1. A vehicle-mounted integrated navigation product installation angle calibration method is characterized by comprising the following steps:

continuously collecting output data of the vehicle-mounted integrated navigation product in the vehicle running process;

according to the vehicle position data output by the vehicle-mounted integrated navigation product, calculating the running track (S) of the vehicle in the vehicle body coordinate system_xk,S_yk,S_zk)；S_xk，S_yk，S_zkThe components of the running track in three directions in the vehicle body coordinate system are respectively;

to S_xkJudging whether the threshold value is exceeded or not, and if so, judging whether the threshold value exceeds the set threshold value_xkIf the vehicle speed exceeds the set threshold value, calculating the installation angle of the combined navigation product relative to the vehicle body according to the running track;

and calibrating the combined navigation product according to the installation angle.

2. The method for calibrating the installation angle of a vehicle-mounted integrated navigation product according to claim 1, wherein the step of calculating the driving track of the vehicle in the body coordinate system according to the vehicle position data output by the vehicle-mounted integrated navigation product specifically comprises:

setting the vehicle body coordinate system;

setting a local northeast coordinate system;

calculating a rotation matrix from the local northeast coordinate system to the vehicle body coordinate system according to vehicle body attitude data output by the vehicle-mounted integrated navigation product

Acquiring first position data output by the vehicle-mounted integrated navigation product at the moment of k-1; the first position data is first position data (lon)_k-1,lat_k-1,h_k-1) (ii) a The lon_k-1The lat is longitude data of the vehicle body at the time of k-1_k-1Is latitude data of the vehicle body at the moment of k-1, the h_k-1Ellipsoid height data of the car body at the moment k-1 are obtained;

acquiring second position data output by the vehicle-mounted integrated navigation product at the moment k; the second position data is first position data (lon)_k,lat_k,h_k) (ii) a The lon_kThe lat is longitude data of the vehicle body at the time k_kThe latitude data of the vehicle body at the moment k, the h_kEllipsoid height data of the vehicle body at the time k;

based on the first position data and the locationThe second position data, calculating the projection (X) of the displacement of the vehicle body in the local northeast coordinate system in the time period from k-1 to k_k ¹,Y_k ¹,Z_k ¹)；

According to the rotation matrixAnd the projection (X)_k ¹,Y_k ¹,Z_k ¹) Calculating the projection (X) of the displacement of the vehicle body in the time interval from k-1 to k in the vehicle body coordinate system_k,Y_k,Z_k)，

According to projection (X)_k,Y_k,Z_k) Calculating the traveling locus (S) of a vehicle body in the vehicle body coordinate system in a period of 0 to k_xk,S_yk,S_zk),

3. The method for calibrating the installation angle of the vehicle-mounted integrated navigation product according to claim 2, wherein the setting the vehicle body coordinate system specifically comprises:

the center of a rear axle of the vehicle body is taken as an original point O, the direction from the original point O to the vehicle head is taken as an O-X axis, the direction from the original point O to the left side of the vehicle body is taken as an O-Y axis, and the direction forming a right-hand coordinate system with the O-X axis and the O-Y axis is taken as an O-Z axis.

4. The method for calibrating the installation angle of the vehicle-mounted integrated navigation product according to claim 3, wherein the setting of the local northeast coordinate system specifically comprises:

using the center of the rear axle of the vehicle body as an origin O₁At the origin O₁Starting in the east-righting direction of the local area as O₁-X₁Axis with the origin O₁Starting to point to the local true north direction O₁-Y₁Shaft with said O₁-X₁And said O₁-Y₁The direction constituting the right-hand coordinate system is O₁-Z₁A shaft.

