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WO2019004538A1 - Procédé d'étalonnage de capteur inertiel - Google Patents

Procédé d'étalonnage de capteur inertiel Download PDF

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Publication number
WO2019004538A1
WO2019004538A1 PCT/KR2017/015458 KR2017015458W WO2019004538A1 WO 2019004538 A1 WO2019004538 A1 WO 2019004538A1 KR 2017015458 W KR2017015458 W KR 2017015458W WO 2019004538 A1 WO2019004538 A1 WO 2019004538A1
Authority
WO
WIPO (PCT)
Prior art keywords
angle
rotation
vehicle
gyro sensor
accumulated
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2017/015458
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English (en)
Korean (ko)
Inventor
박상연
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hyundai AutoEver Corp
Original Assignee
Hyundai Mnsoft Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hyundai Mnsoft Inc filed Critical Hyundai Mnsoft Inc
Publication of WO2019004538A1 publication Critical patent/WO2019004538A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Definitions

  • the present invention relates to a method of calibrating an inertial sensor, and more particularly, to a method of calibrating a scale factor of an inertial sensor even in a shaded area in which a GNSS signal is not received,
  • the present invention relates to a method for accurately estimating dead reckoning (DR) by calculating a scale factor of an inertial sensor using an indoor map of a map.
  • DR dead reckoning
  • a navigation system using a Global Navigation Satellite System (GNSS) signal is widely used.
  • GNSS Global Navigation Satellite System
  • this navigation system does not know the position information when the GNSS signal is not received, a navigation system that uses the inertial sensor or the inertial sensor and the GNSS together to obtain the position information of the vehicle has been developed.
  • This navigation system can estimate the position of a moving object by using an inertial sensor based on a MEMS (Microelectromechanical Systems) called an Inertial Measurement Unit (IMU).
  • IMU Inertial Measurement Unit
  • the position information of the moving object is obtained using a predetermined navigation calculation algorithm.
  • the position information can be obtained by integrating inertia data (e.g., acceleration, angular velocity, etc.) obtained in the IMU.
  • the inertial navigation system uses a navigation algorithm to calculate the information of the attitude, speed, and position of the vehicle.
  • the navigation calculation algorithm is based on an output from the inertial measurement unit (IMU) of the body frame Sensor output value is used.
  • the assumption is that the coordinate system of the inertial measurement unit (IMU), which consists of a three-axis accelerometer and a three-axis gyro, should be mounted exactly in line with the vehicle's body frame.
  • IMU inertial measurement unit
  • the navigation system 100 using the sensor frame calibration may further include a GPS module 140.
  • the navigation calculation module 130 may be an inertial navigation system that calculates positional information of a moving object using only the inertial data output from the IMU 110.
  • the GPS module 140 may include a navigation system 100 using sensor frame calibration, It may be a navigation system that calculates the position information of the moving object by using the inertia data output from the IMU 110 and the GPS information output from the GPS module 140.
  • such a conventional technique includes both the acceleration sensor 111 and the gyro sensor 112 when only the inertial data output from the IMU is used, and in the case of including the GPS module that receives the GPS information from the satellite, And GPS information received from the GPS module to perform calibration.
  • an acceleration sensor should be additionally provided, If the GPS module is included, there is a problem that the inertial sensor can not be calibrated.
  • the position error of the vehicle caused by the inertial sensor corresponds to a position error that is negligible when the driver directly drives the vehicle.
  • the position error causes a serious situation .
  • An object of the present invention is to provide a method of calibrating an inertial sensor, comprising: determining whether a vehicle has an indoor map when entering a GNSS shaded area; Determining reference data to be compared with the rotation angle of the gyro sensor and storing an azimuth angle of the shaded area entry point when the vehicle does not have the indoor map; Accumulating rotational angles obtained by integrating angular velocity values of the gyro sensor according to running of the vehicle; Determining whether a rotation angle of the gyro sensor is greater than or equal to a critical angle, and storing an azimuth angle of the shaded region entry point if the angle is greater than a critical angle; Calculating a difference between an azimuth angle of the entry point and an azimuth angle of the entry point; Converting the accumulated rotation angle of the gyro sensor to a 360 degree reference; Calculating a scale factor error by dividing a difference value between the azimuth of the entry point and the azimuth of
  • the present invention has the effect of enabling precise DR positioning by correcting the scale factor of the gyro sensor by using an ingress / egress link, GNSS data, or indoor map when there is rotation in the trajectory of the vehicle in the reception shadow area of the GNSS data have.
  • FIG. 1 is a schematic configuration diagram of a navigation system using frame calibration according to a conventional technique
  • the present invention includes a GNSS receiver, a gyro sensor, an outdoor precision leader, an indoor precision leader, a DR processor, and a vehicle position output unit.
