CN115574829A - Method and device for determining vehicle trajectory - Google Patents

Abstract

The invention discloses a method and a device for determining a vehicle running track. The method includes: obtaining the speed information and vehicle attitude information of the vehicle at each moment measured by a global satellite navigation system, and obtaining the acceleration information measured by an inertial measurement unit; obtaining the vehicle coordinates The conversion relationship between the acceleration under the system and the acceleration under the inertial measurement unit coordinate system; obtain the velocity recursive relationship of the vehicle; determine the value of the first rotation parameter at each moment; determine the time to be calibrated according to the value of the first rotation parameter at each moment The angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system in the segment; determine the vehicle's driving trajectory in the time period to be calibrated according to the angular deviation. The above scheme can effectively improve the accuracy of the calibration results of the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system, reduce the error between the inertial measurement unit’s predicted direction and the vehicle’s actual track direction, and thus effectively improve the inertial measurement unit’s positioning of the vehicle precision.

Description

Method and device for determining vehicle trajectory

technical field

The invention relates to the technical field of satellite navigation, in particular to a method and a device for determining a vehicle trajectory.

Background technique

Global Navigation Satellite System (GNSS), also known as GNSS, is a space-based radio navigation and positioning system that can provide users with all-weather three-dimensional coordinates, speed and time information anywhere on the earth's surface or in near-earth space. system. Consists of one or more constellations of satellites and their augmentation systems required to support a particular mission. Inertial Measurement Unit (IMU) is a device that measures the three-axis attitude angle or angular velocity and acceleration of an object. With the development of autonomous driving technology, fusion positioning technology based on multi-sensor fusion has become an important research direction. Inertial measurement unit is usually integrated with global satellite navigation system, laser radar and machine vision positioning.

When the inertial measurement unit is actually installed, the carrier coordinate system of the inertial measurement unit cannot completely coincide with the carrier coordinate system of the vehicle, and there is a certain angular deviation between the two coordinate systems.

At present, the calibration of the angular deviation of the inertial measurement unit usually only uses the measurement data of the inertial measurement unit or the position data of the global satellite navigation system for calibration. deviation, which in turn affects the accuracy of vehicle positioning.

Contents of the invention

The invention provides a method and device for determining a vehicle track, which solves the problem of low vehicle positioning accuracy caused by the deviation between the direction predicted by the inertial measurement unit and the actual track direction of the vehicle.

To achieve the above object, the present invention adopts the following technical solutions:

In a first aspect, the present invention provides a method for determining a vehicle trajectory, the method comprising:

Acquiring the speed information and vehicle attitude information of the vehicle measured by the global satellite navigation system at each moment in the time period to be calibrated, and obtaining the acceleration information at each moment measured by the inertial measurement unit;

Acquiring a conversion relationship between the acceleration in the predetermined vehicle coordinate system and the acceleration in the inertial measurement unit coordinate system, the conversion relationship includes a first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system;

Obtaining a predetermined velocity recursion relationship of the vehicle, the velocity recursion relationship including velocity parameters at adjacent moments, vehicle attitude parameters, time interval parameters and acceleration of the vehicle in the inertial measurement unit coordinate system parameter;

According to the speed information at each time, the vehicle attitude information at each time, the acceleration information at each time, the time interval information at each time, the speed recursive relationship and the conversion relationship to determine the the value of said first rotation parameter;

determining the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within the time period to be calibrated according to the value of the first rotation parameter at each moment;

The driving trajectory of the vehicle within the time period to be calibrated is determined according to the angular deviation.

In a possible implementation, before acquiring the speed information and vehicle attitude information of the vehicle measured by the global satellite navigation system at various moments within the time period to be calibrated, the method further includes:

determining a conversion relationship between acceleration in the vehicle coordinate system and acceleration in the inertial measurement unit coordinate system based on the first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system;

The conversion relationship is: the acceleration in the vehicle coordinate system is the product of the acceleration in the inertial measurement unit coordinate system and the first rotation parameter.

In a possible implementation, before acquiring the speed information and vehicle attitude information of the vehicle measured by the global satellite navigation system at various moments within the time period to be calibrated, the method further includes:

determining a second rotation parameter between the inertial measurement unit coordinate system and the global satellite navigation system coordinate system based on the vehicle attitude parameter;

determining the velocity recursion relationship of the vehicle based on the velocity parameter at adjacent moments, the second rotation parameter, the time interval parameter and the acceleration parameter of the vehicle in the inertial measurement unit coordinate system;

The speed recursion relationship is:

The speed parameter of the vehicle at the current moment is equal to the sum of the speed parameter and the speed variation of the vehicle at the previous moment at the current moment;

The speed variation is the second rotation parameter of the vehicle at the last moment, the acceleration parameter of the vehicle at the vehicle coordinate system at the last moment, and the current and last moment The product of the time interval parameter.