5. The vehicle-mounted integrated navigation product installation angle calibration method according to claim 4, wherein the rotation matrix from the local northeast coordinate system to the vehicle body coordinate system is calculated according to vehicle body attitude data output by the vehicle-mounted integrated navigation productThe method specifically comprises the following steps:

the yaw is the course angle of the vehicle body attitude data, specifically the O-X axis is at O₁X₁Y₁Projection of a plane with said O₁-X₁The included angle of the shaft is positive anticlockwise; the pitch is the pitch angle of the vehicle body attitude data, specifically O₁-X₁The projection of the axis on the OXZ plane forms an included angle with the O-X axis which is on the O plane₁-X₁The lower part of the shaft is positive; the roll is a roll angle of the vehicle body attitude data, specifically, the OXZ plane and O₁X₁Z₁The included angle of the plane is positive clockwise.

6. The vehicle-mounted integrated navigation product installation angle calibration method according to claim 2, wherein the projection (X) of the displacement of the vehicle body in the local northeast coordinate system in the period from k-1 to k is calculated according to the first position data and the second position data_k ¹,Y_k ¹,Z_k ¹) The method specifically comprises the following steps:

wherein Re is the earth radius.

7. The method for calibrating the installation angle of the vehicle-mounted integrated navigation product according to claim 1, wherein the calculating of the installation angle of the integrated navigation product relative to the vehicle body specifically comprises:

and the delta yaw is a yaw direction installation angle, and the delta pitch is a pitch installation angle.

8. The vehicle-mounted integrated navigation product installation angle calibration method according to claim 1,

the set threshold is further 200 meters.

9. An electronic device, comprising: a memory, a processor, and a transceiver;

the processor is used for being coupled with the memory, reading and executing the instructions in the memory to realize the method steps of any one of claims 1 to 8;

the transceiver is coupled to the processor, and the processor controls the transceiver to transmit and receive messages.

10. A computer-readable storage medium having stored thereon computer instructions which, when executed by a computer, cause the computer to perform the method of any of claims 1-8.

Background

Before the vehicle-mounted integrated navigation product works normally, the installation angle of the product relative to a vehicle body needs to be calibrated. The existing technical scheme is that the output of a vehicle-mounted wheel speed meter is utilized to carry out dead reckoning; then, calculating a difference value between the position of the vehicle body obtained by the dead reckoning and the position output by a Global Navigation Satellite System (GNSS), so as to obtain position errors of the dead reckoning in three directions; according to the three position errors, the installation angle of the integrated navigation product relative to the vehicle body can be estimated by using a Kalman filtering technology. The operation of the existing calibration method is more complex: the requirements on the running route of the vehicle body are strict, the running speed is limited to a certain extent, the information of the vehicle-mounted wheel speed meter is required, and the convergence of the filter is ensured by collecting data for a long time.

Disclosure of Invention

The invention aims to provide a method for calibrating a mounting angle of a vehicle-mounted integrated navigation product, electronic equipment and a computer-readable storage medium, aiming at the defects of the prior art, and the mounting angle of the integrated navigation product relative to a vehicle body can be calibrated only by utilizing the output information of the integrated navigation product. The method does not need any information of other vehicle-mounted sensors, does not have strict limitation on the running track and the running speed of the vehicle body, does not need to relate to a Kalman filter technology, and has better universality and higher calibration efficiency.

In order to achieve the above object, a first aspect of the embodiments of the present invention provides a method for calibrating an installation angle of a vehicle-mounted integrated navigation product, where the method includes:

continuously collecting output data of the vehicle-mounted integrated navigation product in the vehicle running process;

according to the vehicle position data output by the vehicle-mounted integrated navigation product, calculating the running track (S) of the vehicle in the vehicle body coordinate system_xk,S_yk,S_zk)；S_xk，S_yk，S_zkThe components of the running track in three directions in the vehicle body coordinate system are respectively;

to S_xkJudging whether the threshold value is exceeded or not, and if so, judging whether the threshold value exceeds the set threshold value_xkIf the vehicle speed exceeds the set threshold value, calculating the installation angle of the combined navigation product relative to the vehicle body according to the running track;

and calibrating the combined navigation product according to the installation angle.

