WO2021164341A1

WO2021164341A1 - Heading mounting error determination

Info

Publication number: WO2021164341A1
Application number: PCT/CN2020/129010
Authority: WO
Inventors: 周小红; 申浩; 郝立良; 高春乐
Original assignee: 北京三快在线科技有限公司
Priority date: 2020-02-18
Filing date: 2020-11-16
Publication date: 2021-08-26
Also published as: CN111426332B; CN111426332A

Abstract

A heading mounting error determination method. The method comprises: acquiring heading angles and track angles output by an integrated navigation system of a driving device during a first traveling process (S110), wherein the heading angles are determined according to a first sensor in the integrated navigation system, the track angles are determined according to a second sensor in the integrated navigation system, and the traveling strategy of the first traveling process is that the driving device carries out linear traveling at a speed not less than a preset speed; determining the track angle mean value of the track angles in the first traveling process and the heading angle mean value of the heading angles in the first traveling process (S120); and obtaining a heading mounting error of the first sensor according to the track angle mean value and the heading angle mean value (S130).

Description

航向安装误差确定Heading installation error determination

技术领域Technical field

本申请涉及导航技术领域，具体涉及航向安装误差确定。This application relates to the field of navigation technology, and specifically relates to the determination of heading installation errors.

背景技术Background technique

驾驶设备中通常安装有各类传感器，例如全球定位***GPS传感器、惯性测量单元IMU等，帮助驾驶设备，尤其是自动驾驶设备进行定位和导航等。Various sensors are usually installed in driving equipment, such as global positioning system GPS sensors, inertial measurement unit IMU, etc., to help driving equipment, especially automatic driving equipment, for positioning and navigation.

发明内容Summary of the invention

依据本申请的一个方面，提供了一种航向安装误差确定方法，包括：According to one aspect of this application, a method for determining heading installation error is provided, including:

获取驾驶设备的组合导航***在第一行驶过程中输出的航向角和航迹角，其中，所述航向角是根据所述组合导航***中的第一传感器确定的，所述航迹角是根据所述组合导航***中的第二传感器确定的，所述第一行驶过程的行驶策略为所述驾驶设备以不小于预设速度的速度进行直线行驶；确定所述航迹角在所述第一行驶过程中的航迹角均值以及所述航向角在所述第一行驶过程中的航向角均值；根据所述航迹角均值和所述航向角均值得到所述第一传感器的航向安装误差。Acquire the heading angle and track angle output by the integrated navigation system of the driving device during the first driving process, where the heading angle is determined according to the first sensor in the integrated navigation system, and the track angle is determined according to As determined by the second sensor in the integrated navigation system, the driving strategy of the first driving process is that the driving device drives straight at a speed not less than a preset speed; it is determined that the track angle is at the first The mean value of the track angle during driving and the mean value of the heading angle of the heading angle during the first driving process; the heading installation error of the first sensor is obtained according to the mean value of the track angle and the mean heading angle.

可选地，所述第二传感器为全球导航卫星***GNSS传感器，所述获取驾驶设备的组合导航***在第一行驶过程中输出的航向角和航迹角包括：根据所述GNSS传感器采集的所述驾驶设备的地理位置信息和/或速度信息确定所述航迹角。Optionally, the second sensor is a global navigation satellite system GNSS sensor, and the acquisition of the heading angle and the track angle output by the integrated navigation system of the driving device during the first driving process includes: according to all data collected by the GNSS sensor. The geographic location information and/or speed information of the driving device determines the track angle.

可选地，所述方法还包括：获取所述组合导航***在所述驾驶设备的第二行驶过程中输出的导航数据，所述第二行驶过程在所述第一行驶过程之前；根据所述导航数据对所述组合导航***进行校准。Optionally, the method further includes: acquiring navigation data output by the integrated navigation system during a second driving process of the driving device, the second driving process being before the first driving process; The navigation data calibrate the integrated navigation system.

可选地，所述第二行驶过程的行驶策略包括如下的至少一种：所述驾驶设备进行直线加速行驶；所述驾驶设备进行直线减速行驶；所述驾驶设备进行“8”字形行驶。Optionally, the driving strategy of the second driving process includes at least one of the following: the driving device performs straight-line acceleration driving; the driving device performs straight-line deceleration driving; and the driving device performs "8"-shaped driving.

可选地，所述第一传感器为惯性测量单元IMU，所述根据所述导航数据对所述组合导航***进行校准包括：根据所述导航数据确定所述IMU的航向误差，根据所述IMU的航向误差对所述组合导航***进行校准，直至所述IMU的航向误差收敛。Optionally, the first sensor is an inertial measurement unit IMU, and the calibrating the integrated navigation system according to the navigation data includes: determining the heading error of the IMU according to the navigation data, and according to the IMU The heading error calibrates the integrated navigation system until the heading error of the IMU converges.

可选地，所述根据所述导航数据确定所述IMU的航向误差包括：根据卡尔曼滤波器以及所述导航数据计算出所述IMU的航向误差。Optionally, the determining the heading error of the IMU according to the navigation data includes: calculating the heading error of the IMU according to the Kalman filter and the navigation data.

可选地，该方法还包括：利用所述航向安装误差以及所述组合导航***在所述驾驶设备的行驶过程中输出的航向角确定所述驾驶设备的航向。Optionally, the method further includes: determining the heading of the driving device by using the heading installation error and the heading angle output by the integrated navigation system during the driving of the driving device.

根据本申请的另一方面，提供了一种航向安装误差确定装置，包括：数据获取单元，用于获取驾驶设备的组合导航***在第一行驶过程中输出的航向角和航迹角，其中，所述航向角是根据所述组合导航***中的第一传感器确定的，所述航迹角是根据所述组合导航***中的第二传感器确定的，所述第一行驶过程的行驶策略为所述驾驶设备以不小于预设速度的速度进行直线行驶；确定单元，用于确定所述航迹角在所述第一行驶过程中的航迹角均值以及所述航向角在所述第一行驶过程中的航向角均值；根据所述航迹角均值和所述航向角均值得到所述第一传感器的航向安装误差。According to another aspect of the present application, there is provided a heading installation error determination device, including: a data acquisition unit for acquiring the heading angle and the track angle output by the integrated navigation system of the driving equipment during the first driving process, wherein, The heading angle is determined according to the first sensor in the integrated navigation system, the track angle is determined according to the second sensor in the integrated navigation system, and the driving strategy of the first driving process is determined by The driving device drives in a straight line at a speed not less than a preset speed; a determining unit is used to determine the average value of the track angle during the first driving process and the heading angle during the first driving process. The mean value of the heading angle in the process; the heading installation error of the first sensor is obtained according to the mean value of the track angle and the mean value of the heading angle.