In a possible implementation manner, before determining the value of the first rotation parameter at each moment, the method further includes:

Substituting the acceleration parameter in the conversion relationship into the velocity recursive relationship to obtain the velocity parameter, the first rotation parameter, the second rotation parameter, and the inertia of the vehicle at adjacent moments The acceleration parameter in the coordinate system of the measurement unit and the target velocity recursive relationship of the time interval parameter.

In a possible implementation manner, the speed information at each time, the vehicle attitude information at each time, the acceleration information at each time, the time interval information at each time, the speed delivery The push relationship and the conversion relationship determine the value of the first rotation parameter at each moment, specifically including:

For each moment in the time period to be calibrated, the acceleration information at the moment, the speed information at the moment, the speed information at the previous moment at the moment, the vehicle attitude information at the moment, and the The time interval information from the previous moment is substituted into the target speed recursive relationship to obtain the values of the first rotation parameter at each moment respectively.

In a possible implementation manner, the value of the first rotation parameter includes a pitch angle, a roll angle, and a yaw angle, and the value to be calibrated is determined according to the value of the first rotation parameter at each moment. The angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within the time period specifically includes:

Obtain the pitch angle, roll angle and heading angle at each moment;

Respectively determine the first average value of the pitch angle angle, the second average value of the roll angle angle and the third average value of the yaw angle angle at the respective time points;

The angle deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within the time period to be calibrated is determined according to the first average value, the second average value and the third average value.

In a possible implementation, before acquiring the speed information and vehicle attitude information of the vehicle measured by the global satellite navigation system at various moments within the time period to be calibrated, the method further includes:

Obtain the vehicle attitude information of the vehicle at each moment measured by the global satellite navigation system within the preset time period;

Screening out a subset of the time period in which the vehicle attitude information meets a preset condition within the preset time period, and recording it as a time period to be calibrated; the preset condition is that the variation range of the heading angle of the vehicle is less than The first preset angle, the variation range of the pitch angle is smaller than the second preset angle, and the variation range of the roll angle is smaller than the third preset angle.

In a second aspect, the present invention provides a device for determining a vehicle trajectory, the device comprising:

The first obtaining module is used to obtain the speed information and vehicle attitude information of the vehicle measured by the global satellite navigation system at various moments within the time period to be calibrated, and obtain the acceleration information at each moment measured by the inertial measurement unit;

The second acquisition module is used to acquire the conversion relationship between the acceleration in the predetermined vehicle coordinate system and the acceleration in the inertial measurement unit coordinate system; the conversion relationship includes the vehicle coordinate system and the inertial measurement unit coordinate system The first rotation parameter between;

The third acquisition module is used to acquire the predetermined speed recursive relationship of the vehicle; the speed recursive relationship includes the speed parameters at adjacent moments, the vehicle attitude parameters, the time interval parameters and the inertia of the vehicle Acceleration parameters in the coordinate system of the measurement unit;

The first determination module is configured to use the speed information at each moment, the vehicle attitude information at each moment, the acceleration information at each moment, the time interval information at each moment, the speed recurrence relationship and the The conversion relationship determines the value of the first rotation parameter at each moment;

A second determining module, configured to determine the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within the time period to be calibrated according to the value of the first rotation parameter at each moment;

A third determining module, configured to determine the driving trajectory of the vehicle within the time period to be calibrated according to the angular deviation.

In a third aspect, the present invention provides an electronic device, which is characterized in that the electronic device includes a processor and a memory, at least one instruction, at least one program, code set or instruction set are stored in the memory, and the at least one The instructions, the at least one segment of the program, the code set or the instruction set are loaded and executed by the processor to implement the vehicle trajectory determination method described in any one of the above.

In a fourth aspect, the present invention provides a computer-readable storage medium, which is characterized in that at least one instruction, at least one section of program, code set or instruction set is stored in the storage medium, and the at least one instruction, the at least one section The program, the code set or the instruction set is loaded and executed by the processor to realize the method for determining the vehicle trajectory described in any one of the above.

