技术领域Technical Field
本发明涉及车辆自动化技术领域，尤其涉及一种惯性测量单元数据补偿方法及系统。The present invention relates to the field of vehicle automation technology, and in particular to an inertial measurement unit data compensation method and system.
背景技术Background technique
车辆自动化作为目前活跃的研究领域在许多领域都有丰富应用，已经有许多文献资料提供了将导航系统传感器套件的集成化的方法。为了达到预期的可靠性和完整性，这些方法几乎都需要使用多种不同类型的传感器来充分采集可用的信息。这些传感器可分为两大类，航迹推算传感器和外部传感器。航迹推算传感器的鲁棒性通常都很好，但它们会随着时间累积误差，外部传感器通过测量已知地标提供绝对信息，因此在实践中通常使用外部传感器对他们进行定期重置。这种传感器组合的体系结构如图1所示。Vehicle automation is an active research area with rich applications in many fields. There are many literatures that provide methods for integrating navigation system sensor suites. In order to achieve the desired reliability and integrity, these methods almost all require the use of multiple different types of sensors to fully collect available information. These sensors can be divided into two categories, dead reckoning sensors and external sensors. Dead reckoning sensors are generally very robust, but they accumulate errors over time. External sensors provide absolute information by measuring known landmarks, so in practice they are usually reset periodically using external sensors. The architecture of this sensor combination is shown in Figure 1.
典型的航迹推算传感器是加速度计和陀螺仪，加速度计测量相对于惯性系的加速度，陀螺仪测量旋转角速度。一个完整的惯性导航系统(Inertial Navigation System，INS)由至少三个轴正交的加速度计和三个轴正交的陀螺仪组成来提供三维加速度和旋转速度，他们输出的单积分和双积分将提供速度、位置和姿态信息，他们统一构成了惯性测量单元(Inertial Measurement Unit，IMU)。由于IMU存在累计误差，为了长时间使用惯导系统，须使用附加信息来执行载体的校准。全球定位系统(Global Positioning System，GPS)常与IMU联用。IMU单元提供高频信息，以便在GPS的位置和速度修正之间生成位置估计。此外，GPS传感器数据可能长时间丢失，在这期间IMU将提供导航的关键信息。这种IMU和GPS联用的导航模式为组合导航。Typical dead reckoning sensors are accelerometers and gyroscopes. Accelerometers measure acceleration relative to an inertial system, and gyroscopes measure angular velocity. A complete inertial navigation system (INS) consists of at least three orthogonal accelerometers and three orthogonal gyroscopes to provide three-dimensional acceleration and rotational velocity. The single and double integrals of their outputs will provide velocity, position, and attitude information. Together, they form an inertial measurement unit (IMU). Due to the cumulative error of the IMU, additional information must be used to perform carrier calibration in order to use the inertial navigation system for a long time. The Global Positioning System (GPS) is often used in conjunction with the IMU. The IMU unit provides high-frequency information to generate a position estimate between the position and velocity corrections of the GPS. In addition, GPS sensor data may be lost for a long time, during which the IMU will provide key information for navigation. This navigation mode in which the IMU and GPS are used together is called combined navigation.
实际使用IMU传感器会存在噪声，在数据使用之前需用适当的方法进行滤波，去除野点(对动态目标的一序列跟踪数据中严重偏离大部分数据所呈现变化趋势的一小部分数据点)和高频噪声。此外，在一些商业应用场景中，安装人员不会用专业技术手段将IMU零姿态误差地安装在载体上，使IMU和载体之间存在安装姿态误差(俯仰角度误差，横滚角度误差，航向角度误差)，这对航迹推算的影响很大。一个好的INS需要对这个安装角度进行估计和补偿，因为航迹推算算法使用初始方向来更新姿态信息。由于俯仰角和横滚角可由重力分解推算出来但航向因无重力分量无法被推算出，而平台的航向又是获取准确加速度的关键，之后其单次和二次积分对速度和位置进行更新，如果航向偏差较大，推算累计误差就会快速增加。There will be noise in the actual use of IMU sensors. Before using the data, it is necessary to use appropriate methods to filter and remove wild points (a small number of data points in a series of tracking data of dynamic targets that seriously deviate from the trend of change presented by most of the data) and high-frequency noise. In addition, in some commercial application scenarios, the installer will not use professional technical means to install the IMU on the carrier with zero attitude error, so that there is an installation attitude error (pitch angle error, roll angle error, heading angle error) between the IMU and the carrier, which has a great impact on the track calculation. A good INS needs to estimate and compensate for this installation angle because the track calculation algorithm uses the initial direction to update the attitude information. Since the pitch angle and roll angle can be calculated by gravity decomposition, but the heading cannot be calculated because there is no gravity component, and the heading of the platform is the key to obtaining accurate acceleration, the single and quadratic integration will then update the speed and position. If the heading deviation is large, the cumulative error of the calculation will increase rapidly.
地面车辆的标定已被证明是非常困难的，传统的校准方法大都采用了机械平台或光学仪器进行，但在商业应用中，这种静态校准会带来不可接受的经济成本和时间成本。有技术提出运用地磁获取航向信息进行的静态安装角标定，这也是一个很好的解决思路，但在一些特殊的应用场景中，地磁信号易收到干扰或屏蔽，受到污染的地磁带来的标定结果反而会劣化惯导推算系统，使系统稳定性得不到保障。因此一种可靠的IMU安装姿态误差动态自动校准系统具有积极的实用意义。The calibration of ground vehicles has been proven to be very difficult. Traditional calibration methods mostly use mechanical platforms or optical instruments, but in commercial applications, this static calibration will bring unacceptable economic and time costs. Some technologies have proposed using geomagnetism to obtain heading information for static installation angle calibration, which is also a good solution. However, in some special application scenarios, geomagnetic signals are easily interfered or shielded. The calibration results brought by contaminated geomagnetism will degrade the inertial navigation system and make the system stability unguaranteed. Therefore, a reliable IMU installation attitude error dynamic automatic calibration system has positive practical significance.