可选地，所述第二传感器为全球导航卫星***GNSS传感器，所述数据获取单元，用于根据所述GNSS传感器采集的所述驾驶设备的地理位置信息和/或速度信息确定所述航迹角。Optionally, the second sensor is a Global Navigation Satellite System GNSS sensor, and the data acquisition unit is configured to determine the track based on geographic location information and/or speed information of the driving device collected by the GNSS sensor Horn.

可选地，所述装置还包括：校准单元，用于获取所述组合导航***在所述驾驶设备的第二行驶过程中输出的导航数据，所述第二行驶过程在所述第一行驶过程之前；根据所述导航数据对所述组合导航***进行校准。Optionally, the device further includes: a calibration unit, configured to obtain navigation data output by the integrated navigation system during a second driving process of the driving device, the second driving process being in the first driving process Before; calibrate the integrated navigation system according to the navigation data.

可选地，所述第二行驶过程的行驶策略包括如下的至少一种：所述驾驶设备进行直线加速行驶；所述驾驶设备进行直线减速行驶；所述驾驶设备进行“8”字形行驶。Optionally, the driving strategy of the second driving process includes at least one of the following: the driving device performs straight acceleration driving; the driving device performs straight deceleration driving; and the driving device performs "8"-shaped driving.

可选地，所述第一传感器为惯性测量单元IMU，所述校准单元，用于根据所述导航数据确定所述IMU的航向误差，根据所述IMU的航向误差对所述组合导航***进行校准，直至所述IMU的航向误差收敛。Optionally, the first sensor is an inertial measurement unit IMU, and the calibration unit is configured to determine the heading error of the IMU according to the navigation data, and calibrate the integrated navigation system according to the heading error of the IMU , Until the heading error of the IMU converges.

可选地，所述校准单元，用于根据卡尔曼滤波器以及所述导航数据计算出所述IMU的航向误差。Optionally, the calibration unit is configured to calculate the heading error of the IMU according to the Kalman filter and the navigation data.

可选地，所述确定单元，还用于利用所述航向安装误差以及所述组合导航***在所述驾驶设备的行驶过程中输出的航向角确定所述驾驶设备的航向。Optionally, the determining unit is further configured to use the heading installation error and the heading angle output by the integrated navigation system during the driving of the driving device to determine the heading of the driving device.

依据本申请的又一方面，提供了一种电子设备，包括：处理器；以及被安排成存储计算机可执行指令的存储器，所述计算机可执行指令在被执行时使所述处理器执行如上述任一所述的航向安装误差确定方法。According to another aspect of the present application, there is provided an electronic device, including: a processor; and a memory arranged to store computer-executable instructions, which when executed, cause the processor to execute as described above Any of the described heading installation error determination methods.

依据本申请的再一方面，提供了一种计算机可读存储介质，所述计算机可读存储介质存储一个或多个程序，所述一个或多个程序当被处理器执行时，使所述处理器实现如上述任一所述的航向安装误差确定方法。According to another aspect of the present application, there is provided a computer-readable storage medium that stores one or more programs that, when executed by a processor, cause the processing The device implements the method for determining the heading installation error as described above.

由上述可知，本申请的实施例，获取在驾驶设备高速直线行驶过程中，组合导航***基于第一传感器和第二传感器输出的航向角和航迹角，分别计算航迹角均值以及航向角均值，最终根据航迹角均值和航向角均值得到第一传感器的航向安装误差。本申请实施例的有益效果在于，不需要对驾驶设备的硬件进行改动，也不需要利用电子水平象限仪、经纬仪这类价格昂贵、操作复杂的设备，并且通过数据的均值计算，增强了计算结果的鲁棒性，成本低，结果准，效率高。It can be seen from the above that the embodiment of the present application obtains that the integrated navigation system calculates the mean value of the track angle and the mean value of the heading angle based on the heading angle and the track angle output by the first sensor and the second sensor during the high-speed straight driving process of the driving device. , And finally get the heading installation error of the first sensor according to the average track angle and the average heading angle. The beneficial effects of the embodiments of the present application are that there is no need to modify the hardware of the driving equipment, nor need to use expensive and complex operations such as electronic level quadrants and theodolites, and the calculation of the average value of the data enhances the calculation results. Robustness, low cost, accurate results, and high efficiency.

上述说明仅是本申请实施例的概述，为了能够更清楚了解本申请的技术手段，而可依照说明书的内容予以实施，并且为了让本申请的上述和其它目的、特征和优点能够更明显易懂，以下特举本申请的具体实施方式。The above description is only an overview of the embodiments of the application. In order to understand the technical means of the application more clearly, it can be implemented in accordance with the content of the specification, and to make the above and other purposes, features and advantages of the application more obvious and understandable. , The specific implementations of this application are cited below.

附图说明Description of the drawings

通过阅读下文一些实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出一些实施方式的目的，而并不认为是对本申请的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：By reading the detailed description of some embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only used for the purpose of illustrating some embodiments, and are not considered as a limitation to the application. Also, throughout the drawings, the same reference symbols are used to denote the same components. In the attached picture:

图1示出了一个示例性的航向安装误差确定方法的流程示意图；Figure 1 shows a schematic flow diagram of an exemplary method for determining heading installation error;

图2示出了一个示例性的航向安装误差确定装置的结构示意图；Figure 2 shows a schematic structural diagram of an exemplary heading installation error determining device;

图3示出了一个示例性的电子设备的结构示意图；Figure 3 shows a schematic structural diagram of an exemplary electronic device;

图4示出了一个示例性的计算机可读存储介质的结构示意图；Fig. 4 shows a schematic structural diagram of an exemplary computer-readable storage medium;

图5示出了一种示例性的航向安装误差的形成原理示意图；Figure 5 shows an exemplary schematic diagram of the formation principle of heading installation error;

图6示出了一种示例性的航向安装误差的计算原理示意图；Figure 6 shows an exemplary schematic diagram of the calculation principle of the heading installation error;

图7示出了一种示例性的用于实施航向安装误差确定方法的软件界面示意图。Fig. 7 shows a schematic diagram of an exemplary software interface for implementing a method for determining a heading installation error.

具体实施方式Detailed ways

下面将参照附图更详细地描述本申请的示例性实施例。虽然附图中显示了本申请的示例性实施例，然而应当理解，可以以各种形式实现本申请而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本申请，并且能够将本申请的范围完整的传达给本领域的技术人员。Hereinafter, exemplary embodiments of the present application will be described in more detail with reference to the accompanying drawings. Although the drawings show exemplary embodiments of the present application, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the application and to fully convey the scope of the application to those skilled in the art.