Preferably, the calculating a driving track of the vehicle in the vehicle body coordinate system according to the vehicle position data output by the vehicle-mounted integrated navigation product specifically includes:

setting the vehicle body coordinate system;

setting a local northeast coordinate system;

calculating a rotation matrix from the local northeast coordinate system to the vehicle body coordinate system according to vehicle body attitude data output by the vehicle-mounted integrated navigation product

Acquiring first position data output by the vehicle-mounted integrated navigation product at the moment of k-1; the first position data is first position data (lon)_k-1,lat_k-1,h_k-1) (ii) a The lon_k-1The lat is longitude data of the vehicle body at the time of k-1_k-1Is latitude data of the vehicle body at the moment of k-1, the h_k-1Ellipsoid height data of the car body at the moment k-1 are obtained;

acquiring second position data output by the vehicle-mounted integrated navigation product at the moment k; the second position data is first position data (lon)_k,lat_k,h_k) (ii) a The lon_kThe lat is longitude data of the vehicle body at the time k_kThe latitude data of the vehicle body at the moment k, the h_kEllipsoid height data of the vehicle body at the time k;

calculating the displacement of the vehicle body in the period from k-1 to k according to the first position data and the second position dataProjection (X) in the local northeast coordinate system_k ¹,Y_k ¹,Z_k ¹)；

According to the rotation matrixAnd the projection (X)_k ¹,Y_k ¹,Z_k ¹) Calculating the projection (X) of the displacement of the vehicle body in the time interval from k-1 to k in the vehicle body coordinate system_k,Y_k,Z_k)，

According to projection (X)_k,Y_k,Z_k) Calculating the traveling locus (S) of a vehicle body in the vehicle body coordinate system in a period of 0 to k_xk,S_yk,S_zk),

Further, setting the vehicle body coordinate system specifically includes:

the center of a rear axle of the vehicle body is taken as an original point O, the direction from the original point O to the vehicle head is taken as an O-X axis, the direction from the original point O to the left side of the vehicle body is taken as an O-Y axis, and the direction forming a right-hand coordinate system with the O-X axis and the O-Y axis is taken as an O-Z axis.

Further, the setting of the local northeast coordinate system specifically includes:

using the center of the rear axle of the vehicle body as an origin O₁At the origin O₁Starting in the east-righting direction of the local area as O₁-X₁Axis with the origin O₁Starting to point to the local true north direction O₁-Y₁Shaft with said O₁-X₁And said O₁-Y₁The direction constituting the right-hand coordinate system is O₁-Z₁A shaft.

Further, according to the vehicle body attitude data output by the vehicle-mounted integrated navigation product, the rotation from the local northeast coordinate system to the vehicle body coordinate system is calculatedRotating matrixThe method specifically comprises the following steps:

the yaw is the course angle of the vehicle body attitude data, specifically the O-X axis is at O₁X₁Y₁Projection of a plane with said O₁-X₁The included angle of the shaft is positive anticlockwise; the pitch is the pitch angle of the vehicle body attitude data, specifically O₁-X₁The projection of the axis on the OXZ plane forms an included angle with the O-X axis which is on the O plane₁-X₁The lower part of the shaft is positive; the roll is a roll angle of the vehicle body attitude data, specifically, the OXZ plane and O₁X₁Z₁The included angle of the plane is positive clockwise.

Further, the projection (X) of the displacement of the vehicle body in the time period from k-1 to k in the local northeast coordinate system is calculated according to the first position data and the second position data_k ¹,Y_k ¹,Z_k ¹) The method specifically comprises the following steps:

wherein Re is the earth radius.

Preferably, the calculating of the installation angle of the integrated navigation product relative to the vehicle body specifically includes:

and the delta yaw is a yaw direction installation angle, and the delta pitch is a pitch installation angle.

Preferably, the set threshold is further 200 meters.

The embodiment of the invention provides a method for calibrating a mounting angle of a vehicle-mounted integrated navigation product, electronic equipment and a computer readable storage medium, which can calibrate the mounting angle of the integrated navigation product relative to a vehicle body only by utilizing the output information of the integrated navigation product. The method does not need any information of other vehicle-mounted sensors, does not have strict limitation on the running track and the running speed of the vehicle body, does not need to relate to a Kalman filter technology, and has better universality and higher calibration efficiency.