发明内容Summary of the invention
本发明提供的惯性测量单元数据补偿方法及系统，用于克服现有技术中存在的上述问题，结合模拟退火算法实现对安装姿态误差的估算和补偿，能够在车辆载体运动状态下，估算IMU的安装姿态误差并补偿，提高航迹推算的准确性和稳定性。The inertial measurement unit data compensation method and system provided by the present invention are used to overcome the above-mentioned problems existing in the prior art. The method and system are combined with a simulated annealing algorithm to realize the estimation and compensation of the installation attitude error. The installation attitude error of the IMU can be estimated and compensated when the vehicle carrier is in motion, thereby improving the accuracy and stability of the track calculation.
本发明提供的一种惯性测量单元数据补偿方法，包括：The present invention provides an inertial measurement unit data compensation method, comprising:
对目标车辆的惯性测量单元IMU的目标数据去噪预处理，以获取第一目标数据；De-noising and pre-processing target data of an inertial measurement unit (IMU) of a target vehicle to obtain first target data;
根据所述目标车辆的导航信息，获取所述目标车辆处于预设状态时的航向角和车速；According to the navigation information of the target vehicle, obtaining the heading angle and the speed of the target vehicle when the target vehicle is in a preset state;
根据所述第一目标数据、所述航向角和所述车速，确定目标函数；Determining an objective function according to the first target data, the heading angle and the vehicle speed;
基于多起点模拟退火算法确定所述目标函数的最优解，并根据所述最优解，确定所述IMU相对车体系的姿态，以获取校正后的目标数据；Determine the optimal solution of the objective function based on a multi-starting point simulated annealing algorithm, and determine the posture of the IMU relative to the vehicle system according to the optimal solution to obtain corrected target data;
其中，所述目标数据包括角速度和加速度；Wherein, the target data includes angular velocity and acceleration;
所述预设状态为以大于预设车速和小于预设航向角速率的直线运动。The preset state is a linear motion at a speed greater than a preset vehicle speed and less than a preset heading angular velocity.
根据本发明提供的一种惯性测量单元数据补偿方法，所述对目标车辆的惯性测量单元IMU的目标数据去噪预处理，以获取第一目标数据，包括：According to an inertial measurement unit data compensation method provided by the present invention, the target data denoising preprocessing of the inertial measurement unit IMU of the target vehicle to obtain first target data includes:
根据预设需求时间和预设采样频率，确定窗口大小；Determine the window size according to the preset required time and preset sampling frequency;
根据窗口动态阈值法对当前窗口的目标数据进行清洗；Clean the target data of the current window according to the window dynamic threshold method;
基于小波滤波法对清洗后的目标数据进行滤波处理。The cleaned target data is filtered based on the wavelet filtering method.
根据本发明提供的一种惯性测量单元数据补偿方法，所述根据窗口动态阈值法对当前窗口的目标数据进行清洗，包括：According to an inertial measurement unit data compensation method provided by the present invention, the target data of the current window is cleaned according to the window dynamic threshold method, including:
确定当前窗口的目标数据的第一方差；Determine the first variance of the target data in the current window;
将所述当前窗口分为预设个子窗口，并分别获取每个子窗口的目标数据的第二方差，以确定每个子窗口的第二方差与所述第一方差的方差偏离值；Dividing the current window into a preset number of sub-windows, and obtaining the second variance of the target data of each sub-window respectively, so as to determine a variance deviation value between the second variance of each sub-window and the first variance;
若存在所述方差偏离值大于第一预设阈值的第一子窗口，则根据第二预设阈值和所述第一方差确定所述当前窗口的第一阈值；If there is a first sub-window whose variance deviation value is greater than a first preset threshold, determining a first threshold of the current window according to a second preset threshold and the first variance;
若所有子窗口的方差偏离值均小于所述第一预设阈值，则根据第三预设阈值和所述第一方差确定所述当前窗口的第二阈值；If the variance deviation values of all sub-windows are smaller than the first preset threshold, determining the second threshold of the current window according to a third preset threshold and the first variance;
根据所述第一阈值或所述第二阈值对所述当前窗口的目标数据进行数据清洗。Data cleaning is performed on the target data in the current window according to the first threshold or the second threshold.