  • the GNSS receiver receives the GNSS satellite signal, measures the reliability of the calculated azimuth information, and transmits the calculated azimuth information to the DR processor when the reliability is higher than the threshold reliability, and the gyro sensor transmits the angular velocity of the gyro sensor to the DR fusion processor.
  • the outdoor precision leadership determines whether there is an entry / exit link at the time of entering the shade section, and when it is held, the azimuth angle of the entry / exit link is transmitted to the DR processing section.
  • the driving vehicle enters the shade section, And if the interior precision map is held, calculates the cumulative sag of the map according to the driving trajectory while the vehicle is traveling inside the building (shaded area), and transfers the accumulated sag angle to the DR processing unit.
  • the outdoor precision leader and the indoor precision leader are examples, and the outdoor leader and the indoor leader may be constructed instead of the precision map.
  • the DR processor receives the entrance / exit heading angle or the indoor map cumulative rotation angle from the outdoor precision leader, the indoor precision leader, and the GNSS receiver when entering the shade section, compares the value with the rotation angle calculated from the accumulated gyro sensor angular velocity, Calculates a factor, and calculates a precise position.
  • the vehicle position output unit receives the precise position from the DR processing unit and outputs the precise position to a screen or the like.
  • Figure 3 shows a flow chart for inertial sensor calibration according to the present invention.
  • the inertial sensor calibration method of the present invention determines whether a vehicle has an indoor map when it enters a shaded area of a GNSS (S101) (S102).
  • the reference data to be compared with the rotation angle of the gyro sensor is determined and the azimuth of the shadow area entry point (start) is stored (S103).
  • the rotation angle obtained by integrating the angular velocity values of the gyro sensor due to the running of the vehicle is accumulated (SIGMA PS) (S104), and it is determined whether the rotation angle of the accumulated gyro sensor is equal to or greater than the critical angle (S105)
  • SIGMA PS critical angle
  • S105 Stores the azimuth angle of the entry point (end), and calculates the difference? H between the azimuth of the entry point and the azimuth of the entry point (S106 and S107).
  • the rotation angle? Of the gyro sensor is converted to 360 degrees (??) (S108).
  • the conversion to the 360 degree reference is 40 degrees when the accumulated angle is 400 degrees, 600 degrees when the accumulated angle is 400 degrees To 240 degrees.
  • the scale factor error is calculated by dividing the difference (? H) between the azimuth of the entry point and the azimuth of the entry point by the rotation angle ?? of the gyro sensor (S108) ),
  • the gyro sensor is calibrated by the calcu- lated factor of the kale factor (S116).
  • the angular velocity value of the gyro sensor due to the running of the vehicle from the time when the vehicle enters the turning point (S110) to the time when the turning point advances (S114) (S111). Then, the turning radius at which the turning has occurred in the running locus of the vehicle is calculated, and the turning radius is compared with the critical turning radius. The cumulative rotation angle is compared with the critical angle and the rotation angle [Sigma] [phi] on the indoor map accumulated only when the rotation angle is smaller than the critical rotation radius and the accumulated rotation angle is larger than the critical angle (S112 and S113) And the gyro sensor is calibrated by the calculated scale factor error (S116).
  • the entrance of the rotation section and the advancement of the rotation section are determined using the link linearity of the indoor map, and the entry of the rotation section is performed at a point 180 where the previous dynamic characteristic of the indoor map is straight and the interpolation point angle of the link is bent (180 degrees) at which the previous dynamic characteristic of the indoor map is rotated and the interpolation point angle of the link is changed to the straight line based on the vehicle position, Hold) is judged to advance into the rotation section.
  • the turning radius is divided into the rotation of the spiral rotation section, which is equal to or greater than the pitch threshold of the vehicle, and the rotation of the parking space, which is equal to or less than the pitch threshold value.
  • This division is divided into a spiral rotation section (uphill or downhill) and a parking section (flat section).
  • the spiral rotation section has a large amount of rotation, so that the scale factor can be accurately calculated. However, It is distinguished because an error may occur because the distance is lengthened.
  • the pitch value of the vehicle which is a body calculated by the values of the acceleration sensor and the gyro sensor, it is determined to be the spiral rotation section. If the pitch value is less than the threshold value, , It is determined whether or not the cumulative shedding angle is greater than the critical angle only when the running distance is less than the threshold or when the running time is less than or equal to the threshold time.
  • FIG. 4 is a detailed flowchart for entering azimuth angle determination according to the present invention, which is a concrete embodiment of 'reference data determination and entry azimuth storage step (S103)' of FIG. As shown in Fig. 4, the reference data is determined differently depending on whether an entry / exit link exists (S117).
  • the reference data is stored as the entry azimuth of the entry link (S118).
  • the reference data is stored with the azimuth based on the incoming GNSS data by the GNSS data as the entry azimuth (S120) when the GNSS data is above the threshold reliability (S119) .