The method and device for determining the vehicle trajectory provided by the embodiments of the present invention will obtain the speed information and vehicle attitude information measured by the global satellite navigation system within the time period to be calibrated, the acceleration information at each moment measured by the inertial measurement unit, and the predetermined The conversion relationship between the acceleration in the vehicle coordinate system and the acceleration in the inertial measurement unit coordinate system is brought into the predetermined vehicle speed recursive relationship, and the value of the first rotation parameter at each moment is calculated; then according to each moment The angle deviation between the vehicle coordinate system and the inertial measurement unit coordinate system is obtained by calculating the value of the first rotation parameter of track; the present invention uses the speed information and vehicle attitude information in the time period to be calibrated measured by the global satellite navigation system, and the combination of the acceleration information at each moment measured by the inertial measurement unit to the coordinate system of the inertial measurement unit and the vehicle coordinate system. Calibration of the angle deviation effectively improves the accuracy of the calibration of the angle deviation between the vehicle coordinate system and the inertial measurement unit coordinate system, thereby reducing the error between the inertial measurement unit predicted direction and the vehicle’s actual track direction, and thus effectively improving the The positioning accuracy of the inertial measurement unit for the vehicle.

Description of drawings

FIG. 1 is a flow chart of the steps of the first method for determining a vehicle travel trajectory provided by an embodiment of the present invention;

FIG. 2 is a flow chart of the steps of the second method for determining the vehicle trajectory provided by the embodiment of the present invention;

Fig. 3 is a structural block diagram of a device for determining a vehicle trajectory provided by an embodiment of the present invention.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Hereinafter, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the embodiments of the present disclosure, unless otherwise specified, "plurality" means two or more. In addition, the use of "based on" or "according to" is meant to be open and inclusive, because a process, step, calculation or other action "based on" or "according to" one or more conditions or values may in practice be based on additional conditions or value exceeded.

In order to solve the problem of low vehicle positioning accuracy caused by the deviation between the direction predicted by the inertial measurement unit and the actual track direction of the vehicle, the embodiments of the present invention provide a method and device for determining a vehicle track.

In a first aspect, an embodiment of the present invention provides a method for determining a vehicle trajectory.

Fig. 1 is a method flow chart of the first method for determining a vehicle driving trajectory provided by an embodiment of the present invention.

As shown in Figure 1, in a possible implementation manner, the method for determining the vehicle trajectory includes:

Step 101. Acquire the velocity information and vehicle attitude information of the vehicle at each moment in the time period to be calibrated measured by the global satellite navigation system, and acquire the acceleration information at each moment measured by the inertial measurement unit.

Among them, the global satellite navigation system is also called the global navigation satellite system (Global Navigation Satellite System, GNSS), which is a space-based radio navigation and positioning system that can provide users with all-weather three-dimensional coordinates, speed and time information at any place on the earth's surface or in near-earth space. system.

Inertial Measurement Unit (IMU) is a device that measures the three-axis attitude angle or angular velocity and acceleration of an object.

The inertial measurement unit includes three single-axis accelerometers and three single-axis gyroscopes, and the accelerometers detect the independent three-axis acceleration information of the object in the carrier coordinate system.

The speed information is the speed measured by the global satellite navigation system at each moment of the vehicle traveling in a straight line on an open and flat road during the time period to be calibrated.

Vehicle attitude information is the rotational relationship between the inertial measurement unit coordinate system and the global satellite navigation system coordinate system.

Acceleration information is the acceleration measured by the inertial measurement unit at various moments of a vehicle traveling in a straight line on an open and flat road during the time period to be calibrated.

Step 102 , acquiring the conversion relationship between the acceleration in the predetermined vehicle coordinate system and the acceleration in the inertial measurement unit coordinate system. Wherein, the conversion relationship includes the first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system.

Among them, the vehicle coordinate system is represented by OX _b Y _b Z _b , the vehicle coordinate system is fixedly connected with the carrier, the coordinate origin is the center of the carrier, the OX _b axis is rightward along the horizontal axis of the carrier, the OY _b axis is forward along the longitudinal axis of the carrier, and OZ _b The shaft is upright along the carrier shaft.

The coordinate origin of the inertial measurement unit coordinate system is at the coordinate origin of the gyroscope and the accelerometer, and the three directions of the X axis, the Y axis and the Z axis are respectively parallel to the corresponding axes of the gyroscope and the accelerometer, and the inertial measurement unit is fixedly connected to the vehicle. When the angular deviation caused by installation is not considered, the vehicle coordinate system is the inertial measurement unit coordinate system.

The first rotation parameter is the rotation angle between the vehicle coordinate system and the IMU coordinate system, that is to say, the IMU coordinate system is the vehicle coordinate system after being rotated by the rotation angle.

The conversion relationship between the acceleration in the vehicle coordinate system and the acceleration in the inertial measurement unit coordinate system is mainly determined according to the first rotation parameter, that is to say, the acceleration in the vehicle coordinate system rotated by the rotation angle is the acceleration in the vehicle coordinate system.