根据本发明提供的一种惯性测量单元数据补偿方法，所述根据所述目标车辆的导航信息，获取所述目标车辆处于预设状态时的航向角和车速，包括：According to an inertial measurement unit data compensation method provided by the present invention, the method of obtaining the heading angle and the vehicle speed of the target vehicle when the target vehicle is in a preset state according to the navigation information of the target vehicle comprises:
根据所述目标车辆的导航信息，获取当前时刻的经纬度信息和当前时刻的时间戳；According to the navigation information of the target vehicle, obtaining the current latitude and longitude information and the current time stamp;
根据所述经纬度信息确定与所述经纬度信息对应的空间直角坐标；Determine the spatial rectangular coordinates corresponding to the longitude and latitude information according to the longitude and latitude information;
根据上一时刻的经纬度信息对应的基准空间直角坐标，确定与所述空间直角坐标对应的站心坐标；According to the reference spatial rectangular coordinates corresponding to the latitude and longitude information at the previous moment, determine the station center coordinates corresponding to the spatial rectangular coordinates;
根据所述站心坐标和预设距离阈值，确定所述目标车辆处于运动状态，并根据所述站心坐标、所述当前时刻的时间戳和上一时刻的时间戳，确定所述目标车辆处于所述预设状态时的车速，以及根据所述站心坐标确定所述目标车辆处于运动状态时的航向角。According to the station center coordinates and the preset distance threshold, it is determined that the target vehicle is in a moving state, and according to the station center coordinates, the timestamp of the current moment and the timestamp of the previous moment, the speed of the target vehicle when it is in the preset state is determined, and the heading angle of the target vehicle when it is in a moving state is determined according to the station center coordinates.
根据本发明提供的一种惯性测量单元数据补偿方法，所述根据所述第一目标数据、所述航向角和所述车速，确定目标函数，包括：According to an inertial measurement unit data compensation method provided by the present invention, determining an objective function according to the first target data, the heading angle and the vehicle speed includes:
根据所述第一目标数据、所述航向角和所述车速，分别确定目标速度观测模型以及航向角、车速估计值、IMU姿态估计值和IMU的陀螺仪零偏估计值的状态方程；Determine, according to the first target data, the heading angle and the vehicle speed, a target speed observation model and state equations of the heading angle, the vehicle speed estimate, the IMU attitude estimate and the IMU gyroscope zero bias estimate;
根据所述目标速度观测模型和所述状态方程，确定车速估计值和车速观测值，并将所述车速估计值与所述车速观测值的差作为所述目标函数；Determine a vehicle speed estimation value and a vehicle speed observation value according to the target speed observation model and the state equation, and use the difference between the vehicle speed estimation value and the vehicle speed observation value as the objective function;
其中，所述目标速度观测模型包括IMU速度观测模型或卫星导航系统GNSS速度观测模型。The target speed observation model includes an IMU speed observation model or a satellite navigation system GNSS speed observation model.
根据本发明提供的一种惯性测量单元数据补偿方法，所述基于多起点模拟退火算法确定所述目标函数的最优解，并根据所述最优解，确定所述IMU相对车体系的姿态，以获取校正后的目标数据，包括：According to an inertial measurement unit data compensation method provided by the present invention, the optimal solution of the objective function is determined based on a multi-starting point simulated annealing algorithm, and the posture of the IMU relative to the vehicle system is determined according to the optimal solution to obtain corrected target data, including:
根据初始解群的起点数、初始温度、温度衰减因子、搜索步长因子、最大迭代次数、初始解状态、中止条件和初始范围边界，确定初始解群，并从当前解群产生一个位于解空间的新解群；Determine the initial solution group according to the number of starting points, initial temperature, temperature attenuation factor, search step factor, maximum number of iterations, initial solution state, termination condition and initial range boundary of the initial solution group, and generate a new solution group in the solution space from the current solution group;
根据所述初始解群和所述目标函数，确定第一目标函数值；Determining a first objective function value according to the initial solution group and the objective function;
根据所述新解群和所述目标函数，确定第二目标函数值；Determining a second objective function value according to the new solution group and the objective function;
根据所述第二目标函数值和所述第一目标函数值的差值与预设阈值的大小关系，确定是否接受所述新解群，并在接受新解群时以所述新解群迭代更新所述当前解群，直至迭代次数达到所述最大迭代次数且满足所述中止条件时，停止对所述当前解群的更新；Determine whether to accept the new solution group according to the relationship between the difference between the second objective function value and the first objective function value and a preset threshold, and iteratively update the current solution group with the new solution group when the new solution group is accepted, until the number of iterations reaches the maximum number of iterations and the termination condition is met, and then stop updating the current solution group;
根据更新后的当前解群，确定最优解群，并根据所述最优解群获取所述最优解；Determine an optimal solution group according to the updated current solution group, and obtain the optimal solution according to the optimal solution group;
根据所述最优解和预设旋转矩阵公式，确定目标旋转矩阵，并根据所述目标旋转矩阵和预设坐标转换矩阵，获取所述校正后的目标数据；Determine a target rotation matrix according to the optimal solution and a preset rotation matrix formula, and obtain the corrected target data according to the target rotation matrix and a preset coordinate transformation matrix;
其中，所述中止条件为连续预设个新解群均不被接受。The termination condition is that consecutive preset new solution groups are not accepted.
根据本发明提供的一种惯性测量单元数据补偿方法，所述根据所述第二目标函数值和所述第一目标函数值的差值与预设阈值的大小关系，确定是否接受所述新解群，包括：According to an inertial measurement unit data compensation method provided by the present invention, determining whether to accept the new solution group according to the relationship between the difference between the second objective function value and the first objective function value and a preset threshold value includes:
若所述第二目标函数值和所述第一目标函数值的差值小于所述预设阈值，则接受所述新解群；If the difference between the second objective function value and the first objective function value is less than the preset threshold, accepting the new solution group;
若所述第二目标函数值和所述第一目标函数值的差值大于所述预设阈值，则按照蒙特卡洛准则确定接受概率，并以所述接受概率接受所述新解群。If the difference between the second objective function value and the first objective function value is greater than the preset threshold, the acceptance probability is determined according to the Monte Carlo criterion, and the new solution group is accepted with the acceptance probability.
