CN112747741A - Inertial navigation method and device of vehicle and vehicle - Google Patents
Inertial navigation method and device of vehicle and vehicle Download PDFInfo
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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Abstract
The application discloses an inertial navigation method and device of a vehicle and the vehicle, wherein the method comprises the following steps: collecting a current course angle of the vehicle, and calculating a course angle difference value between the current course angle and a course angle at a preset moment; when the heading angle difference value is in a curve heading interval, judging that the vehicle is in a turning motion state, and generating heading angle information for inertial navigation according to the current heading angle; and when the heading angle difference value is in the straight-ahead heading interval, judging that the vehicle is in a straight-ahead motion state, and correcting the current heading angle into a preset value for inertial navigation. Therefore, the problems that the course error of the inertial navigation can seriously drift under the long-time movement at present, the accuracy and the reliability of the inertial navigation are greatly reduced, and the like are solved.
Description
Technical Field
The present disclosure relates to the field of vehicle navigation technologies, and in particular, to an inertial navigation method and apparatus for a vehicle, and a vehicle.
Background
The inertial navigation system is a system commonly used for realizing inertial navigation of a vehicle, acquires the three-axis angular velocity and the geomagnetic field intensity of the vehicle through inertial devices such as a gyroscope, a geomagnetic sensor and the like, and realizes the inertial navigation by obtaining the heading angle of the vehicle through calculation.
However, in the navigation calculation process, a small error caused by an inertial device is often easily ignored, so that a course error can seriously drift under long-time movement, the accuracy and the reliability of inertial navigation are greatly reduced, and a solution is urgently needed.
Content of application
The application provides an inertial navigation method and device of a vehicle and the vehicle, which are used for solving the problems that the course error of inertial navigation can seriously drift under the condition of long-time movement at present, and the accuracy, reliability and the like of inertial navigation are greatly reduced.
An embodiment of a first aspect of the present application provides an inertial navigation method for a vehicle, including the following steps: collecting a current course angle of a vehicle, and calculating a course angle difference value between the current course angle and a course angle at a preset moment; when the course angle difference value is in a curve course interval, judging that the vehicle is in a curve motion state, and generating course angle information for inertial navigation according to the current course angle; and when the course angle difference value is in a straight course interval, judging that the vehicle is in a straight movement state, and correcting the current course angle into a preset value for inertial navigation.
Further, still include: when the absolute value of the course angle difference value is larger than a first preset threshold value and smaller than a second preset threshold value, judging that the course angle difference value is in a straight course interval; and when the absolute value of the course angle difference is smaller than or equal to a first preset threshold and larger than or equal to a second preset threshold, judging that the course angle difference is in a curve course interval.
Further, the calculation formula of the heading angle difference value is as follows:
θn＝yawn-yawn-1，n＝2，3…
wherein, thetanIs the difference of course angle, yawnIs the current course angle, yawn-1Is the course angle at a preset time, yaw1Is the initial heading angle.
Optionally, the preset value may be 0.
An embodiment of a second aspect of the present application provides an inertial navigation device of a vehicle, including: the acquisition module is used for acquiring the current course angle of the vehicle; the calculation module is used for calculating a course angle difference value between the current course angle and a course angle at a preset moment; the first judgment module is used for judging that the vehicle is in a turning motion state when the course angle difference value is in a curve course interval, and generating course angle information for inertial navigation according to the current course angle; and the second judgment module is used for judging that the vehicle is in a straight-ahead motion state when the course angle difference value is in a straight-ahead course interval, and correcting the current course angle into a preset value for inertial navigation.
Further, still include: the third judgment module is used for judging that the course angle difference value is in a straight course interval when the absolute value of the course angle difference value is larger than a first preset threshold and smaller than a second preset threshold; and when the absolute value of the course angle difference is smaller than or equal to a first preset threshold and larger than or equal to a second preset threshold, judging that the course angle difference is in a curve course interval.
Further, the calculation formula of the heading angle difference value is as follows:
θn＝yawn-yawn-1，n＝2，3…
wherein, thetanIs the difference of course angle, yawnIs the current course angle, yawn-1Is the course angle at a preset time, yaw1Is the initial heading angle.
Optionally, the preset value may be 0.