Drawings

Fig. 1 is a schematic view illustrating a method for calibrating an installation angle of a vehicle-mounted integrated navigation product according to a first embodiment of the present invention;

fig. 2 is a schematic structural diagram of an electronic device according to a second embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

An embodiment of the present invention provides a method for calibrating a mounting angle of a vehicle-mounted integrated navigation product, as shown in fig. 1, which is a schematic diagram of the method for calibrating the mounting angle of the vehicle-mounted integrated navigation product provided in the embodiment of the present invention, the method mainly includes the following steps:

step 1, continuously collecting output data of the vehicle-mounted integrated navigation product in the vehicle running process.

Step 2, calculating the running track of the vehicle in the vehicle body coordinate system according to the vehicle position data output by the vehicle-mounted integrated navigation product (S)_xk,S_yk,S_zk)；

Wherein S is_xk，S_yk，S_zkRespectively representing components of a running track in three directions in a vehicle body coordinate system;

the method specifically comprises the following steps: step 21, setting a vehicle body coordinate system;

the method specifically comprises the following steps: taking the center of a rear axle of the vehicle body as an original point O, taking the original point O to the direction of the vehicle head as an O-X axis, taking the original point O to the left side of the vehicle body as an O-Y axis, and taking the direction of a right-hand coordinate system formed by the original point O, the O-X axis and the O-Y axis as an O-Z axis;

here, the body coordinate system is a special dynamic coordinate system used to describe the motion of the vehicle; the origin of the system is coincident with the center of the rear axle, when the vehicle is in a static state on a horizontal road surface, the O-X axis is parallel to the ground and points to the front of the vehicle, the O-Z axis points to the upper part through the mass center of the vehicle, and the O-Y axis points to the left side of a driver;

step 22, setting a local northeast coordinate system;

the method specifically comprises the following steps: using the center of the rear axle of the vehicle body as the origin O₁At the origin O₁Starting in the east-righting direction of the local area as O₁-X₁Axis of origin O₁Starting to point to the local true north direction O₁-Y₁Shaft, with O₁-X₁And O₁-Y₁The direction constituting the right-hand coordinate system is O₁-Z₁A shaft;

here, the local northeast coordinate system enu (local Cartesian coordinates system) is also called a station center coordinate system, a station coordinate system; the method is mainly used for knowing the motion law of other objects taking an observer as the center;

step 23, calculating a rotation matrix from a local northeast coordinate system to a vehicle body coordinate system according to vehicle body attitude data output by the vehicle-mounted integrated navigation product

The method specifically comprises the following steps:

wherein, yaw is the course angle of the vehicle body attitude data, specifically, the O-X axis is at O₁X₁Y₁Projection of plane and O₁-X₁The included angle of the shaft is positive anticlockwise; pitch angle of vehicle attitude data, specifically O₁-X₁The projection of the axis in the plane OXZ forms an angle with the O-X axis, which is at O₁-X₁The lower part of the shaft is positive; roll is the roll angle of the vehicle body attitude data, specifically the OXZ plane and O₁X₁Z₁The included angle of the plane is positive clockwise;

step 24, acquiring first position data output by the vehicle-mounted integrated navigation product at the moment k-1; the first position data is first position data (lon)_k-1,lat_k-1,h_k-1)；

Wherein, lon_k-1Lat is longitude data of the vehicle body at the time of k-1_k-1Is latitude data of the vehicle body at the moment of k-1, h_k-1Ellipsoid height data of the car body at the moment k-1 are obtained;

step 25, acquiring second position data output by the vehicle-mounted integrated navigation product at the moment k; the second position data is the first position data (lon)_k,lat_k,h_k)；