本发明还提供一种惯性测量单元数据补偿系统，包括：数据处理模块、数据获取模块、安装估算模块以及数据补偿模块；The present invention also provides an inertial measurement unit data compensation system, comprising: a data processing module, a data acquisition module, an installation estimation module and a data compensation module;
所述数据处理模块，用于对目标车辆的惯性测量单元IMU的目标数据去噪预处理，以获取第一目标数据；The data processing module is used for pre-processing the target data of the inertial measurement unit IMU of the target vehicle to obtain the first target data;
所述数据获取模块，用于根据所述目标车辆的导航信息，获取所述目标车辆处于预设状态时的航向角和车速；The data acquisition module is used to acquire the heading angle and vehicle speed of the target vehicle when the target vehicle is in a preset state according to the navigation information of the target vehicle;
所述安装估算模块，用于根据所述第一目标数据、所述航向角和所述车速，确定目标函数；The installation estimation module is used to determine the target function according to the first target data, the heading angle and the vehicle speed;
所述数据补偿模块，用于基于多起点模拟退火算法确定所述目标函数的最优解，并根据所述最优解，确定所述IMU相对车体系的姿态，以获取校正后的目标数据；The data compensation module is used to determine the optimal solution of the objective function based on a multi-starting point simulated annealing algorithm, and determine the posture of the IMU relative to the vehicle system according to the optimal solution to obtain corrected target data;
其中，所述目标数据包括角速度和加速度；Wherein, the target data includes angular velocity and acceleration;
所述预设状态为以大于预设车速和小于预设航向角速率的直线运动。The preset state is a linear motion at a speed greater than a preset vehicle speed and less than a preset heading angular velocity.
本发明还提供一种电子设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现如上述任一种所述惯性测量单元数据补偿方法的步骤。The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any of the above-mentioned inertial measurement unit data compensation methods are implemented.
本发明还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现如上述任一种所述惯性测量单元数据补偿方法的步骤。The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any of the above-mentioned inertial measurement unit data compensation methods are implemented.
本发明提供的惯性测量单元数据补偿方法及系统，结合模拟退火算法实现对安装姿态误差的估算和补偿，能够在车辆载体直线运动且具有一定速度的状态下，估算IMU的安装姿态误差并补偿，提高航迹推算的准确性和稳定性。The inertial measurement unit data compensation method and system provided by the present invention, combined with a simulated annealing algorithm, realizes the estimation and compensation of the installation attitude error. When the vehicle carrier moves in a straight line and has a certain speed, the installation attitude error of the IMU can be estimated and compensated, thereby improving the accuracy and stability of track calculation.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本发明或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
图1是现有技术提供的组合导航系统结构示意图；FIG1 is a schematic diagram of the structure of an integrated navigation system provided by the prior art;
图2是本发明提供的惯性测量单元数据补偿方法的流程示意图；FIG2 is a schematic flow chart of an inertial measurement unit data compensation method provided by the present invention;
图3是实现本发明提供的惯性测量单元数据补偿方法的系统结构示意图；3 is a schematic diagram of the system structure for implementing the inertial measurement unit data compensation method provided by the present invention;
图4是本发明提供的车体系、IMU系、GNSS系和惯性导航坐标系示意图；4 is a schematic diagram of a vehicle system, an IMU system, a GNSS system and an inertial navigation coordinate system provided by the present invention;
图5是本发明提供的模拟退火算法求解过程示意图；5 is a schematic diagram of the solution process of the simulated annealing algorithm provided by the present invention;
图6是本发明提供的IMU安装姿态误差估算单元算法流程图；6 is a flow chart of an algorithm for an IMU installation attitude error estimation unit provided by the present invention;
图7是本发明提供的对照组和实验组每个时刻的误差统计图；FIG7 is a statistical diagram of the errors of the control group and the experimental group at each moment provided by the present invention;
图8是本发明提供的惯性测量单元数据补偿系统的结构示意图；FIG8 is a schematic structural diagram of an inertial measurement unit data compensation system provided by the present invention;
图9是本发明提供的电子设备的结构示意图。FIG. 9 is a schematic diagram of the structure of an electronic device provided by the present invention.
具体实施方式Detailed ways
为使本发明的目的、技术方案和优点更加清楚，下面将结合本发明中的附图，对本发明中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
现有技术提出了在车辆运行过程中找到安装姿态误差的算法，但多数都更多的关注算法的收敛速度而较少关注收敛陷入局部最优解的问题，本发明将采用一种局部搜索能力强，运行时间短同时能求出全局最优解，不会陷入局部解的多起点模拟退火算法来估算IMU的安装姿态误差。The prior art proposes algorithms for finding installation posture errors during vehicle operation, but most of them focus more on the convergence speed of the algorithm and less on the problem of convergence falling into a local optimal solution. The present invention will adopt a multi-starting point simulated annealing algorithm with strong local search capability, short running time, and the ability to find the global optimal solution without falling into a local solution to estimate the installation posture error of the IMU.