An embodiment of the third aspect of the present application further provides a vehicle including the inertial navigation device of the vehicle according to the above embodiment.
The course angle is corrected in the straight-ahead movement state of the vehicle to correct the course error, so that the course error is prevented from seriously drifting under long-time movement, the accuracy and the reliability of inertial navigation can be effectively improved, meanwhile, the course angle information in the turning movement state is not changed, the correction complexity can be reduced, the movement state of the vehicle is not influenced, other auxiliary equipment is not needed for correction, and the cost of the inertial navigation is reduced. Therefore, the problems that the course error of the inertial navigation can seriously drift under the long-time movement at present, the accuracy and the reliability of the inertial navigation are greatly reduced, and the like are solved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
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The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart illustrating a flow chart of an inertial navigation method of a vehicle according to an embodiment of the present application;
FIG. 2 is a flow chart illustrating a flow chart of a method for inertial navigation of a vehicle according to an embodiment of the present application;
fig. 3 is an exemplary diagram of an inertial navigation device of a vehicle according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
An inertial navigation method and apparatus for a vehicle and a vehicle according to an embodiment of the present application are described below with reference to the drawings. The method comprises the steps of correcting a course angle when a vehicle moves straight to correct the course error, and avoiding the course error from seriously drifting when the vehicle moves for a long time, so that the accuracy and the reliability of inertial navigation can be effectively improved, meanwhile, course angle information in a turning motion state is not changed, the complexity of correction can be reduced, the motion state of the vehicle is not influenced, other auxiliary equipment is not needed for correction, and the cost of the inertial navigation is reduced. Therefore, the problems that the course error of the inertial navigation can seriously drift under the long-time movement at present, the accuracy and the reliability of the inertial navigation are greatly reduced, and the like are solved.
Specifically, fig. 1 is a schematic flowchart of an inertial navigation method of a vehicle according to an embodiment of the present disclosure.
As shown in fig. 1, the inertial navigation method of the vehicle includes the steps of:
in step S101, a current heading angle of the vehicle is acquired, and a heading angle difference between the current heading angle and a heading angle at a preset time is calculated.
It should be noted that the inertial navigation method of the vehicle may be applied to an inertial navigation system of the vehicle, and is used to improve the accuracy of inertial navigation, reduce the accumulation of navigation errors, and reduce the navigation errors. The inertial navigation system is an autonomous navigation system, mainly uses inertial elements (such as an accelerometer) to measure the acceleration of a vehicle, and obtains the speed and the position through integration and operation, thereby achieving the purpose of navigation and positioning of the vehicle. The equipment forming the inertial navigation system is arranged in the carrier, does not depend on external information during working, does not radiate energy to the outside, and is not easy to be interfered.
In the embodiment of the application, the inertial element can be used for acquiring the heading angle of the vehicle, wherein the heading angle refers to an included angle between a longitudinal axis of the vehicle and the north pole of the earth, and is used for inertial navigation of the vehicle.
The preset time may be set according to an actual situation, and is not specifically limited herein. The course angle at the preset time can be understood as the course angle adjacent to the current course angle and obtained by the last calculation, for example, if the current course angle is the course angle acquired by the nth sampling point, the course angle at the preset time is the course angle acquired by the nth-1 sampling point.
The heading angle difference is a difference between two adjacent heading angles, and in this embodiment, the calculation formula of the heading angle difference is as follows: thetan＝yawn-yawn-1N is 2, 3 …, wherein θnIs the difference of course angle, yawnIs the current course angle, yawn-1Is the course angle at a preset time, yaw1Is the initial heading angle.
In step S102, when the heading angle difference is in the curve heading interval, it is determined that the vehicle is in a turning motion state, and heading angle information for inertial navigation is generated according to the current heading angle.
It should be noted that, when the vehicle is in a turning motion state, the turning angle randomness and the turning angle in an actual scene are different, and the corresponding heading angle difference values are different, and due to the fact that the correction precision of the existing error correction technology is poor, the correction can increase the accumulation of errors during the turning motion state.
