systems into
Row supplement.
In the prior art, inertia measurement list usually is carried out using angular speed test method or static multi-position test method
The error calibration of member.But the error calibration of existing Inertial Measurement Unit often uses turntable and slide unit to carry out error calibration.
However, since turntable and slide unit itself are also a kind of measuring system for obtaining angle information and location information based on accumulation algorithm,
Its own equally exists position error, and its own existing error constantly increases with the accumulation of time；This is for inertia
The high-precision error calibration of measuring unit is very unfavorable.
So user needs a kind of error calibration system of high-precision Inertial Measurement Unit.
Summary of the invention
In view of the foregoing deficiencies of prior art, the technical problem to be solved in the present invention is that providing error calibration system
The problems such as system, the precision for solving error calibration in the prior art is not high enough.
To achieve the above object, the present invention proposes a kind of error calibration system, for demarcating the Inertial Measurement Unit of robot
Inertial error, the system comprises moving cells；Inertial Measurement Unit is set on the moving cell；Information collection list
Member is set on the moving cell；Wherein, the moving cell is for driving the Inertial Measurement Unit and information collection list
Member does translational motion and rotates in a plane；The information acquisition unit acquires week when rotating or translational motion
The information of one or more characteristic points in collarette border, and acquire the parameter information of the Inertial Measurement Unit；The letter of the characteristic point
Breath and parameter information demarcate the inertial error of the Inertial Measurement Unit to establish error model accordingly.
In one embodiment of the invention, the error model includes autoregressive sliding model.
In one embodiment of the invention, the autoregressive sliding model includes: xn=-(a1xn-1+a2xn-2+Λ+
apxn-p)+εn+b1εn-1+b2εn-2+Λbqεn-q；Wherein, xnFor the parameter value of Inertial Measurement Unit described in the n-th moment, εnIt is n-th
The error calibration value of Inertial Measurement Unit described in moment；εi~W (0, σ2), coefficient ai is autoregressive coefficient and ai< 1 (i=1,2,
Λ, p), coefficient bi is autoregression slide coefficient and bi< 1 (i=1,2, Λ, q), W (0, σ2) it be mean value is zero, σ2For white noise.
In one embodiment of the invention, the information acquisition unit includes instant positioning and map constructing unit.
In one embodiment of the invention, it is described it is instant positioning with map constructing unit include view-based access control model instant positioning
With map constructing unit.
In one embodiment of the invention, instant positioning and the map constructing unit of the view-based access control model include camera shooting dress
It sets.
In one embodiment of the invention, the moving cell includes: horizontal sliding table, for driving the inertia measurement list
The instant positioning of member and the view-based access control model does translational motion with map constructing unit；Revolving platform, for driving the inertia to survey
The instant positioning of amount unit and the view-based access control model and map constructing unit rotate in a plane.
In one embodiment of the invention, the Inertial Measurement Unit is with the instant positioning together with map constructing unit
On the horizontal sliding table；Alternatively, the Inertial Measurement Unit is set to together with map constructing unit with the instant positioning
On the revolving platform.
In one embodiment of the invention, the parameter information of the Inertial Measurement Unit includes: posture information and/or position
Information.
In one embodiment of the invention, the Inertial Measurement Unit unit includes gyroscope and accelerometer.
In one embodiment of the invention, the robot includes sweeping robot.
As described above, the present invention provides a kind of error calibration system, have the advantages that the present invention provides a kind of mistake
Poor calibration system comprising Inertial Measurement Unit, information acquisition unit and moving cell；Wherein, the information acquisition unit is not
Location information, the posture information of the Inertial Measurement Unit during exercise are only acquired, the visual signature point information of environment is also acquired,
Error model is constructed accordingly, to realize precise positioning.Error calibration system of the invention realizes smaller cumulative errors, and
It helps user to establish error model, global position error school is realized by instant positioning and the map structuring technology of view-based access control model
Just, to obtain the higher precision of Inertial Measurement Unit.
Detailed description of the invention
Fig. 1 is shown as the schematic diagram of the error calibration system in one embodiment of the invention.