Step 103, acquiring a predetermined vehicle speed recursive relationship. Among them, the speed recurrence relation includes the speed parameters at adjacent moments, the vehicle attitude parameters, the time interval parameters and the acceleration parameters of the vehicle in the inertial measurement unit coordinate system.

Wherein, the recursive relation of the speed of the vehicle is determined according to the speed parameters of the vehicle at two adjacent moments, the acceleration parameters of the vehicle and the time interval parameters between two adjacent moments. In the present invention, the speed parameters at two adjacent moments of the vehicle and the acceleration parameters of the vehicle are parameters under the global satellite navigation system coordinate system; The acceleration parameters under the system and the rotation relationship between the inertial measurement unit coordinate system and the global satellite navigation system coordinate system are determined by the vehicle attitude parameters.

Step 104: Determine the value of the first rotation parameter at each moment according to the speed information at each moment, the vehicle attitude information at each moment, the acceleration information at each moment, the time interval information at each moment, the velocity recursive relationship and the conversion relationship.

Among them, the acceleration in the vehicle carrier coordinate system in the velocity recursive relationship is replaced by the first rotation parameter in the conversion relationship and the acceleration in the inertial measurement unit coordinate system to obtain the velocity information at each moment and the vehicle attitude at each moment information, acceleration information at each moment, time interval information at each moment, and the speed recursion formula of the first rotation parameter. At this time, the speed information at each moment and the vehicle attitude information at each moment are measured by the global satellite navigation system, the time interval information at each moment can be calculated based on two adjacent moments, and the acceleration information at each moment is measured by the inertial measurement unit. Therefore, the value of the first rotation parameter at each moment can be calculated by substituting the speed information at each moment, the vehicle attitude information at each moment, the acceleration information at each moment, and the time interval information at each moment into the speed recurrence formula.

Step 105. Determine the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within the time period to be calibrated according to the value of the first rotation parameter at each moment.

Wherein, the value of the first rotation parameter at each moment is the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system at that moment.

Specifically, the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system in the time period to be calibrated may be the median, average or weighted average of the values of the first rotation parameter at each moment in the time period to be calibrated A sort of.

Step 106: Determine the vehicle's driving trajectory within the time period to be calibrated according to the angular deviation.

Specifically, firstly, the actual track direction of the vehicle is determined according to the predicted direction and angle deviation of the inertial measurement unit, and then the driving track of the vehicle is determined according to the actual track direction of the vehicle.

To sum up, in the embodiment of the present invention, according to the acquired speed information and vehicle attitude information within the time period to be calibrated measured by the global satellite navigation system, the acceleration information at each moment measured by the inertial measurement unit, and the predetermined vehicle coordinate system The conversion relationship between the acceleration of the acceleration and the acceleration under the inertial measurement unit coordinate system, and the predetermined recursive relationship of the speed of the vehicle determine the value of the first rotation parameter at each moment; after that, determine the value of the first rotation parameter according to the value of the first rotation parameter at each moment. The angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within the calibration time period; finally, the driving trajectory of the vehicle within the calibration time period is determined according to the angular deviation. In the above method, the combination of the speed information and vehicle attitude information measured by the global satellite navigation system within the time period to be calibrated, and the acceleration information at each moment measured by the inertial measurement unit is effective between the inertial measurement unit coordinate system and the vehicle coordinate system. Calibration of the angular deviation of the vehicle coordinate system effectively improves the accuracy of the calibration of the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system, thereby reducing the error between the inertial measurement unit predicted direction and the vehicle's actual trajectory direction, thereby effectively improving The positioning accuracy of the inertial measurement unit for the vehicle is improved.

Fig. 2 is a method flowchart of a second method for determining a vehicle trajectory provided by an embodiment of the present invention;

As shown in Figure 2, in another possible implementation manner, the method for determining the vehicle trajectory includes:

Step 201, based on the first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system, determine the conversion relationship between the acceleration in the vehicle coordinate system and the acceleration in the inertial measurement unit coordinate system.

Wherein, the conversion relationship is: the acceleration in the vehicle coordinate system is the product of the acceleration in the inertial measurement unit coordinate system and the first rotation parameter.

In the embodiment of the present invention, the value of the first rotation parameter includes a pitch angle, a roll angle, and a yaw angle.

Specifically, the conversion relationship is:

为惯性测量单元坐标系与车辆坐标系的第一旋转参数，a_v为车辆载体坐标系下的加速度，a_b为惯性测量单元坐标系下的加速度。Among them, k is the current moment,

is the first rotation parameter of the inertial measurement unit coordinate system and the vehicle coordinate system, a _v is the acceleration in the vehicle carrier coordinate system, and a _b is the acceleration in the inertial measurement unit coordinate system.