In order to avoid the increase of course error accumulation and avoid serious drift of course errors under long-time movement, the embodiment of the application does not modify the course angle value of the vehicle under the turning movement state, and can directly generate course angle information for inertial navigation according to the current course angle, so that the accumulation of the course errors can be reduced, the accuracy and the reliability of the inertial navigation are improved, the course information under the turning movement state of the vehicle is not changed, the constraint of an inertial navigation resolving algorithm on the environment can be reduced, and the movement state of the vehicle is not influenced by the environment.
In this embodiment, when the absolute value of the heading angle difference is less than or equal to a first preset threshold and greater than or equal to a second preset threshold, it is determined that the heading angle difference is within a curve heading interval. The first preset threshold and the second preset threshold may be specifically calibrated according to the precision and the experiment of the inertial navigation system, and are not specifically limited herein.
In step S103, when the heading angle difference is in the straight heading interval, it is determined that the vehicle is in a straight-ahead motion state, and the current heading angle is corrected to a preset value for inertial navigation.
It should be noted that, when the vehicle is in a straight-ahead motion state, the heading angle value is basically kept unchanged, and because the correction precision of the existing error correction technology is poor, the accumulation of navigation heading errors is increased when the error correction is carried out in the straight-ahead motion state.
In order to avoid the increase of accumulated course errors and avoid the serious drift of the course errors under long-time movement, the embodiment of the application corrects the course angle difference value into the preset value for inertial navigation, thereby reducing the accumulation of the course errors and improving the accuracy and the reliability of the inertial navigation.
The preset value may be specifically calibrated according to the accuracy and experiment of the inertial navigation system, and is not specifically limited herein. In the embodiment, the preset value can be 0, and the embodiment of the application can inhibit the accumulation of course errors by adopting a course angle difference value zero setting mode in a vehicle linear motion state, so that the accuracy and the reliability of inertial navigation are improved.
In this embodiment, when the absolute value of the heading angle difference is greater than the first preset threshold and less than the second preset threshold, it is determined that the heading angle difference is within the straight heading interval.
The following will further describe the inertial navigation method of the vehicle with reference to fig. 2, taking the application in an inertial navigation system of the vehicle as an example, specifically as follows:
(1) initializing an inertial navigation system;
(2) collecting a course angle of the vehicle, and performing inertial navigation calculation to obtain a current course angle difference value;
(3) carrying out dead reckoning on the current course angle difference value to judge whether the vehicle is in a turning motion state or a straight motion state;
(4) if the vehicle is in a turning motion state, directly outputting the position, and generating course angle information for inertial navigation according to the current course angle; if the vehicle is in a straight-ahead motion state, correcting the current course angle to a preset value for inertial navigation, such as 0; the output is followed by (2).
According to the inertial navigation method of the vehicle, the course angle is corrected when the vehicle moves straight to correct the course error, so that the course error is prevented from being seriously drifted under long-time movement, the accuracy and the reliability of inertial navigation can be effectively improved, meanwhile, the course angle information under the turning movement state is not changed, the correction complexity can be reduced, the moving state of the vehicle is not influenced, the correction does not need the assistance of other auxiliary equipment, and the cost of the inertial navigation is reduced.
An inertial navigation device of a vehicle according to an embodiment of the present application will be described next with reference to the drawings.
Fig. 3 is a block schematic diagram of an inertial navigation device of a vehicle according to an embodiment of the present application.
As shown in fig. 3, the inertial navigation device 10 of the vehicle includes: the system comprises an acquisition module 100, a calculation module 200, a first judgment module 300 and a second judgment module 400.
The acquisition module 100 is used for acquiring a current course angle of the vehicle; the calculation module 200 is configured to calculate a heading angle difference between the current heading angle and a heading angle at a preset time; the first judging module 300 is used for judging that the vehicle is in a turning motion state when the heading angle difference value is in a curve heading interval, and generating heading angle information for inertial navigation according to the current heading angle; the second determination module 400 is configured to determine that the vehicle is in a straight-ahead motion state when the heading angle difference is in the straight-ahead heading interval, and correct the current heading angle to a preset value for inertial navigation.
In some embodiments, the inertial navigation device 10 of the vehicle further comprises: and a third judging module. The third judging module is used for judging that the course angle difference value is in a straight course interval when the absolute value of the heading angle difference value is larger than a first preset threshold and smaller than a second preset threshold; and when the absolute value of the heading angle difference is smaller than or equal to a first preset threshold and larger than or equal to a second preset threshold, judging that the heading angle difference is in a curve heading interval.