Component label instructions
1 error calibration system
11 moving cells
12 Inertial Measurement Units
121 gyroscopes
122 accelerometers
13 information acquisition units
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily.
It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., are only used for cooperation specification and are taken off
The content shown is not intended to limit the enforceable qualifications of the present invention so that those skilled in the art understands and reads, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the present invention
Under the effect of can be generated and the purpose that can reach, it should all still fall in disclosed technology contents and obtain the model that can cover
In enclosing.Meanwhile in this specification cited such as "upper", "lower", "left", "right", " centre " term, be merely convenient to chat
That states is illustrated, and not for limiting the scope of the invention, relativeness is altered or modified, and is changing skill without essence
It is held in art, when being also considered as the enforceable scope of the present invention.
As shown in Figure 1, showing the error calibration system 1 in one embodiment of the invention comprising: moving cell 11, for setting
Set Inertial Measurement Unit 12；And information acquisition unit 13.
The Inertial Measurement Unit 12 namely Inertial measurement unit, abbreviation IMU comprising gyroscope
121 and accelerometer 122；Wherein, the gyroscope 121 is that the moment of momentum sensitivity shell relative inertness of high-speed rotator is empty
Spaced winding is orthogonal to the angular movement detection device of one or two axis of the axis of rotation, to measure the angular velocity information of object；It is described
Accelerometer 122 is the detection device to measure object linear acceleration information；The angular velocity information and the acceleration
Information is to calculate the posture information of object in three dimensions.
The Inertial Measurement Unit 12 can be used for perceiving kinematic robot, such as can be used for perceiving sweeping robot
Motion information.
The information acquisition unit 13 includes positioning immediately and map constructing unit namely Simultaneous
Localization and Mapping, abbreviation SLAM.SLAM technology is core technology of the current robot in terms of positioning, institute
Meaning SLAM is to create localization for Mobile Robot and environmental map to combine together namely robot is during the motion according to itself
Pose estimation and the perception of sensors towards ambient construct increment type environmental map, while the positioning of itself is realized using the map.
Optionally, in one embodiment, the information acquisition unit 13 includes instant positioning and the map constructing unit of view-based access control model,
That is Visual SLAM, abbreviation VSLAM.The VSLAM includes camera, to acquire the information of characteristic point in ambient enviroment, and
Acquire the information such as posture, the position of the Inertial Measurement Unit 12.
In one embodiment of the invention, the moving cell 11 includes horizontal sliding table and revolving platform.Wherein, described
Horizontal sliding table drives the Inertial Measurement Unit 12 to do translational motion with map constructing unit 13 with the instant positioning, to mould
Quasi- sweeping robot is moved freely when cleaning ground；The revolving platform drives the Inertial Measurement Unit 12 to determine immediately with described
Position rotate in a plane with map constructing unit 13, to simulate sweeping robot when cleaning ground rotation to change row
Into direction.Optionally, in one embodiment, the Inertial Measurement Unit 12 and the instant positioning and map constructing unit 13
It is set on the horizontal sliding table together；Alternatively, the Inertial Measurement Unit 12 and the instant positioning and map constructing unit 13
It is set on the revolving platform together.So that the Inertial Measurement Unit 12 and the instant positioning and map constructing unit 13
Movement keep it is fully synchronized, further to promote the precision of the error calibration of the Inertial Measurement Unit 12.
Wherein, it is described it is instant positioning with map constructing unit 13 with the horizontal sliding table and revolving platform movement when,
Acquire the information of one or more characteristic points in ambient enviroment.The information of the characteristic point refers to fixing in ambient enviroment and has
The location information of identification feature.
For example, it for the error calibration system of the Inertial Measurement Unit of sweeping robot, such as can choose
The objects of reference such as the entrance at gate, the pedestal of sofa, dining table feet are as the characteristic point in ambient enviroment.And the instant positioning
The information such as position, the posture of the Inertial Measurement Unit 12 during exercise are acquired with map constructing unit 13.The ambient enviroment
The parameter information of the information of middle characteristic point and the Inertial Measurement Unit 12 is for establishing error model.The error mould
Type is used to demarcate the error of the Inertial Measurement Unit 12.Error calibration system provided by the invention is based in a large amount of environment
Visual signature point is positioned, compared with the prior art in the technical solution of error calibration, this hair are carried out based on turntable/slide unit
Bright technical solution avoids the phenomenon that position error caused by due to the deviation accumulation of turntable/slide unit itself increases, and realizes
High-precision error calibration.