航向本义是指飞机或船舶的航行方向，通常用航线和基准线在水平面中组成的角度来表示，该角度从基准线按顺时针方向转动来计量。目前在无人车等自动驾驶领域，也使用这个词指示无人车的行进方向。在本申请中航向即指代驾驶设备的行进方向。The original meaning of heading refers to the direction of the aircraft or ship. It is usually expressed by the angle formed by the route and the reference line in the horizontal plane, and the angle is measured by turning clockwise from the reference line. At present, in the field of autonomous driving such as unmanned vehicles, this term is also used to indicate the direction of travel of unmanned vehicles. In this application, the heading refers to the direction of travel of the driving equipment.

为了确定驾驶设备的航向，目前有很多种可选的传感器，例如IMU和GPS传感器等，但是由于这些传感器在安装到驾驶设备上时，可能出现实际安装位置与预设安装位置不一致的情况，也就是产生安装误差，因此如果直接使用传感器采集的数据而不考虑安装误差，最终的定位和导航结果就会不准确。而目前缺少一种有效测量传感器安装误差，特别是传感器在航向上的安装误差(以下简称为“航向安装误差”)的方式。In order to determine the heading of the driving equipment, there are currently many optional sensors, such as IMU and GPS sensors. However, when these sensors are installed on the driving equipment, the actual installation position may be inconsistent with the preset installation position. It is an installation error. Therefore, if the data collected by the sensor is used directly without considering the installation error, the final positioning and navigation results will be inaccurate. However, there is currently a lack of an effective way to measure the installation error of the sensor, especially the installation error of the sensor in the heading (hereinafter referred to as "heading installation error").

图5以小汽车和IMU为例对航向安装误差的形成原理进行说明，在图5中，定义右、前、上三个方向分别对应x轴、y轴和z轴，围绕x轴、y轴和z轴产生的转动角分别为俯仰角pitch，翻滚角roll和航向角yaw。理想情况下，如果IMU坐标系与小汽车坐标系重合，则IMU测量出的y轴朝向就是小汽车的y轴朝向，也就能够确定小汽车的航向。Figure 5 takes a car and an IMU as an example to illustrate the principle of the formation of the heading installation error. In Figure 5, define the right, front, and up directions to correspond to the x-axis, y-axis and z-axis, and surround the x-axis and y-axis. The rotation angles produced by the and z-axis are pitch angle, roll angle and heading angle yaw, respectively. Ideally, if the IMU coordinate system coincides with the car coordinate system, the y-axis direction measured by the IMU is the y-axis direction of the car, and the heading of the car can be determined.

但是实际安装并不能做到使IMU坐标系与小汽车坐标系完美重合。此时，IMU坐标系的y轴与小汽车坐标系的y轴之间如果产生偏差，形成了夹角，那么该夹角就是航向安装误差。However, the actual installation cannot make the IMU coordinate system perfectly coincide with the car coordinate system. At this time, if there is a deviation between the y-axis of the IMU coordinate system and the y-axis of the car coordinate system, forming an included angle, then the included angle is the heading installation error.

目前，获取航向安装误差的方法主要通过测量方式，例如使用电子水平象限仪及经纬仪等。但这些设备不仅价格昂贵，而且在实际应用过程中有一定操作难度。At present, the method to obtain the heading installation error is mainly through measurement methods, such as the use of electronic level quadrants and theodolites. However, these devices are not only expensive, but also have certain operational difficulties in the actual application process.

本申请的设计构思则在于，让驾驶设备以预设的方式动起来，获取在行驶过程中的航向角和航迹角，计算得出航向安装误差。The design concept of this application is to make the driving equipment move in a preset manner, obtain the heading angle and track angle during driving, and calculate the heading installation error.

图1示出了根据本申请一个实施例的航向安装误差确定方法的流程示意图。如图1所示，该方法包括：Fig. 1 shows a schematic flowchart of a method for determining a heading installation error according to an embodiment of the present application. As shown in Figure 1, the method includes:

步骤S110，获取驾驶设备的组合导航***在第一行驶过程中输出的航向角和航迹角。Step S110: Obtain the heading angle and the track angle output by the integrated navigation system of the driving device during the first driving process.

其中，航向角是根据组合导航***中的第一传感器确定的，航迹角是根据组合导航***中的第二传感器确定的，第一行驶过程的行驶策略为驾驶设备以不小于预设速度的速度进行直线行驶。Among them, the heading angle is determined according to the first sensor in the integrated navigation system, and the track angle is determined according to the second sensor in the integrated navigation system. The driving strategy of the first driving process is that the driving device is at a speed not less than the preset speed. Speed in a straight line.

航迹是指驾驶设备行进的轨迹，由此可以看出，如果航迹是一条直线，或者可以近似认为是一条直线，那么，航迹的指向就可以认为是驾驶设备的航向。本申请的实施例就是基于这一点设计的。为提高精度，可以使驾驶设备进行匀速直线行驶(即认为水平和转向加速度均近似为0)。当然，这仅是一种示例，只要能够得到较为规则的航迹，使得航迹的朝向与航向一致即可。The track refers to the trajectory of the driving equipment. It can be seen that if the track is a straight line, or can be approximated as a straight line, then the direction of the track can be regarded as the heading of the driving equipment. The embodiments of this application are designed based on this point. In order to improve the accuracy, the driving equipment can be driven in a straight line at a constant speed (that is, the horizontal and steering acceleration are considered to be approximately 0). Of course, this is only an example, as long as a more regular trajectory can be obtained so that the direction of the trajectory is consistent with the heading.

在这种情况下，航迹角是指航迹与大地坐标系基准线的夹角，例如驾驶设备进行直线行驶，那么航迹角就是驾驶设备行驶所沿的这条直线与大地坐标系y轴的夹角，可认为此时的航迹角是准确、不存在误差的航向角。In this case, the track angle refers to the angle between the track and the reference line of the geodetic coordinate system. For example, if the driving device is driving in a straight line, the track angle is the line along which the driving device is traveling and the y-axis of the geodetic coordinate system. It can be considered that the track angle at this time is an accurate heading angle without error.

步骤S120，确定航迹角在第一行驶过程中的航迹角均值以及航向角在第一行驶过程中的航向角均值。Step S120: Determine the average value of the track angle during the first driving process and the average value of the heading angle during the first driving process.

通过上述步骤，避免了单一或少量取值所造成的漂移现象，不需要要求航迹角数据和航向角数据中的每个值都精准，使得整个航向安装误差确定过程的实现更简单，在实际应用中能够完成。Through the above steps, the drift phenomenon caused by a single or a small number of values is avoided, and each value in the track angle data and the heading angle data is not required to be accurate, making the realization of the entire course installation error determination process simpler. Can be completed in the application.