图2是本发明提供的惯性测量单元数据补偿方法的流程示意图，如图2所示，方法包括：FIG2 is a flow chart of an inertial measurement unit data compensation method provided by the present invention. As shown in FIG2 , the method includes:
S1、对目标车辆的惯性测量单元IMU的目标数据去噪预处理，以获取第一目标数据；S1, pre-processing the target data of the inertial measurement unit IMU of the target vehicle to obtain first target data;
S2、根据目标车辆的导航信息，获取目标车辆处于预设状态时的航向角和车速；S2. According to the navigation information of the target vehicle, obtain the heading angle and speed of the target vehicle when it is in a preset state;
S3、根据第一目标数据、航向角和车速，确定目标函数；S3, determining an objective function according to the first target data, the heading angle and the vehicle speed;
S4、基于多起点模拟退火算法确定目标函数的最优解，并根据最优解，确定IMU相对车体系的姿态，以获取校正后的目标数据；S4, determining the optimal solution of the objective function based on a multi-starting point simulated annealing algorithm, and determining the posture of the IMU relative to the vehicle system according to the optimal solution to obtain the corrected target data;
其中，目标数据包括角速度和加速度；Among them, the target data includes angular velocity and acceleration;
预设状态为以大于预设车速和小于预设航向角速率的直线运动。The preset state is a straight-line motion at a speed greater than a preset vehicle speed and less than a preset heading angular velocity.
需要说明的是，上述方法的执行主体可以是计算机设备，下面以计算机设备部署如图3所示的系统结构示意图实现本发明提供的惯性测量单元数据补偿方法为例加以说明，系统包含IMU信息采集单元(1)、IMU数据处理单元(2)、GPS信息采集单元(3)、GPS车速和航向角解算单元(4)、IMU安装姿态误差估算单元(5)和IMU安装姿态误差补偿单元(6)。It should be noted that the execution subject of the above method can be a computer device. The following is an example of implementing the inertial measurement unit data compensation method provided by the present invention by using a computer device deployed as shown in the system structure diagram of Figure 3. The system includes an IMU information acquisition unit (1), an IMU data processing unit (2), a GPS information acquisition unit (3), a GPS vehicle speed and heading angle calculation unit (4), an IMU installation attitude error estimation unit (5) and an IMU installation attitude error compensation unit (6).
如图4，IMU安装在车辆某水平面处，GNSS天线安装在车辆可实时接收到GPS信号处，其中a系为GNSS系，b系为IMU坐标系，原点位于IMU测绘单元的中心，v系为载体系，原点与b系重合，n系为导航系，是地球东-北-天坐标系。启动IMU和卫星导航系统(GlobalNavigation Satellite System，GNSS)数据采集后，保持车辆匀速平稳向前行驶。在行驶过程中IMU采集加速度和角速度，GNSS采集导航信号，两部分信息分别发送到IMU数据处理单元(2)和GPS车速和航向角解算单元(4)。As shown in Figure 4, the IMU is installed on a horizontal surface of the vehicle, and the GNSS antenna is installed at a position where the vehicle can receive GPS signals in real time. The a system is the GNSS system, the b system is the IMU coordinate system, and the origin is located at the center of the IMU mapping unit. The v system is the carrier system, and the origin coincides with the b system. The n system is the navigation system, which is the earth's east-north-sky coordinate system. After starting the IMU and the Global Navigation Satellite System (GNSS) data collection, keep the vehicle moving forward at a constant speed. During the driving process, the IMU collects acceleration and angular velocity, and the GNSS collects navigation signals. The two parts of information are sent to the IMU data processing unit (2) and the GPS vehicle speed and heading angle solution unit (4) respectively.
具体地，IMU信息采集单元(1)采集加速度信息和角速度信息，将获得的模拟信号按一定的采样频率采集为数字信号，得到目标车辆的IMU的加速度f0和角速度ω0，传递给IMU数据处理单元(2)，IMU数据处理单元(2)对数字化的加速度和角速度进行去噪预处理，得到降噪后第一加速度f和第一角速度ω并传递给IMU安装姿态误差估算单元(5)。Specifically, the IMU information acquisition unit (1) acquires acceleration information and angular velocity information, acquires the acquired analog signals into digital signals at a certain sampling frequency, obtains the accelerationf0 and angular velocityω0 of the IMU of the target vehicle, and transmits them to the IMU data processing unit (2). The IMU data processing unit (2) performs denoising preprocessing on the digitized acceleration and angular velocity, obtains the first acceleration f and the first angular velocity ω after denoising, and transmits them to the IMU installation attitude error estimation unit (5).
GPS信息采集单元(3)将按照设定的采样频率采集车辆载体的导航信息(经纬度信息和时间信息)，并将其传递给GPS车速和航向角解算单元(4)。The GPS information collection unit (3) collects navigation information (latitude and longitude information and time information) of the vehicle carrier according to a set sampling frequency, and transmits it to the GPS vehicle speed and heading angle calculation unit (4).
GPS车速和航向角解算单元(4)根据目标车辆的经纬度信息、时间信息和提前设定的速度阈值判断车辆运动状态，求解车速和航向角，向IMU安装姿态误差估算单元(5)输出车辆状态s，并在判定车辆处于预设状态(即车辆以大于预设车速且小于预设航向角速率进行直线运动，其中预设车速可根据经验设置，一般与行人行走速度相当，预设航向角速率因原始数据的滤波效果和具体车辆的应用场景而略有不同)时输出航向角ψ和车速v。The GPS vehicle speed and heading angle calculation unit (4) determines the vehicle motion state according to the latitude and longitude information, time information and a pre-set speed threshold of the target vehicle, calculates the vehicle speed and heading angle, outputs the vehicle state s to the IMU-mounted attitude error estimation unit (5), and outputs the heading angle ψ and vehicle speed v when it is determined that the vehicle is in a preset state (i.e., the vehicle moves in a straight line at a speed greater than a preset vehicle speed and less than a preset heading angle rate, wherein the preset vehicle speed can be set based on experience and is generally equivalent to the walking speed of a pedestrian, and the preset heading angle rate is slightly different due to the filtering effect of the original data and the application scenario of the specific vehicle).