Step 202: Determine a second rotation parameter between the inertial measurement unit coordinate system and the global satellite navigation system coordinate system based on the vehicle attitude parameter.

Among them, the coordinate system of the global satellite navigation system is the northeast sky coordinate system, also known as the station center coordinate system, with the user's location as the coordinate origin, the X axis points to the east, the Y axis points to the north, and the Z axis points to the zenith.

Specifically, the second rotation parameter is the rotation angle between the IMU coordinate system and the GNSS coordinate system; the vehicle attitude information is the rotation relationship between the IMU coordinate system and the GNSS coordinate system. Therefore, the second rotation parameter can be determined according to the vehicle attitude parameter.

Step 203 , based on the velocity parameter, the second rotation parameter, the time interval parameter and the acceleration parameter of the vehicle in the inertial measurement unit coordinate system at adjacent moments, determine the velocity recursive relationship of the vehicle.

Among them, the velocity recurrence relation is:

The speed parameter of the vehicle at the current moment is equal to the sum of the speed parameter and the speed change of the vehicle at the previous moment at the current moment;

The speed variation is the product of the second rotation parameter of the vehicle at the previous moment, the acceleration parameter of the vehicle in the vehicle coordinate system at the previous moment, and the time interval parameter between the current moment and the previous moment.

Specifically, the velocity recurrence relationship is:

为车辆载体坐标系与全球卫星导航系统坐标系的第二旋转参数，a_v为车辆载体坐标系下的加速度，k为当前时刻，k-1为当前时刻的上一时刻，dt为当前时刻与上一时刻的时间间隔，其中dt＝t(k+1)-t(k)。Among them, V _n is the speed in the global satellite navigation system coordinate system,

is the second rotation parameter of the vehicle carrier coordinate system and the global satellite navigation system coordinate system, a _v is the acceleration in the vehicle carrier coordinate system, k is the current moment, k-1 is the previous moment of the current moment, dt is the current moment and The time interval of the previous moment, where dt=t(k+1)-t(k).

Step 204, acquiring the vehicle attitude information of the vehicle at each moment measured by the global satellite navigation system within a preset period of time.

For example, the preset time period is 10 minutes. On an open and flat road, the vehicle is controlled to walk in a straight line, and the vehicle attitude information of the vehicle at each moment measured by the global satellite navigation system is obtained within the preset time period.

Step 205 , filter out a subset of time periods in which the vehicle attitude information satisfies the preset conditions within the preset time period, and record it as a time period to be calibrated. The preset condition is that the change range of the yaw angle angle is smaller than the first preset angle, the change range of the pitch angle angle is smaller than the second preset angle, and the change range of the roll angle angle is smaller than the third preset angle within the preset length of the vehicle travel distance. set angle.

Specifically, the first preset angle may be 0.5 degrees, the second preset angle may be 0.2 degrees, and the third preset angle may be 0.2 degrees.

For example, within a distance of 300 meters, select the time period corresponding to the speed information whose variation range of the heading angle is less than 0.5 degrees, the variation range of the pitch angle is less than 0.2 degrees, and the variation range of the roll angle is less than 0.2 degrees, and Record this time period as the time period to be calibrated.

Step 206: Obtain the velocity information and vehicle attitude information of the vehicle at each moment in the time period to be calibrated measured by the global satellite navigation system, and acquire the acceleration information at each moment measured by the inertial measurement unit.

In the embodiment of the present invention, step 206 may refer to step 101, which will not be repeated here.

Step 207: Obtain the conversion relationship between the acceleration in the predetermined vehicle coordinate system and the acceleration in the inertial measurement unit coordinate system, the conversion relationship includes the first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system.

In this embodiment of the present invention, reference may be made to step 102 for step 207, which will not be repeated here.

Step 208 , obtaining a predetermined velocity recursive relationship of the vehicle, which includes velocity parameters, vehicle attitude parameters, time interval parameters and acceleration parameters of the vehicle in the inertial measurement unit coordinate system at adjacent moments.

In the embodiment of the present invention, step 208 may refer to step 103, which will not be repeated here.

Step 209: Substituting the acceleration parameters in the conversion relationship into the velocity recurrence relationship to obtain the velocity parameters, the first rotation parameters, the second rotation parameters, the acceleration parameters of the vehicle in the inertial measurement unit coordinate system, and the time interval at adjacent moments The target speed recurrence relation of the parameter.