换句话说，以直线行驶为例，不要求驾驶设备在整个过程中严格保持直线行驶，只要大部分时间保持直线行驶，最终仍然可以得到精度较高的结果。In other words, taking straight-line driving as an example, the driving equipment is not required to strictly maintain straight-line driving throughout the entire process. As long as the straight-line driving is maintained most of the time, higher accuracy results can still be obtained in the end.

步骤S130，根据航迹角均值和航向角均值得到第一传感器的航向安装误差。Step S130: Obtain the heading installation error of the first sensor according to the mean value of the track angle and the mean value of the heading angle.

例如，用航迹角均值和航向角均值作差，得到的结果就是第一传感器的航向安装误差。图6以小汽车为例示出了航向安装误差的计算原理图。如图6所示，我们希望航向角就是航迹角，但是由于航向安装误差的存在，使得航向角与航迹角之间存在夹角。通过上述过程，可以求得航迹角与航向角之间的差值，也就是确定出了航向安装误差。For example, if the difference between the mean value of the track angle and the mean value of the heading angle is used, the result obtained is the heading installation error of the first sensor. Figure 6 shows the calculation principle of the heading installation error with a car as an example. As shown in Figure 6, we hope that the heading angle is the track angle, but due to the existence of the heading installation error, there is an angle between the heading angle and the track angle. Through the above process, the difference between the track angle and the heading angle can be obtained, that is, the heading installation error is determined.

可见，图1所示的方法，不需要对驾驶设备的硬件进行改动，也不需要利用电子水平象限仪、经纬仪这类价格昂贵、操作复杂的设备，并且通过数据的均值计算，增强了计算结果的鲁棒性，成本低，结果准，效率高。使用经过该方法确定的航向安装误差，可以提高驾驶设备导航效果，对于配送、自动驾驶等场景有着良好的助力。It can be seen that the method shown in Figure 1 does not require changes to the hardware of the driving equipment, nor does it require the use of expensive and complex operations such as electronic level quadrants and theodolites, and the calculation of the average value of the data enhances the calculation results. Robustness, low cost, accurate results, and high efficiency. Using the heading installation error determined by this method can improve the navigation effect of driving equipment, and has a good boost for scenes such as distribution and automatic driving.

在本申请的一个实施例中，上述方法中，第二传感器为全球导航卫星***GNSS传感器，获取驾驶设备的组合导航***在第一行驶过程中输出的航向角和航迹角包括：根据GNSS传感器采集的地理位置信息和/或速度信息确定航迹角。In an embodiment of the present application, in the above method, the second sensor is a global navigation satellite system GNSS sensor, and acquiring the heading angle and track angle output by the integrated navigation system of the driving device during the first driving process includes: according to the GNSS sensor The collected geographic location information and/or speed information determines the track angle.

许多驾驶设备上安装有GPS传感器、北斗导航传感器等GNSS传感器，这些GNSS传感器可以采集到驾驶设备在行驶过程中的位置信息以及速度信息，进而确定航迹角。Many driving equipment are equipped with GNSS sensors such as GPS sensors and Beidou navigation sensors. These GNSS sensors can collect the position information and speed information of the driving equipment during driving, and then determine the track angle.

比如，驾驶设备在从A点运动到B点的过程中，GPS传感器获取到A点的地理位置坐标(ax，ay)和B点的地理位置坐标(bx，by)，根据该两点的地理位置坐标连线可得一条直线方程，根据该直线方程就可以计算出航迹角。为了保证GNSS传感器的可用性，可以要求驾驶设备在第一行驶过程中保持较高的速度，例如以不小于60km/h的速度直线行驶。For example, when the driving device is moving from point A to point B, the GPS sensor obtains the geographic location coordinates of point A (ax, ay) and the geographic location coordinates of point B (bx, by), according to the geographic coordinates of the two points. A straight line equation can be obtained by connecting the position coordinates, and the track angle can be calculated according to the straight line equation. In order to ensure the availability of the GNSS sensor, the driving device may be required to maintain a relatively high speed during the first driving process, for example, driving in a straight line at a speed of not less than 60km/h.

但是GNSS传感器的问题在于，如果驾驶设备的速度较慢，或是干脆处于静止状态，那么就无法确定驾驶设备的航向角；并且GNSS传感器还受到精度的限制，难以仅利用GNSS传感器确定驾驶设备的航向角。However, the problem with the GNSS sensor is that if the driving equipment is slow or simply at a standstill, then the heading angle of the driving equipment cannot be determined; and the GNSS sensor is also limited by accuracy, and it is difficult to determine the driving equipment only by using the GNSS sensor. Heading.

因此，许多驾驶设备还利用了IMU。IMU是测量物体三轴姿态角及加速度的装置，IMU一般包括三轴陀螺仪及三轴加速度计，某些9轴IMU还包括三轴磁力计。由于其原理上是利用了物体的惯性，不需要与天上的卫星进行通信，从而较GNSS设备而言，适用场景更广泛。但是其比较依赖于安装精度。Therefore, many driving equipment also utilize IMU. The IMU is a device that measures the three-axis attitude angle and acceleration of an object. The IMU generally includes a three-axis gyroscope and a three-axis accelerometer, and some 9-axis IMUs also include a three-axis magnetometer. Since it uses the inertia of the object in principle, it does not need to communicate with satellites in the sky, so it has a wider range of application scenarios than GNSS equipment. But it depends on the accuracy of the installation.

在本申请的一个实施例中，上述方法还包括：获取组合导航***在驾驶设备第二行驶过程中输出的导航数据，第二行驶过程在第一行驶过程之前；根据导航数据对组合导航***进行校准。In an embodiment of the present application, the above method further includes: acquiring the navigation data output by the integrated navigation system during the second driving process of the driving device, the second driving process is before the first driving process; and performing the integrated navigation system according to the navigation data calibration.

上述实施例介绍了IMU与GNSS传感器的优缺点，在实际应用中，很多驾驶设备上会设置有结合了IMU与GNSS传感器的组合导航***。本申请所利用的驾驶设备上也可以部署有这样的组合导航***。The foregoing embodiment introduces the advantages and disadvantages of the IMU and the GNSS sensor. In practical applications, many driving equipment will be equipped with an integrated navigation system that combines the IMU and the GNSS sensor. Such an integrated navigation system may also be deployed on the driving equipment used in this application.