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Navigation (AREA)

Abstract

La présente invention concerne un procédé d'étalonnage de capteur inertiel et, plus particulièrement, un procédé qui permet un positionnement de point estimé simple (PES) précis par calcul d'un facteur d'échelle d'un capteur inertiel à l'aide d'une carte intérieure d'une carte haute définition, d'une liaison d'entrée/de sortie de données de carte, ou d'informations de cap GNSS au moment de l'entrée ou de la sortie d'un parc de stationnement d'un bâtiment comprenant une piste de virage, afin d'étalonner un facteur d'échelle d'un capteur inertiel même dans une région ombrée dans laquelle un signal GNSS n'est pas reçu.
PCT/KR2017/015458 2017-06-30 2017-12-26 Procédé d'étalonnage de capteur inertiel Ceased WO2019004538A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2017-0083915 2017-06-30
KR1020170083915A KR102371985B1 (ko) 2017-06-30 2017-06-30 관성센서 캘리브레이션 방법

Publications (1)

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WO2019004538A1 true WO2019004538A1 (fr) 2019-01-03

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WO (1) WO2019004538A1 (fr)

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CN110455312A (zh) * 2019-08-08 2019-11-15 中国科学院长春光学精密机械与物理研究所 一种陀螺安装误差标校系统及其标校方法
CN111272194A (zh) * 2020-02-19 2020-06-12 北京大椽科技有限公司 一种拖挂车上陀螺仪校准方法
CN111366161A (zh) * 2020-05-29 2020-07-03 北京晶众智慧交通科技股份有限公司 车辆定位方法及电子设备
CN113514057A (zh) * 2021-04-20 2021-10-19 公安部道路交通安全研究中心 一种警务定位设备、方法及系统
CN114731367A (zh) * 2019-10-18 2022-07-08 阿内洛光电子公司 为自主地面和空中载具优化的集成光子光学陀螺仪

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CN110411481B (zh) * 2019-09-02 2021-07-27 杭州电子科技大学 陀螺仪不正交误差的校准方法及校准系统
KR20220167817A (ko) 2021-06-14 2022-12-22 (주)아센코리아 Imu 센서 융합형 위성항법신호 처리 장치

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CN114731367A (zh) * 2019-10-18 2022-07-08 阿内洛光电子公司 为自主地面和空中载具优化的集成光子光学陀螺仪
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CN111366161A (zh) * 2020-05-29 2020-07-03 北京晶众智慧交通科技股份有限公司 车辆定位方法及电子设备
CN111366161B (zh) * 2020-05-29 2020-11-24 北京晶众智慧交通科技股份有限公司 车辆定位方法及电子设备
CN113514057A (zh) * 2021-04-20 2021-10-19 公安部道路交通安全研究中心 一种警务定位设备、方法及系统
CN113514057B (zh) * 2021-04-20 2024-06-04 公安部道路交通安全研究中心 一种警务定位设备、方法及系统

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KR20190003265A (ko) 2019-01-09
KR102371985B1 (ko) 2022-03-07

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