Specifically, substituting (1) into (2), the obtained target speed recurrence relationship is:

(3) is transformed to obtain the expression formula of the first rotation parameter between the inertial measurement unit coordinate system and the vehicle coordinate system, specifically:

Step 210: For each moment within the time period to be calibrated, the acceleration information at each moment, the speed information at each moment, the speed information at the previous moment at each moment, the vehicle attitude information at each moment, and the time at each moment and the previous moment The interval information is substituted into the target speed recursive relationship to obtain the values of the first rotation parameter at each moment.

Specifically, since the speed information at the current moment and the speed information at the previous moment at the current moment can be measured by the global satellite navigation system; the vehicle carrier coordinate system at the current moment and the second rotation parameter of the global satellite navigation system coordinate system can be obtained through The attitude information measured by the global satellite navigation system is calculated; the time interval information between the current moment and the previous moment can be directly calculated; the acceleration information at the current moment can be measured by the inertial measurement unit. Therefore, the speed information at the current time, the speed information at the previous time at the current time, the second rotation parameter at the current time, the time interval information between the current time and the previous time, and the acceleration information at the current time are directly substituted into (4), Calculate the first rotation parameter at the current moment

Step 211 , acquiring the pitch angle, roll angle and heading angle at each moment.

Specifically, the right-handed system is composed of the right, front and upper directions of the vehicle, where the intersection point of the three directions is the origin, the right direction is the X axis, the forward direction is the Y axis, and the upward direction is the Z axis. The angle of rotation around the X axis is the pitch angle, the angle of rotation around the Y axis is the roll angle, and the angle of rotation around the Z axis is the heading angle.

计算k-1时刻到k时刻的俯仰角角度的变化量Δpitch、横滚角角度的变化量Δroll以及航向角角度的变化量Δyaw。According to the first rotation parameter calculated in step 210

Calculate the variation Δpitch of the pitch angle, the variation Δroll of the roll angle, and the variation Δyaw of the yaw angle from time k-1 to time k.

Step 212: Determine the first average value of the pitch angle, the second average value of the roll angle, and the third average value of the yaw angle at each moment.

Specifically, average the change amount Δpitch of the pitch angle, the change amount Δroll of the roll angle, and the change amount Δyaw of the yaw angle at each moment to obtain the average value of the change amount of the pitch angle, the roll angle The average value of the change amount and the average value of the change amount of the heading angle.

Step 213: Determine the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within the time period to be calibrated according to the first average value, the second average value and the third average value.

Specifically, according to the average value of the change amount of the pitch angle, the average value of the change amount of the roll angle and the average value of the change amount of the yaw angle angle, the first rotation parameter of the time period to be calibrated is obtained, and the first rotation parameter That is, the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system.

Step 214, determine the vehicle's driving trajectory within the time period to be calibrated according to the angular deviation.

In this embodiment of the present invention, reference may be made to step 106 for step 214, which will not be repeated here.

To sum up, in addition to the beneficial effects of the vehicle trajectory determination method in Figure 1, the vehicle trajectory determination method in Figure 2 also has the following beneficial effects:

First, through the first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system, determine the conversion relationship between the acceleration in the vehicle coordinate system and the acceleration in the inertial measurement unit coordinate system; determine the inertial measurement unit coordinate system through the vehicle attitude parameters and the second rotation parameter between the coordinate system of the global satellite navigation system; then determine the speed transfer of the vehicle through the speed parameter at adjacent moments, the second rotation parameter, the time interval parameter and the acceleration parameter of the vehicle in the inertial measurement unit coordinate system Then, the acceleration parameters in the conversion relationship are substituted into the velocity recurrence relationship to obtain the velocity parameters, the first rotation parameters, the second rotation parameters, the acceleration parameters of the vehicle in the inertial measurement unit coordinate system and the time at adjacent moments The target speed recursive relationship of the interval parameter; after that, for each moment in the calibration period, the acceleration information at each moment, the speed information at each moment, the speed information at the previous moment at each moment, the vehicle attitude information at each moment, and The time interval information between each moment and the previous moment is substituted into the target speed recursive relationship to obtain the value of the first rotation parameter; no other influencing factors other than speed information, vehicle attitude information and acceleration information are introduced in the whole process, and the operation is simple , without excessive calculation process.

Secondly, in the above method, within the time period to be calibrated, the variation range of the vehicle travel distance within the preset length is less than the first preset angle, the variation range of the pitch angle is smaller than the second preset angle, and the roll angle is smaller than the first preset angle. The change range of the angular angle is smaller than the third preset angle, which can effectively reduce the influence of other factors such as vehicle shaking and turning on the angular deviation between the calibration vehicle coordinate system and the inertial measurement unit coordinate system, and effectively improve the accuracy of the vehicle coordinate system. The accuracy of the angular deviation calibration between the inertial measurement unit coordinate system and the inertial measurement unit coordinate system reduces the error between the inertial measurement unit predicted direction and the vehicle’s actual track direction, and effectively improves the positioning accuracy of the inertial measurement unit for the vehicle.