IMU安装姿态误差估算单元(5)会在车辆处于运动状态时启动，利用接收到的第一加速度f、第一角速度ω、航向角ψ和车速v，确定目标函数，并基于模拟退火算法确定目标函数的最优解。The IMU-mounted attitude error estimation unit (5) is started when the vehicle is in motion, and uses the received first acceleration f, first angular velocity ω, heading angle ψ and vehicle speed v to determine the objective function, and determines the optimal solution of the objective function based on a simulated annealing algorithm.
IMU安装姿态误差补偿单元(6)根据目标函数的最优解，重新解算校准后的IMU输出，即得到校正后的加速度fc和校正后的角速度ωc。The IMU installation attitude error compensation unit (6) recalculates the calibrated IMU output according to the optimal solution of the objective function, that is, obtains the corrected acceleration fc and the corrected angular velocity ωc .
本发明提供的惯性测量单元数据补偿方法，结合模拟退火算法实现对安装姿态误差的估算和补偿，能够在车辆载体直线运动且具有一定速度的状态下，估算IMU的安装姿态误差并补偿，提高航迹推算的准确性和稳定性。The inertial measurement unit data compensation method provided by the present invention is combined with a simulated annealing algorithm to realize the estimation and compensation of the installation attitude error. When the vehicle carrier moves in a straight line and has a certain speed, the installation attitude error of the IMU can be estimated and compensated, thereby improving the accuracy and stability of track calculation.
进一步地，在一个实施例中，步骤S1可以具体包括:Further, in one embodiment, step S1 may specifically include:
S11、根据预设需求时间和预设采样频率，确定窗口大小；S11, determining the window size according to the preset required time and the preset sampling frequency;
S12、根据窗口动态阈值法对当前窗口的目标数据进行清洗；S12, cleaning the target data of the current window according to the window dynamic threshold method;
S13、基于小波滤波法对清洗后的目标数据进行滤波处理。S13, filtering the cleaned target data based on wavelet filtering method.
进一步地，在一个实施例中，步骤S12可以具体包括：Furthermore, in one embodiment, step S12 may specifically include:
S121、确定当前窗口的目标数据的第一方差；S121, determining a first variance of target data in the current window;
S122、将当前窗口分为预设个子窗口，并分别获取每个子窗口的目标数据的第二方差，以确定每个子窗口的第二方差与第一方差的方差偏离值；S122, dividing the current window into a preset number of sub-windows, and obtaining the second variance of the target data of each sub-window respectively, so as to determine the variance deviation value between the second variance and the first variance of each sub-window;
S123、若存在方差偏离值大于第一预设阈值的第一子窗口，则根据第二预设阈值和第一方差确定当前窗口的第一阈值；S123, if there is a first sub-window whose variance deviation value is greater than the first preset threshold, determining a first threshold of the current window according to the second preset threshold and the first variance;
S124、若所有子窗口的方差偏离值均小于第一预设阈值，则根据第三预设阈值和第一方差确定当前窗口的第二阈值；S124, if the variance deviation values of all sub-windows are less than the first preset threshold, determining a second threshold of the current window according to a third preset threshold and the first variance;
S125、根据第一阈值或第二阈值对当前窗口的目标数据进行数据清洗。S125. Clean the target data in the current window according to the first threshold or the second threshold.
可选地，IMU数据处理单元(2)中由窗口动态阈值去野值和小波滤波两部分构成，以下为执行流程：Optionally, the IMU data processing unit (2) is composed of two parts: a window dynamic threshold de-wiring value and a wavelet filter. The following is the execution process:
1)根据预设需求时间τ和预设采样频率F设定窗口大小W＝τF，并根据经验设定第一预设阈值Δ、第二预设阈值A和第三预设阈值B；1) Setting the window size W=τF according to the preset demand time τ and the preset sampling frequency F, and setting the first preset threshold Δ, the second preset threshold A and the third preset threshold B according to experience;
2)通过计算得到当前窗口i的加速度和角速度的第一方差2) Obtain the first variance of the acceleration and angular velocity of the current window i by calculating
3)将当前窗口i分为预设个子窗口，例如可以将当前窗口i等分四段，对每段子窗口求第二方差计算四组子窗口与当期窗口i之间的方差偏离值其中，代表第j子窗口与当前窗口i之间的方差偏离值，将该获取的所有的子窗口的方差偏离值与提前设定的第一预设阈值Δ做对比，若存在大于Δ的子窗口，则代表该窗口i内IMU是运动状态变化开始或结束的特殊窗口(默认窗口很窄，一个运动状态会持续多个窗口)，为避免有效值被误剔除，将根据第二预设阈值A和第一方差σ2，对此窗口i设置较松弛的第一阈值：T＝Aσ2＝{a1σax′2,a2σay′2,a3σaz′2,a4σgx′2,a5σgy′2,a6σgz′2}，其中，第二预设阈值A中的a1,a2,a3,a4,a5,a6是根据经验设定的阈值系数；3) Divide the current window i into a preset number of sub-windows. For example, the current window i can be divided into four equal segments, and the second variance is calculated for each sub-window. Calculate the variance deviation between the four groups of sub-windows and the current window i in, Represents the variance deviation value between the jth subwindow and the current window i. The variance deviation values of all the subwindows obtained are compared with the first preset threshold Δ set in advance. If there is a subwindow greater than Δ, it means that the IMU in the window i is a special window where the motion state changes start or end (the default window is very narrow, and a motion state will last for multiple windows). In order to avoid the valid value being mistakenly eliminated, a more relaxed first threshold is set for this window i according to the second preset threshold A and the first variance σ2 : T＝Aσ2 ＝{a1 σax′2 ,a2 σay′2 ,a3 σaz′2 ,a4 σgx′2 ,a5 σgy′2 ,a6 σgz′2 }, where a1 ,a2 ,a3 ,a4 ,a5 ,a6 in the second preset threshold A are threshold coefficients set according to experience;