The error model includes autoregressive sliding model namely Auto-Regressive Moving Average
Mode, abbreviation arma modeling.The arma modeling belongs to time series analysis, is the important method of search time sequence, specifically
It include: xn=-(a1xn-1+a2xn-2+Λ+apxn-p)+εn+b1εn-1+b2εn-2+Λbqεn-q, εi~W (0, σ2)；Wherein, coefficient ai
For autoregressive coefficient and ai< 1 (i=1,2, Λ, p), coefficient bi are autoregression slide coefficient and bi< 1 (i=1,2, Λ, q), W
(0,σ2) it be mean value is zero, σ2For white noise.
Specifically, the parameter X in above-mentioned autoregressive sliding model represents the item for needing to estimate.The parameter X, such as can be with
It for the angular speed of the Inertial Measurement Unit 12, or can be the calibration of the needs such as the acceleration of the Inertial Measurement Unit 12
Parameter；Wherein, Xn represents the parameter value at the n-th moment；Xn-1, Xn-2..., Xn-pFor known history parameters sequence, the ARMA
Ginseng of the model Inertial Measurement Unit 12 according to history parameters Accurate Prediction of the initial time to the (n-1)th moment at the n-th moment
Numerical value.Parameter ε in above-mentioned autoregressive sliding model represents the error amount of the Inertial Measurement Unit.The parameter ε, for example,
The angular speed error amount or acceleration error value equal error information of the Inertial Measurement Unit 12.Wherein, εnRepresent n-th
The error calibration value of the Inertial Measurement Unit 12 at moment.
In a specific embodiment, user chooses a parlor as test site, to demarcate the used of a sweeping robot
Property error.And the user selects indoor gadget, furniture or interior architecture object etc. as environmental characteristic point in parlor, such as
The objects such as sofa, vase, dining table.The user positions the Inertial Measurement Unit and the instant of the view-based access control model and ground
Figure construction unit is fixed on single-revolution platform, and the revolving platform connects a horizontal sliding table, with simulate the moving horizontally of sweeping robot,
And it turns to.Wherein, the revolving platform and horizontal sliding table drive the Inertial Measurement Unit and the view-based access control model i.e.
The movement that Shi Dingwei and map constructing unit are randomly translated on a floor, rotated；The Inertial Measurement Unit is moving
In the process, the location information of the characteristic points such as sofa, vase, the dining table in ambient enviroment is acquired, and acquires the view-based access control model
Immediately the parameter informations such as positioning and angular speed, the acceleration of map constructing unit.After the test, it is based on described in user reading
Instant positioning and the experimental data in map constructing unit of vision, and the data creation autoregressive sliding model is utilized, accordingly
Demarcate the inertial error of the Inertial Measurement Unit of the sweeping robot.
In conclusion the present invention effectively overcomes various shortcoming in the prior art and has high industrial utilization value.This
Invention provides a kind of error calibration system, comprising: moving cell；Inertial Measurement Unit is set on the moving cell；Information is adopted
Collect unit, is set on the moving cell；Wherein, the moving cell is for driving the Inertial Measurement Unit and information to adopt
Collection unit does translational motion and rotates in a plane；The information acquisition unit is adopted when rotating or translational motion
Collect the information of one or more characteristic points in ambient enviroment, and acquires the parameter information of the Inertial Measurement Unit；The characteristic point
Information and parameter information to establish error model, demarcate the error of the Inertial Measurement Unit accordingly；Error of the invention
Calibration system realizes smaller cumulative errors, and user is helped to establish error model, by the instant positioning of view-based access control model and
Map structuring technology realizes global position error correction, to obtain the higher precision of Inertial Measurement Unit.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (11)
1. a kind of error calibration system, which is characterized in that described for demarcating the inertial error of the Inertial Measurement Unit of robot
System includes:
Moving cell, for the Inertial Measurement Unit is arranged；
Information acquisition unit is set on the moving cell；
Wherein, the moving cell is for driving the Inertial Measurement Unit and information acquisition unit to do translational motion, Yi Ji
It rotates in one plane；The information acquisition unit acquires one or more features in ambient enviroment when rotating or translational motion
The information of point, and acquire the parameter information of the Inertial Measurement Unit；The information and parameter information of the characteristic point are to establish
Error model demarcates the inertial error of the Inertial Measurement Unit accordingly.