另外就是除了安装误差以外，组合导航***还可能存在***误差，如果根据GNSS传感器直接输出的航迹角以及IMU直接输出的航向角进行计算，就忽视了***误差，影响航向安装误差的确定效果。因此，可以在第二行驶过程中，根据组合导航***输出的导航数据，对组合导航***进行初始校准，目的就是减小***误差的影响。In addition to installation errors, the integrated navigation system may also have system errors. If the calculation is based on the track angle directly output by the GNSS sensor and the heading angle directly output by the IMU, the system error will be ignored and affect the determination of the heading installation error. Therefore, in the second driving process, the integrated navigation system can be initially calibrated according to the navigation data output by the integrated navigation system in order to reduce the influence of system errors.

在本申请的一个实施例中，上述方法中，第二行驶过程的行驶策略包括如下的至少一种：驾驶设备进行直线加速行驶；驾驶设备进行直线减速行驶；驾驶设备进行“8”字形行驶。In an embodiment of the present application, in the above method, the driving strategy of the second driving process includes at least one of the following: the driving device performs straight-line acceleration driving; the driving device performs straight-line deceleration driving; and the driving device performs "8"-shaped driving.

由于需要先对组合导航***进行校准，避免***误差的影响，再进行航向安装误差的确定，因此可以先使驾驶设备进行第二行驶过程，再进行第一行驶过程，可见本申请中的第一和第二并不代表对先后顺序的限制。另外，每个行驶过程都有着相应的目的，第二行驶过程的目的是驾驶设备通过复杂的动作，使组合导航***的传感器感知更丰富，便于校准，因此可以通过直线加减速行驶与“8”字形行驶轨迹的结合，使得车辆在多个维度上具有加速度，校准效果更好。Since the integrated navigation system needs to be calibrated first to avoid the influence of system errors, and then the heading installation error is determined, the driving device can be used to perform the second driving process and then the first driving process. It can be seen that the first in this application And the second does not represent a restriction on the order of precedence. In addition, each driving process has a corresponding purpose. The purpose of the second driving process is to make the integrated navigation system's sensors more sensible and easy to calibrate through complex actions by the driving equipment. Therefore, it can be driven in a straight line with acceleration and deceleration. The combination of the glyph driving trajectory enables the vehicle to have acceleration in multiple dimensions, and the calibration effect is better.

在本申请的一个实施例中，上述方法中，第一传感器为惯性测量单元IMU，根据导航数据对组合导航***进行校准包括：根据导航数据确定IMU的航向误差/航向角误差，根据IMU的航向误差对组合导航***进行校准，直至IMU的航向误差收敛。In an embodiment of the present application, in the above method, the first sensor is an inertial measurement unit IMU, and calibrating the integrated navigation system according to the navigation data includes: determining the heading error/heading angle error of the IMU according to the navigation data, and according to the heading of the IMU The error calibrates the integrated navigation system until the heading error of the IMU converges.

可以在IMU的航向误差收敛后，停止初始校准，具体可以是IMU的航向误差的标准差std小于一个预设的收敛值，如0.1°。The initial calibration may be stopped after the heading error of the IMU converges. Specifically, the standard deviation std of the heading error of the IMU may be less than a preset convergence value, such as 0.1°.

在本申请的一个实施例中，上述方法中，根据导航数据确定IMU的航向误差包括：根据卡尔曼滤波器以及导航数据计算出IMU的航向误差。In an embodiment of the present application, in the above method, determining the heading error of the IMU according to the navigation data includes: calculating the heading error of the IMU according to the Kalman filter and the navigation data.

卡尔曼滤波(Kalman filtering)是一种利用线性***状态方程，通过***输入输出观测数据，对***状态进行最优估计的算法。因此，对上述的组合导航***进行初始校准，就可以利用卡尔曼滤波器以及导航数据来实现。Kalman filtering is an algorithm that uses linear system state equations to perform optimal estimation of system state through system input and output observation data. Therefore, the initial calibration of the above-mentioned integrated navigation system can be achieved by using the Kalman filter and navigation data.

在本申请的一个实施例中，上述方法还包括：利用航向安装误差以及组合导航***在驾驶设备的行驶过程中输出的航向角确定驾驶设备的航向。实际上，可以通过航向安装误差、航向误差以及航向角联合确定驾驶设备的航向，在组合导航***中也可以综合考虑其他传感器输出的数据。In an embodiment of the present application, the above method further includes: determining the heading of the driving device by using the heading installation error and the heading angle output by the integrated navigation system during the driving of the driving device. In fact, the heading of the driving equipment can be determined jointly by the heading installation error, heading error, and heading angle, and the data output by other sensors can also be comprehensively considered in the integrated navigation system.

下面以一个具体的实施例介绍驾驶设备航向确定的全过程。图7是该实施例用于实施航向安装误差确定方法的软件界面。In the following, a specific embodiment is used to introduce the whole process of determining the heading of the driving equipment. Fig. 7 is a software interface used to implement the method for determining the heading installation error in this embodiment.

首先，用户选择串口号，配置波特率，点击“open”，软件开始采集组合导航设备输出数据；然后用户点击“alignment”进入初始校准阶段，校准过程采用直线加速行驶、直线减速行驶、“8”字形行驶相结合的方式，校准过程中实时显示IMU航向误差的std值；待IMU航向误差收敛后(航向误差std小于0.1°)，点击“headerr_calc”按钮，开始进行航向安装误差的估算，估算过程车辆保持直线高速行驶，车速大于60km/h，实时显示并记录航迹角

与航向角

分别求取航迹角

的均值

与航向角

的均值

由此可获得航向安装误差角

并在界面上显示；最后计算车体航向：

First, the user selects the serial port number, configures the baud rate, and clicks "open", and the software starts to collect the output data of the integrated navigation device; then the user clicks "alignment" to enter the initial calibration stage. The calibration process uses linear acceleration, linear deceleration, and "8". ”Combining the glyph driving, the std value of the IMU heading error is displayed in real time during the calibration process; after the IMU heading error is converged (the heading error std is less than 0.1°), click the "headerr_calc" button to start the estimation of the heading installation error. During the process, the vehicle maintains a straight line and high speed, the vehicle speed is greater than 60km/h, real-time display and record the track angle

And heading angle

Find the track angle separately

Mean of

And heading angle

Mean of

From this, the heading installation error angle can be obtained

And display on the interface; finally calculate the heading of the car body:

图2示出了根据本申请一个实施例的航向安装误差确定装置的结构示意图。如图2所示，航向安装误差确定装置200包括：Fig. 2 shows a schematic structural diagram of a device for determining a heading installation error according to an embodiment of the present application. As shown in Fig. 2, the device 200 for determining the heading installation error includes:

数据获取单元210，用于获取驾驶设备的组合导航***在第一行驶过程中输出的航向角和航迹角。The data acquisition unit 210 is used to acquire the heading angle and the track angle output by the integrated navigation system of the driving device during the first driving process.