In some embodiments, the heading angle difference is calculated as:
θn＝yawn-yawn-1，n＝2，3…
wherein, thetanIs the difference of course angle, yawnIs the current course angle, yawn-1Is the course angle at a preset time, yaw1Is the initial heading angle.
In some embodiments, the preset value may be 0.
It should be noted that the foregoing explanation of the embodiment of the inertial navigation method for a vehicle is also applicable to the inertial navigation apparatus for a vehicle in this embodiment, and is not repeated herein.
According to the inertial navigation device of the vehicle, the course angle is corrected when the vehicle moves straight to correct the course error, so that the course error is prevented from being seriously drifted under long-time movement, the accuracy and the reliability of inertial navigation can be effectively improved, meanwhile, the course angle information under the turning movement state is not changed, the correction complexity can be reduced, the moving state of the vehicle is not influenced, the correction does not need the assistance of other auxiliary equipment, and the cost of the inertial navigation is reduced.
In addition, the embodiment also provides a vehicle, which comprises the inertial navigation device of the vehicle. According to the vehicle provided by the embodiment of the application, the course angle is corrected when the vehicle moves straight to correct the course error, so that the course error is prevented from seriously drifting under long-time movement, the accuracy and the reliability of inertial navigation can be effectively improved, meanwhile, the course angle information under the turning movement state is not changed, the correction complexity can be reduced, the movement state of the vehicle is not influenced, the correction is not required to be assisted by other auxiliary equipment, and the cost of the inertial navigation is reduced.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (9)
1. An inertial navigation method of a vehicle, characterized by comprising the steps of:
collecting a current course angle of a vehicle, and calculating a course angle difference value between the current course angle and a course angle at a preset moment;
when the course angle difference value is in a curve course interval, judging that the vehicle is in a curve motion state, and generating course angle information for inertial navigation according to the current course angle; and
and when the course angle difference value is in a straight course interval, judging that the vehicle is in a straight movement state, and correcting the current course angle into a preset value for inertial navigation.
2. The method of claim 1, further comprising:
when the absolute value of the course angle difference value is larger than a first preset threshold value and smaller than a second preset threshold value, judging that the course angle difference value is in a straight course interval;
and when the absolute value of the course angle difference is smaller than or equal to a first preset threshold and larger than or equal to a second preset threshold, judging that the course angle difference is in a curve course interval.
3. The method according to claim 1 or 2, wherein the heading angle difference is calculated by the formula:
θn＝yawn-yawn-1，n＝2，3…
wherein, thetanIs the difference of course angle, yawnIs the current course angle, yawn-1Is the course angle at a preset time, yaw1Is the initial heading angle.
4. The method of claim 1, wherein the predetermined value is 0.
5. An inertial navigation device for a vehicle, comprising:
the acquisition module is used for acquiring the current course angle of the vehicle;
the calculation module is used for calculating a course angle difference value between the current course angle and a course angle at a preset moment;
the first judgment module is used for judging that the vehicle is in a turning motion state when the course angle difference value is in a curve course interval, and generating course angle information for inertial navigation according to the current course angle; and
and the second judgment module is used for judging that the vehicle is in a straight-ahead motion state when the course angle difference value is in a straight-ahead course interval, and correcting the current course angle into a preset value for inertial navigation.
6. The apparatus of claim 5, further comprising:
the third judgment module is used for judging that the course angle difference value is in a straight course interval when the absolute value of the course angle difference value is larger than a first preset threshold and smaller than a second preset threshold; and when the absolute value of the course angle difference is smaller than or equal to a first preset threshold and larger than or equal to a second preset threshold, judging that the course angle difference is in a curve course interval.
7. The device according to claim 5 or 6, wherein the heading angle difference is calculated by the formula:
θn＝yawn-yawn-1，n＝2，3…
wherein, thetanIs the difference of course angle, yawnIs the current course angle, yawn-1Is the course angle at a preset time, yaw1Is the initial heading angle.
8. The apparatus of claim 5, wherein the predetermined value is 0.
9. A vehicle, characterized by comprising: the inertial navigation device of a vehicle of any one of claims 5-8.
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