2. error calibration system according to claim 1, which is characterized in that the error model includes autoregression sliding die
Type.
3. error calibration system according to claim 2, which is characterized in that the autoregressive sliding model includes:
xn=-(a1xn-1+a2xn-2+Λ+apxn-p)+εn+b1εn-1+b2εn-2+Λbqεn-q；
Wherein, xnFor the parameter value of Inertial Measurement Unit described in the n-th moment, εnFor the error of Inertial Measurement Unit described in the n-th moment
Calibration value；εi~W (0, σ2), coefficient ai is autoregressive coefficient and ai< 1 (i=1,2, Λ, p), coefficient bi are autoregression sliding system
Number and bi< 1 (i=1,2, Λ, q), W (0, σ2) it be mean value is zero, σ2For white noise.
4. error calibration system according to claim 1, which is characterized in that the information acquisition unit includes positioning immediately
With map constructing unit.
5. error calibration system according to claim 4, which is characterized in that the instant positioning and map constructing unit packet
Include instant positioning and the map constructing unit of view-based access control model.
6. error calibration system according to claim 5, which is characterized in that the instant positioning of the view-based access control model and map
Construction unit includes photographic device.
7. error calibration system according to claim 5, which is characterized in that the moving cell includes:
Horizontal sliding table, for driving instant positioning and the map constructing unit of the Inertial Measurement Unit and the view-based access control model
Do translational motion；
Revolving platform, instant positioning and map constructing unit for driving the Inertial Measurement Unit and the view-based access control model exist
It rotates in one plane.
8. error calibration system according to claim 7, which is characterized in that the Inertial Measurement Unit is determined immediately with described
Position is set on the horizontal sliding table together with map constructing unit；Alternatively, the Inertial Measurement Unit and it is described it is instant positioning with
Map constructing unit is set to together on the revolving platform.
9. error calibration system according to claim 1, which is characterized in that the parameter information packet of the Inertial Measurement Unit
It includes: posture information and/or location information.
10. error calibration system according to claim 1, which is characterized in that the Inertial Measurement Unit unit includes top
Spiral shell instrument and accelerometer.
11. error calibration system according to claim 1, which is characterized in that the robot includes sweeping robot.
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| CN201710651730.1A CN109387219A (en) | 2017-08-02 | 2017-08-02 | Error calibration system |
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| CN201710651730.1A CN109387219A (en) | 2017-08-02 | 2017-08-02 | Error calibration system |
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| CN110132309A (en) * | 2019-06-05 | 2019-08-16 | 西京学院 | A kind of rocker arm of coal mining machine inertia/visual combination determines appearance device normalization method |
| CN111595337A (en) * | 2020-04-13 | 2020-08-28 | 宁波深寻信息科技有限公司 | Inertial positioning self-correction method based on visual modeling |
| CN112082529A (en) * | 2020-07-29 | 2020-12-15 | 上海谷感智能科技有限公司 | Small household appliance attitude measurement method based on inertial sensor and attitude identification module |
| CN116026367A (en) * | 2023-03-29 | 2023-04-28 | 中国人民解放***箭军工程大学 | Digital twin technology-based laser inertial measurement unit fault diagnosis method, system and equipment |
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| CN112082529A (en) * | 2020-07-29 | 2020-12-15 | 上海谷感智能科技有限公司 | Small household appliance attitude measurement method based on inertial sensor and attitude identification module |
| CN116026367A (en) * | 2023-03-29 | 2023-04-28 | 中国人民解放***箭军工程大学 | Digital twin technology-based laser inertial measurement unit fault diagnosis method, system and equipment |
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