In a second aspect, an embodiment of the present invention provides a device for determining a vehicle trajectory.

As shown in FIG. 3 , the device for determining vehicle travel trajectory provided by the present invention includes a first acquisition module 301, a second acquisition module 302, a third acquisition module 303, a first determination module 304, a second determination module 305 and a third determination module 306.

Wherein, the first obtaining module 301 is used to obtain the speed information and vehicle attitude information of the vehicle at each moment measured by the global satellite navigation system within the time period to be calibrated, and obtain the acceleration information measured by the inertial measurement unit at each moment.

The second acquiring module 302 is used to acquire the conversion relationship between the acceleration in the predetermined vehicle coordinate system and the acceleration in the inertial measurement unit coordinate system; the conversion relationship includes the first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system .

The third acquisition module 303 is used to obtain the predetermined velocity recursive relationship of the vehicle; the velocity recursive relationship includes the velocity parameters at adjacent moments, the vehicle attitude parameters, the time interval parameters and the acceleration parameters of the vehicle in the inertial measurement unit coordinate system .

The first determining module 304 is used to determine the first rotation parameter at each moment according to the speed information at each moment, the vehicle attitude information at each moment, the acceleration information at each moment, the time interval information at each moment, the speed recurrence relationship and the conversion relationship value.

The second determination module 305 is used to determine the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within the time period to be calibrated according to the value of the first rotation parameter at each moment.

The third determination module 306 is used to determine the driving trajectory of the vehicle within the time period to be calibrated according to the angular deviation.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In a third aspect, an embodiment of the present invention provides an electronic device, the electronic device includes a processor and a memory, at least one instruction, at least one section of program, code set or instruction set are stored in the memory, and the at least one instruction , the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the method for determining the vehicle driving trajectory described in the embodiment of the present invention.

In the fourth aspect, the embodiment of the present invention also provides a computer-readable storage medium, in which at least one instruction, at least one section of program, code set or instruction set is stored, and the at least one instruction, the at least one section The program, the code set or the instruction set is loaded and executed by the processor to realize the method for determining the vehicle driving trajectory described in the embodiment of the present invention.

In the above embodiments, all or part of them may be implemented by software, hardware, firmware or any combination thereof. When implemented using software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present invention will be generated in whole or in part. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website, computer, server or data center Transmission to another website site, computer, server, or data center by wired (eg, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (eg, infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center integrated with one or more available media. The available medium may be a magnetic medium (such as a floppy disk, a hard disk, or a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a Solid State Disk (SSD)).

The above are only specific implementations of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or replacements within the technical scope disclosed in the present invention shall be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (10)