4)若所有子窗口方差偏离值都小于设定的第一预设阈值Δ，表明无较大运动状态变化，则根据第三预设阈值B和第一方差对此窗口i设置严格的第二阈值：T′＝Bσ2＝{b1σax′2,b2σay′2,b3σaz′2,b4σgx′2,b5σgy′2,b6σgz′2}，其中，第三预设阈值B中的b1,b2,b3,b4,b5,b6也是根据经验设定的阈值系数，且，A中的阈值系数远远大于B中的阈值系数；4) If the variance deviation values of all sub-windows are less than the set first preset threshold Δ, indicating that there is no significant change in the motion state, a strict second threshold is set for this window i according to the third preset threshold B and the first variance: T′＝Bσ2 ＝{b1 σax′2 ,b2 σ ay′2 ,b3 σaz′2 ,b4 σgx′2 ,b5 σgy′2 ,b6 σgz′2 }, wherein b1 ,b2 ,b3 ,b4 ,b5 ,b6 in the third preset threshold B are also threshold coefficients set according to experience, and the threshold coefficient in A is much larger than the threshold coefficient in B;
5)对当前窗口的角速度和加速度数据进行一次清洗，所有在第一阈值T或第二阈值T′范围外的数据点被识别为要剔除的野点；5) Clean the angular velocity and acceleration data of the current window, and all data points outside the first threshold T or the second threshold T′ are identified as outliers to be removed;
6)基于小波滤波法对清洗后的目标数据进行滤波处理，具体地，设置小波为db4小波，小波分解层N＝2，选用合适的策略设置分层阈值，alpha＝4；6) Filter the cleaned target data based on the wavelet filtering method. Specifically, the wavelet is set to db4 wavelet, the wavelet decomposition layer N=2, and the layer threshold is set by using a suitable strategy, alpha=4;
7)对清洗后的当前窗口内的加速度和角速度数据进行小波降噪滤波；7) Perform wavelet noise reduction filtering on the acceleration and angular velocity data in the current window after cleaning;
8)并将窗口向前移动W个点，到下一窗口继续重复2)直至所有窗口的加速度和角速度结束，此处的“所有”指完成安装角估算过程的所有窗口。8) and move the window forward by W points, and repeat 2) to the next window until the acceleration and angular velocity of all windows are completed. Here, "all" refers to all windows that have completed the installation angle estimation process.
本发明提供的惯性测量单元数据补偿方法，降噪采用小波滤波法，比传统的FFT滤波或平滑器滤波的效果更“安全”，也能更好的应对低信噪比的应用场景(比如数据有较大的振动噪声)，同时，去除野值采用动态窗口进行实时阈值计算，而非传统方法直接设置阈值，使系统的动态性能更好，对不同型号IMU的适应性更强。The inertial measurement unit data compensation method provided by the present invention adopts wavelet filtering for noise reduction, which is more "safe" than traditional FFT filtering or smoother filtering, and can better cope with application scenarios with low signal-to-noise ratio (such as data with large vibration noise). At the same time, a dynamic window is used to perform real-time threshold calculation to remove outliers, rather than directly setting the threshold by the traditional method, so that the system has better dynamic performance and stronger adaptability to different models of IMU.
进一步地，在一个实施例中，步骤S2可以具体包括：Furthermore, in one embodiment, step S2 may specifically include:
S21、根据目标车辆的导航信息，获取当前时刻的经纬度信息和当前时刻的时间戳；S21, obtaining the current latitude and longitude information and the current time stamp according to the navigation information of the target vehicle;
S22、根据经纬度信息确定与所述经纬度信息对应的空间直角坐标；S22, determining the spatial rectangular coordinates corresponding to the longitude and latitude information according to the longitude and latitude information;
S23、根据上一时刻的经纬度信息对应的基准空间直角坐标，确定与空间直角坐标对应的站心坐标；S23, determining the station center coordinates corresponding to the spatial rectangular coordinates according to the reference spatial rectangular coordinates corresponding to the latitude and longitude information at the previous moment;
S24、根据站心坐标和预设距离阈值，确定目标车辆处于运动状态，并根据站心坐标、当前时刻的时间戳和上一时刻的时间戳，确定目标车辆处于预设状态时的车速，以及根据站心坐标确定目标车辆处于运动状态时的航向角。S24. Determine that the target vehicle is in motion based on the station center coordinates and a preset distance threshold, and determine the speed of the target vehicle when it is in a preset state based on the station center coordinates, the timestamp of the current moment, and the timestamp of the previous moment, and determine the heading angle of the target vehicle when it is in motion based on the station center coordinates.