确定单元220，用于确定航迹角在第一行驶过程中的航迹角均值以及航向角在第一行驶过程中的航向角均值；根据航迹角均值和航向角均值得到第一传感器的航向安装误差。The determining unit 220 is used to determine the mean value of the track angle during the first driving process and the mean value of the heading angle during the first driving process; and obtain the heading of the first sensor according to the mean value of the track angle and the mean heading angle Installation error.

例如，用航迹角均值和航向角均值作差，得到的结果就是第一传感器的航向安装误差。For example, if the difference between the mean value of the track angle and the mean value of the heading angle is used, the result obtained is the heading installation error of the first sensor.

可见，图2所示的装置，不需要对驾驶设备的硬件进行改动，也不需要利用电子水平象限仪、经纬仪这类价格昂贵、操作复杂的设备，并且通过数据的均值计算，增强了计算结果的鲁棒性，成本低，结果准，效率高。使用经过该装置确定的航向安装误差，可以提高驾驶设备导航效果，对于配送、自动驾驶等场景有着良好的助力。It can be seen that the device shown in Figure 2 does not need to modify the hardware of the driving equipment, nor does it need to use expensive and complex operations such as electronic level quadrants and theodolites, and the calculation of the average value of the data enhances the calculation results. Robustness, low cost, accurate results, and high efficiency. Using the heading installation error determined by the device can improve the navigation effect of the driving equipment, and has a good boost for scenes such as distribution and automatic driving.

在本申请的一个实施例中，上述装置中，第二传感器为全球导航卫星***GNSS传感器，数据获取单元210，用于根据GNSS传感器采集的地理位置信息和/或速度信息确定航迹角。In an embodiment of the present application, in the above-mentioned device, the second sensor is a global navigation satellite system GNSS sensor, and the data acquisition unit 210 is configured to determine the track angle according to the geographic location information and/or speed information collected by the GNSS sensor.

许多驾驶设备上安装有GPS传感器、北斗导航传感器等GNSS传感器，这些GNSS传感器可以采集到驾驶设备在行驶过程中的位置信息以及速度信息，进而确定航迹角。Many driving equipment are equipped with GPS sensors, Beidou navigation sensors and other GNSS sensors. These GNSS sensors can collect the position information and speed information of the driving equipment during driving, and then determine the track angle.

在本申请的一个实施例中，上述装置还包括：校准单元，用于获取组合导航***在驾驶设备第二行驶过程中输出的导航数据，第二行驶过程在第一行驶过程之前；根据导航数据对组合导航***进行校准。In an embodiment of the present application, the above-mentioned device further includes: a calibration unit for obtaining navigation data output by the integrated navigation system during the second driving process of the driving device, the second driving process is before the first driving process; according to the navigation data Calibrate the integrated navigation system.

在本申请的一个实施例中，上述装置中，第二行驶过程的行驶策略包括如下的至少一种：驾驶设备进行直线加速行驶；驾驶设备进行直线减速行驶；驾驶设备进行“8”字形行驶。In an embodiment of the present application, in the above-mentioned device, the driving strategy of the second driving process includes at least one of the following: the driving device performs straight-line acceleration driving; the driving device performs straight-line deceleration driving; and the driving device performs "8"-shaped driving.

由于需要先对组合导航***进行校准，避免***误差的影响，再进行航向安装误差的确定，因此可以先使驾驶设备进行第二行驶过程，再进行第一行驶过程，可见本申请中的第一和第二并不代表对先后顺序的限制。另外，每个行驶过程都有着相应的目的，第二行驶过程的目的是驾驶设备通过复杂的动作，使组合导航***的传感器感知更丰富，便于校准，因此可以通过直线加减速行驶与“8”字形行驶轨迹的结合，使得车辆在多个维度上具有加速度，校准效果更好。Since the integrated navigation system needs to be calibrated first to avoid the influence of system errors, and then the heading installation error is determined, the driving device can be used to perform the second driving process and then the first driving process. It can be seen that the first in this application And the second does not represent a restriction on the order of precedence. In addition, each driving process has a corresponding purpose. The purpose of the second driving process is to make the integrated navigation system's sensors more sensible and easy to calibrate through complex actions by the driving device. Therefore, it can be driven by straight-line acceleration and deceleration. The combination of the glyph driving trajectory enables the vehicle to have acceleration in multiple dimensions, and the calibration effect is better.

在本申请的一个实施例中，上述装置中，第一传感器为惯性测量单元IMU，校准单元，用于根据导航数据确定IMU的航向误差，根据IMU的航向误差对组合导航***进行校准，直至IMU的航向误差收敛。In an embodiment of the present application, in the above device, the first sensor is an inertial measurement unit IMU, and the calibration unit is used to determine the heading error of the IMU according to the navigation data, and calibrate the integrated navigation system according to the heading error of the IMU until the IMU The heading error converges.

在本申请的一个实施例中，上述装置中，校准单元，用于根据卡尔曼滤波器以及导航数据计算出IMU的航向误差。In an embodiment of the present application, in the above device, the calibration unit is used to calculate the heading error of the IMU according to the Kalman filter and navigation data.

卡尔曼滤波是一种利用线性***状态方程，通过***输入输出观测数据，对***状态进行最优估计的算法。因此，对上述的组合导航***进行初始校准，就可以利用卡尔曼滤波器以及导航数据来实现。Kalman filter is an algorithm that uses linear system state equations to optimally estimate system state through system input and output observation data. Therefore, the initial calibration of the above-mentioned integrated navigation system can be achieved by using the Kalman filter and navigation data.

在本申请的一个实施例中，上述装置中，确定单元220，还用于利用航向安装误差以及组合导航***在驾驶设备的行驶过程中输出的航向角确定驾驶设备的航向。实际上，可以通过航向安装误差、航向误差以及航向角联合确定驾驶设备的航向，在组合导航***中也可以综合考虑其他传感器输出的数据。In an embodiment of the present application, in the above-mentioned device, the determining unit 220 is further configured to use the heading installation error and the heading angle output by the integrated navigation system during the driving of the driving device to determine the heading of the driving device. In fact, the heading of the driving equipment can be determined jointly by the heading installation error, heading error, and heading angle, and the data output by other sensors can also be comprehensively considered in the integrated navigation system.