1. A method for determining vehicle travel trajectory, characterized in that the method comprises: Acquiring the speed information and vehicle attitude information of the vehicle measured by the global satellite navigation system at each moment in the time period to be calibrated, and obtaining the acceleration information at each moment measured by the inertial measurement unit; Acquiring a conversion relationship between the acceleration in the predetermined vehicle coordinate system and the acceleration in the inertial measurement unit coordinate system, the conversion relationship includes a first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system; Obtaining a predetermined velocity recursion relationship of the vehicle, the velocity recursion relationship including velocity parameters at adjacent moments, vehicle attitude parameters, time interval parameters and acceleration of the vehicle in the inertial measurement unit coordinate system parameter; According to the speed information at each time, the vehicle attitude information at each time, the acceleration information at each time, the time interval information at each time, the speed recursive relationship and the conversion relationship to determine the the value of said first rotation parameter; determining the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within the time period to be calibrated according to the value of the first rotation parameter at each moment; The driving trajectory of the vehicle within the time period to be calibrated is determined according to the angular deviation. 2. The method according to claim 1, characterized in that, before obtaining the vehicle measured by the global satellite navigation system at each moment's speed information and vehicle attitude information in the time period to be calibrated, the method also includes: determining a conversion relationship between acceleration in the vehicle coordinate system and acceleration in the inertial measurement unit coordinate system based on the first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system; The conversion relationship is: the acceleration in the vehicle coordinate system is the product of the acceleration in the inertial measurement unit coordinate system and the first rotation parameter. 3. The method according to claim 2, characterized in that, before obtaining the vehicle measured by the global satellite navigation system at each moment's speed information and vehicle attitude information in the time period to be calibrated, the method also includes: determining a second rotation parameter between the inertial measurement unit coordinate system and the global satellite navigation system coordinate system based on the vehicle attitude parameter; determining the velocity recursion relationship of the vehicle based on the velocity parameter at adjacent moments, the second rotation parameter, the time interval parameter and the acceleration parameter of the vehicle in the inertial measurement unit coordinate system; The speed recursion relationship is: The speed parameter of the vehicle at the current moment is equal to the sum of the speed parameter and the speed variation of the vehicle at the previous moment at the current moment; The speed variation is the second rotation parameter of the vehicle at the last moment, the acceleration parameter of the vehicle at the vehicle coordinate system at the last moment, and the current and last moment The product of the time interval parameter. 4. The method according to claim 3, wherein, before determining the value of the first rotation parameter at each moment, the method further comprises: Substituting the acceleration parameter in the conversion relationship into the velocity recursive relationship to obtain the velocity parameter, the first rotation parameter, the second rotation parameter, and the inertia of the vehicle at adjacent moments The acceleration parameter in the coordinate system of the measurement unit and the target velocity recursive relationship of the time interval parameter. 5. The method according to claim 4, characterized in that, according to the speed information at each moment, the vehicle attitude information at each moment, the acceleration information at each moment, and the time interval at each moment Information, the speed recursion relationship and the conversion relationship determine the value of the first rotation parameter at each moment, specifically including: For each moment in the time period to be calibrated, the acceleration information at the moment, the speed information at the moment, the speed information at the previous moment at the moment, the vehicle attitude information at the moment, and the The time interval information from the previous moment is substituted into the target speed recursive relationship to obtain the values of the first rotation parameter at each moment respectively. 6. The method according to claim 1, wherein the value of the first rotation parameter comprises a pitch angle, a roll angle, and a heading angle, and the value of the first rotation parameter according to each moment is The value determines the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within the time period to be calibrated, specifically including: Obtain the pitch angle, roll angle and heading angle at each moment; Respectively determine the first average value of the pitch angle angle, the second average value of the roll angle angle and the third average value of the yaw angle angle at the respective time points; The angle deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within the time period to be calibrated is determined according to the first average value, the second average value and the third average value. 7. The method according to claim 6, wherein, before acquiring the vehicle measured by the global satellite navigation system at each moment's speed information and vehicle attitude information in the time period to be calibrated, the method also includes: Obtain the vehicle attitude information of the vehicle at each moment measured by the global satellite navigation system within the preset time period; Screening out a subset of the time period in which the vehicle attitude information meets a preset condition within the preset time period, and recording it as a time period to be calibrated; the preset condition is that the variation range of the heading angle of the vehicle is less than The first preset angle, the variation range of the pitch angle is smaller than the second preset angle, and the variation range of the roll angle is smaller than the third preset angle. 8. A vehicle travel trajectory determination device, characterized in that the device comprises: The first obtaining module is used to obtain the speed information and vehicle attitude information of the vehicle measured by the global satellite navigation system at various moments within the time period to be calibrated, and obtain the acceleration information at each moment measured by the inertial measurement unit; The second acquisition module is used to acquire the conversion relationship between the acceleration in the predetermined vehicle coordinate system and the acceleration in the inertial measurement unit coordinate system; the conversion relationship includes the vehicle coordinate system and the inertial measurement unit coordinate system The first rotation parameter between; The third acquisition module is used to acquire the predetermined speed recursive relationship of the vehicle; the speed recursive relationship includes the speed parameters at adjacent moments, the vehicle attitude parameters, the time interval parameters and the inertia of the vehicle Acceleration parameters in the coordinate system of the measurement unit; The first determination module is configured to use the speed information at each moment, the vehicle attitude information at each moment, the acceleration information at each moment, the time interval information at each moment, the speed recurrence relationship and the The conversion relationship determines the value of the first rotation parameter at each moment; A second determining module, configured to determine the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within the time period to be calibrated according to the value of the first rotation parameter at each moment; A third determining module, configured to determine the driving trajectory of the vehicle within the time period to be calibrated according to the angular deviation. 9. An electronic device, characterized in that the electronic device includes a processor and a memory, at least one instruction, at least one section of program, code set or instruction set are stored in the memory, the at least one instruction, the at least A section of program, said code set or instruction set is loaded and executed by said processor to realize the method for determining vehicle driving trajectory according to any one of claims 1-7. 10. A computer-readable storage medium, characterized in that at least one instruction, at least one section of program, code set or instruction set is stored in said storage medium, said at least one instruction, said at least one section of program, said code The set or instruction set is loaded and executed by the processor to realize the method for determining the vehicle trajectory according to any one of claims 1-7.

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