Wherein, lon_kLongitude data of the vehicle body at time k, lat_kIs latitude data of the vehicle body at the moment k, h_kEllipsoid height data of the vehicle body at the time k;

step 26, calculating the projection (X) of the displacement of the vehicle body in the time interval from k-1 to k in the local northeast coordinate system according to the first position data and the second position data_k ¹,Y_k ¹,Z_k ¹)；

The method specifically comprises the following steps:

wherein Re is the radius of the Earth;

step 27, according to the rotation matrixAnd projection (X)_k ¹,Y_k ¹,Z_k ¹) Calculating the projection (X) of the displacement of the vehicle body in the time interval from k-1 to k in the vehicle body coordinate system_k,Y_k,Z_k)，

Step 28, based on the projection (X)_k,Y_k,Z_k) And calculating the running track of the vehicle body in the vehicle body coordinate system in the time period from 0 to k (S)_xk,S_yk,S_zk),

Step 3, for S_xkJudging whether the threshold value is exceeded or not, and if so, judging whether the threshold value exceeds the set threshold value_xkIf the vehicle speed exceeds the set threshold value, calculating the installation angle of the combined navigation product relative to the vehicle body according to the running track;

the method specifically comprises the following steps:

where Δ yaw is the yaw direction mounting angle and Δ pitch is the pitch mounting angle.

Here, the threshold is set to a predetermined lateral offset threshold, which is conventionally 200 meters.

And 4, calibrating the integrated navigation product according to the installation angle.

Here, after the yaw direction installation angle and the pitch installation angle are used for calibrating the combined navigation product, the combined navigation product can be normally used.

In addition, the embodiment of the invention also regularly and automatically carries out self-checking and storing on the longitude, latitude and ellipsoid height data, compares the calibration result of the current longitude, latitude and ellipsoid height data with the previously stored data, automatically executes the steps 1-4 as long as the difference between the previous time and the next time of a parameter exceeds a set difference threshold, and finishes the calibration adjustment of the vehicle-mounted combined navigation product, thereby ensuring that the combined navigation product is always in a controllable error range.

Fig. 2 is a schematic structural diagram of an electronic device according to a second embodiment of the present invention. The electronic device may be the terminal device or the server, or may be a terminal device or a server connected to the terminal device or the server and implementing the method according to the embodiment of the present invention. As shown in fig. 2, the electronic device may include: a processor 301 (e.g., a CPU), a memory 302, a transceiver 303; the transceiver 303 is coupled to the processor 301, and the processor 301 controls the transceiving operation of the transceiver 303. Various instructions may be stored in memory 302 for performing various processing functions and implementing the processing steps described in the foregoing method embodiments. Preferably, the electronic device according to an embodiment of the present invention further includes: a power supply 304, a system bus 305, and a communication port 306. The system bus 305 is used to implement communication connections between the elements. The communication port 306 is used for connection communication between the electronic device and other peripherals.

The system bus 305 mentioned in fig. 2 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus. The communication interface is used for realizing communication between the database access device and other equipment (such as a client, a read-write library and a read-only library). The Memory may include a Random Access Memory (RAM) and may also include a Non-Volatile Memory (Non-Volatile Memory), such as at least one disk Memory.

The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), a Graphics Processing Unit (GPU), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.

It should be noted that the embodiment of the present invention also provides a computer-readable storage medium, which stores instructions that, when executed on a computer, cause the computer to execute the method and the processing procedure provided in the above-mentioned embodiment.

The embodiment of the present invention further provides a chip for executing the instructions, where the chip is configured to execute the processing steps described in the foregoing method embodiment.

The embodiment of the invention provides a method for calibrating a mounting angle of a vehicle-mounted integrated navigation product, electronic equipment and a computer readable storage medium, which can calibrate the mounting angle of the integrated navigation product relative to a vehicle body only by utilizing the output information of the integrated navigation product. The method does not need any information of other vehicle-mounted sensors, does not have strict limitation on the running track and the running speed of the vehicle body, does not need to relate to a Kalman filter technology, and has better universality and higher calibration efficiency.

Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.