综上所述，本申请的实施例，获取在驾驶设备高速直线行驶过程中，组合导航***基于第一传感器和第二传感器输出的航向角和航迹角，分别计算航迹角均值以及航向角均值，最终根据航迹角均值和航向角均值得到第一传感器的航向安装误差。本申请实施例的有益效果在于，不需要对驾驶设备的硬件进行改动，也不需要利用电子水平象限仪、经纬仪这类价格昂贵、操作复杂的设备，并且通过数据的均值计算，增强了计算结果的鲁棒性，成本低，结果准，效率高。使用经过该方法确定的航向安装误差，可以提高驾驶设备导航效果，对于配送、自动驾驶等场景有着良好的助力。In summary, the embodiment of the present application obtains that the integrated navigation system calculates the mean value of the track angle and the heading angle based on the heading angle and the track angle output by the first sensor and the second sensor during the high-speed straight driving process of the driving device. Average value, and finally get the heading installation error of the first sensor according to the average track angle and the average heading angle. The beneficial effects of the embodiments of the present application are that there is no need to modify the hardware of the driving equipment, nor need to use expensive and complex operations such as electronic level quadrants and theodolites, and the calculation of the average value of the data enhances the calculation results. Robustness, low cost, accurate results, and high efficiency. Using the heading installation error determined by this method can improve the navigation effect of driving equipment, and has a good boost for scenes such as distribution and automatic driving.

需要说明的是：It should be noted:

在此提供的算法和显示不与任何特定计算机、虚拟装置或者其它设备固有相关。各种通用装置也可以与基于在此的示教一起使用。根据上面的描述，构造这类装置所要求的结构是显而易见的。此外，本申请也不针对任何特定编程语言。应当明白，可以利用各种编程语言实现在此描述的本申请的内容，并且上面对特定语言所做的描述是为了披露本申请的最佳实施方式。The algorithms and displays provided here are not inherently related to any particular computer, virtual device or other equipment. Various general-purpose devices can also be used with the teaching based on this. From the above description, the structure required to construct this type of device is obvious. In addition, this application is not aimed at any specific programming language. It should be understood that various programming languages can be used to implement the content of the application described herein, and the above description of a specific language is for the purpose of disclosing the best embodiment of the application.

在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本申请的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。In the instructions provided here, a lot of specific details are explained. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures, and technologies are not shown in detail, so as not to obscure the understanding of this specification.

类似地，应当理解，为了精简本申请并帮助理解各个发明方面中的一个或多个，在上面对本申请的示例性实施例的描述中，本申请的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该公开的方法解释成反映如下意图：即所要求保护的本申请要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如下面的权利要求书所反映的那样，发明方面在于少于前面公开的单个实施例的所有特征。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本申请的单独实施例。Similarly, it should be understood that, in order to simplify this application and help understand one or more of the various inventive aspects, in the above description of the exemplary embodiments of this application, the various features of this application are sometimes grouped together into a single embodiment, Figure, or its description. However, the disclosed method should not be interpreted as reflecting the intention that the claimed application requires more features than the features explicitly recorded in each claim. More precisely, as reflected in the following claims, the inventive aspect lies in less than all the features of a single embodiment disclosed previously. Therefore, the claims following the specific embodiment are thus explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the application.

本领域那些技术人员可以理解，可以对实施例中的设备中的模块进行自适应性地改变并且把它们设置在与该实施例不同的一个或多个设备中。可以把实施例中的模块或单元或组件组合成一个模块或单元或组件，以及此外可以把它们分成多个子模块或子单元或子组件。除了这样的特征和/或过程或者单元中的至少一些是相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的的替代特征来代替。Those skilled in the art can understand that it is possible to adaptively change the modules in the device in the embodiment and set them in one or more devices different from the embodiment. The modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and/or processes or units are mutually exclusive, any combination can be used to compare all the features disclosed in this specification (including the accompanying claims, abstract and drawings) and any method or methods disclosed in this manner or All the processes or units of the equipment are combined. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.

此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本申请的范围之内并且形成不同的实施例。例如，在下面的权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。In addition, those skilled in the art can understand that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments means that they are within the scope of the present application. Within and form different embodiments. For example, in the following claims, any one of the claimed embodiments can be used in any combination.

本申请的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本申请实施例的航向安装误差确定装置中的一些或者全部部件的一些或者全部功能。本申请还可以实现为用于执行这里所描述的方法的一部分或者全部的设备或者装置程序(例如，计算机程序和计算机程序产品)。这样的实现本申请的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。The various component embodiments of the present application may be implemented by hardware, or by software modules running on one or more processors, or by a combination of them. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the heading installation error determining device according to the embodiments of the present application. This application can also be implemented as a device or device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein. Such a program for realizing the present application may be stored on a computer-readable medium, or may have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

例如，图3示出了根据本申请一个实施例的电子设备的结构示意图。该电子设备300包括处理器310和被安排成存储计算机可执行指令(计算机可读程序代码)的存储器320。存储器320可以是诸如闪存、EEPROM(电可擦除可编程只读存储器)、EPROM、硬盘或者ROM之类的电子存储器。存储器320具有存储用于执行上述方法中的任何方法步骤的计算机可读程序代码331的存储空间330。例如，用于存储计算机可读程序代码的存储空间330可以包括分别用于实现上面的方法中的各种步骤的各个计算机可读程序代码331。计算机可读程序代码331可以从一个或者多个计算机程序产品中读出或者写入到这一个或者多个计算机程序产品中。这些计算机程序产品包括诸如硬盘，紧致盘(CD)、存储卡或者软盘之类的程序代码载体。这样的计算机程序产品通常为例如图4所述的计算机可读存储介质。图4示出了根据本申请一个实施例的一种计算机可读存储介质的结构示意图。该计算机可读存储介质400存储有用于执行根据本申请的方法步骤的计算机可读程序代码331，可以被电子设备300的处理器310读取，当计算机可读程序代码331由电子设备300运行时，导致该电子设备300执行上面所描述的方法中的各个步骤，具体来说，该计算机可读存储介质存储的计算机可读程序代码331可以执行上述任一实施例中示出的方法。计算机可读程序代码331可以以适当形式进行压缩。For example, FIG. 3 shows a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device 300 includes a processor 310 and a memory 320 arranged to store computer-executable instructions (computer-readable program code). The memory 320 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM. The memory 320 has a storage space 330 for storing computer-readable program codes 331 for executing any method steps in the above-mentioned methods. For example, the storage space 330 for storing computer-readable program codes may include various computer-readable program codes 331 respectively used to implement various steps in the above method. The computer-readable program code 331 may be read from or written into one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards, or floppy disks. Such a computer program product is usually, for example, a computer-readable storage medium as described in FIG. 4. Fig. 4 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present application. The computer-readable storage medium 400 stores the computer-readable program code 331 for executing the method steps according to the present application, which can be read by the processor 310 of the electronic device 300, when the computer-readable program code 331 is run by the electronic device 300 , Causing the electronic device 300 to execute each step in the method described above. Specifically, the computer readable program code 331 stored in the computer readable storage medium can execute the method shown in any of the above embodiments. The computer readable program code 331 may be compressed in an appropriate form.

应该注意的是上述实施例对本申请进行说明而不是对本申请进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本申请可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of multiple such elements. The application can be realized by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices may be embodied in the same hardware item. The use of the words first, second, and third, etc. do not indicate any order. These words can be interpreted as names.

Claims

一种航向安装误差确定方法，该方法包括：A method for determining heading installation error, the method includes:

获取驾驶设备的组合导航***在第一行驶过程中输出的航向角和航迹角，其中，所述航向角是根据所述组合导航***中的第一传感器确定的，所述航迹角是根据所述组合导航***中的第二传感器确定的，所述第一行驶过程的行驶策略为所述驾驶设备以不小于预设速度的速度进行直线行驶；Acquire the heading angle and track angle output by the integrated navigation system of the driving device during the first driving process, where the heading angle is determined according to the first sensor in the integrated navigation system, and the track angle is determined according to Determined by the second sensor in the integrated navigation system, the driving strategy of the first driving process is that the driving device drives straight at a speed not less than a preset speed;

确定所述航迹角在所述第一行驶过程中的航迹角均值以及所述航向角在所述第一行驶过程中的航向角均值；Determining the mean value of the track angle of the track angle in the first driving process and the mean value of the heading angle of the heading angle in the first driving process;

根据所述航迹角均值和所述航向角均值得到所述第一传感器的航向安装误差。The heading installation error of the first sensor is obtained according to the average value of the track angle and the average value of the heading angle.
如权利要求1所述的方法，其中，所述第二传感器为全球导航卫星***GNSS传感器，所述获取驾驶设备的组合导航***在第一行驶过程中输出的航向角和航迹角包括：The method according to claim 1, wherein the second sensor is a global navigation satellite system GNSS sensor, and the acquiring the heading angle and the track angle output by the integrated navigation system of the driving device during the first driving process comprises:

根据所述GNSS传感器采集的所述驾驶设备的地理位置信息和/或速度信息确定所述航迹角。The track angle is determined according to the geographic location information and/or speed information of the driving device collected by the GNSS sensor.
如权利要求1所述的方法，其中，所述方法还包括：The method of claim 1, wherein the method further comprises:

获取所述组合导航***在所述驾驶设备的第二行驶过程中输出的导航数据，所述第二行驶过程在所述第一行驶过程之前；Acquiring navigation data output by the integrated navigation system during a second driving process of the driving device, the second driving process being before the first driving process;

根据所述导航数据对所述组合导航***进行校准。The integrated navigation system is calibrated according to the navigation data.
如权利要求3所述的方法，其中，所述第二行驶过程的行驶策略包括如下的至少一种：The method according to claim 3, wherein the driving strategy of the second driving process includes at least one of the following:

所述驾驶设备进行直线加速行驶；The driving device performs straight acceleration driving;

所述驾驶设备进行直线减速行驶；The driving device performs straight-line deceleration driving;

所述驾驶设备进行“8”字形行驶。The driving device drives in an "8" shape.
如权利要求3所述的方法，其中，所述第一传感器为惯性测量单元IMU，所述根据所述导航数据对所述组合导航***进行校准包括：The method of claim 3, wherein the first sensor is an inertial measurement unit (IMU), and the calibrating the integrated navigation system according to the navigation data comprises:

根据所述导航数据确定所述IMU的航向误差，根据所述IMU的航向误差对所述组合导航***进行校准，直至所述IMU的航向误差收敛。The heading error of the IMU is determined according to the navigation data, and the integrated navigation system is calibrated according to the heading error of the IMU until the heading error of the IMU converges.
如权利要求5所述的方法，其中，所述根据所述导航数据确定所述IMU的航向误差包括：The method of claim 5, wherein the determining the heading error of the IMU according to the navigation data comprises:

根据卡尔曼滤波器以及所述导航数据计算出所述IMU的航向误差。The heading error of the IMU is calculated according to the Kalman filter and the navigation data.
如权利要求1-6中任一项所述的方法，其中，该方法还包括：8. The method of any one of claims 1-6, wherein the method further comprises:

利用所述航向安装误差以及所述组合导航***在所述驾驶设备的行驶过程中输出的航向角确定所述驾驶设备的航向。The heading installation error and the heading angle output by the integrated navigation system during the driving of the driving device are used to determine the heading of the driving device.
一种航向安装误差确定装置，该装置包括：A device for determining a heading installation error, the device comprising:

数据获取单元，用于获取驾驶设备的组合导航***在第一行驶过程中输出的航向角和航迹角，其中，所述航向角是根据所述组合导航***中的第一传感器确定的，所述航迹角是根据所述组合导航***中的第二传感器确定的，所述第一行驶过程的行驶策略为所述驾驶设备以不小于预设速度的速度进行直线行驶；The data acquisition unit is used to acquire the heading angle and the track angle output by the integrated navigation system of the driving device during the first driving process, wherein the heading angle is determined according to the first sensor in the integrated navigation system, so The track angle is determined according to the second sensor in the integrated navigation system, and the driving strategy of the first driving process is that the driving device travels in a straight line at a speed not less than a preset speed;

确定单元，用于确定所述航迹角在所述第一行驶过程中的航迹角均值以及所述航向角在所述第一行驶过程中的航向角均值；根据所述航迹角均值和所述航向角均值得到所述第一传感器的航向安装误差。The determining unit is configured to determine the mean value of the track angle of the track angle in the first driving process and the mean value of the heading angle of the heading angle in the first driving process; according to the mean value of the track angle and The average value of the heading angle obtains the heading installation error of the first sensor.
一种电子设备，该电子设备包括：处理器；以及被安排成存储计算机可执行指令的存储器，所述计算机可执行指令在被执行时使所述处理器执行如权利要求1-7中任一项所述的航向安装误差确定方法。An electronic device comprising: a processor; and a memory arranged to store computer-executable instructions that, when executed, cause the processor to execute any one of claims 1-7 The method for determining the heading installation error described in the item.
一种计算机可读存储介质，所述计算机可读存储介质存储一个或多个程序，所述一个或多个程序当被处理器执行时，使所述处理器实现如权利要求1-7中任一项所述的航向安装误差确定方法。A computer-readable storage medium that stores one or more programs, and when the one or more programs are executed by a processor, the processor implements any of claims 1-7 A method for determining the heading installation error described in one item.