可选地，GPS车速和航向角解算单元(4)主要判断车辆运动状态和输出车速与航向角信息，以下为执行流程：Optionally, the GPS vehicle speed and heading angle calculation unit (4) mainly determines the vehicle motion state and outputs vehicle speed and heading angle information. The following is the execution process:
1)获取当前时刻经纬度信息{latk,lonk},记录经纬度信息时刻的时间戳tk；1) Obtain the current latitude and longitude information {latk , lonk }, and record the timestamp tk of the latitude and longitude information;
2)利用现有的地球数学模型将经纬度信息{latk,lonk}转换为空间直角坐标(xk,yk)；2) Using the existing earth mathematical model, the longitude and latitude information {latk ,lonk } is converted into spatial rectangular coordinates (xk ,yk );
3)调用上一时刻的空间直角坐标(xk-1,yk-1)，以其为基准位置，将其作为基准空间直角坐标(xk-1,yk-1)，并将(xk,yk)转换为站心坐标系的站心坐标(de,dn)；3) Call the spatial rectangular coordinates (xk-1 , yk-1 ) of the previous moment, take it as the reference position, take it as the reference spatial rectangular coordinates (xk-1 , yk-1 ), and convert (xk , yk ) into the station center coordinates (de, dn) of the station center coordinate system;
4)判断车辆预设状态，若小于设定的预设距离阈值T，则判定为停车状态，只对IMU安装姿态误差估算单元(5)输出车辆状态s＝0，并跳到1)进行下一轮数据采集；若大于预设距离阈值T，则判定目标车辆为运动状态，执行5)，4) Determine the vehicle's preset state. If If the distance is less than the preset distance threshold T, it is determined to be in a parking state, and only the IMU-mounted attitude error estimation unit (5) outputs the vehicle state s=0, and jumps to 1) for the next round of data collection; if the distance is greater than the preset distance threshold T, it is determined that the target vehicle is in a moving state, and 5) is executed.
T＝D/FT＝D/F
其中，D为根据经验设置的常量，F代表GPS预设采样频率。Wherein, D is a constant set based on experience, and F represents the preset sampling frequency of GPS.
5)获取上一时刻时间戳tk-1，并根据站心坐标(de,dn)和当前时刻的时间戳tk，确定目标车辆处于运动状态时的车速v；5) Obtain the previous time stamp tk-1 , and determine the speed v of the target vehicle when it is in motion based on the station center coordinates (de, dn) and the current time stamp tk ;
6)根据站心坐标确定目标车辆处于运动状态时的航向角β，若β<0，则以ψ′代替ψ作为航向角，其中，ψ′＝ψ+360°；6) Determine the heading angle β of the target vehicle when it is in motion according to the station center coordinates. If β<0, use ψ′ instead of ψ as the heading angle, where ψ′=ψ+360°;
ψ＝tan-1(de/dn)ψ＝tan-1 (de/dn)
7)向IMU安装姿态误差估算单元(5)输出目标车辆处于运动状态，即s＝1，车速和航向角，跳回1)并进行下一轮数据采集。7) The attitude error estimation unit (5) is installed to the IMU. The target vehicle is in motion, i.e., s=1, the vehicle speed and heading angle, and the process returns to 1) and proceeds to the next round of data collection.
地球模型的数学模型如下：The mathematical model of the earth model is as follows:
地球椭球体长半轴p＝6378137mThe major axis of the Earth's ellipsoid p = 6378137m
地球椭球体短半轴q＝6356752.3142mThe minor axis of the Earth's ellipsoid q = 6356752.3142 m
偏心率Eccentricity
第二偏心率Second eccentricity
比例系数Scale factor
空间直角横坐标X＝K(lon-lon0)The spatial rectangular abscissa X＝K(lon-lon0 )
空间直角纵坐标Space rectangular ordinate
其中，lat,lon,lat0,lon0分别是k时刻纬度，k时刻经度，k-1时刻纬度，k-1时刻经度。Among them, lat, lon, lat0 , lon0 are the latitude at time k, the longitude at time k, the latitude at time k-1, and the longitude at time k-1 respectively.
本发明提供的惯性测量单元数据补偿方法，能够获取运动状态下的车辆的航向角和车速，为后续基于航向角和车速对IMU安装姿态误差进行补偿奠定了基础。The inertial measurement unit data compensation method provided by the present invention can obtain the heading angle and vehicle speed of a vehicle in motion, laying a foundation for the subsequent compensation of the IMU installation attitude error based on the heading angle and vehicle speed.
进一步地，在一个实施例中，步骤S3可以具体包括：Furthermore, in one embodiment, step S3 may specifically include:
S31、根据第一目标数据、航向角和车速，分别确定目标速度观测模型以及航向角、车速估计值、IMU姿态估计值和IMU的陀螺仪零偏估计值的状态方程；S31, according to the first target data, the heading angle and the vehicle speed, respectively determine the target speed observation model and the state equations of the heading angle, the vehicle speed estimation value, the IMU attitude estimation value and the IMU gyroscope zero bias estimation value;
S32、根据目标速度观测模型和状态方程，确定车速估计值和车速观测值，并将车速估计值与车速观测值的差作为目标函数；S32, determining a vehicle speed estimation value and a vehicle speed observation value according to the target speed observation model and the state equation, and taking the difference between the vehicle speed estimation value and the vehicle speed observation value as the objective function;
其中，目标速度观测对象通常可选IMU或卫星导航系统GNSS。Among them, the target speed observation object can usually be selected from IMU or satellite navigation system GNSS.
IMU安装姿态误差估算单元(5)会在车辆处于上述预设状态时启动，利用接收到的第一角速度、第一加速度、航向角和车速建立基于车体运动约束假设的IMU速度观测模型，以及建立航向角和车速估计值、IMU姿态估计值和陀螺仪零偏估计值的状态方程，计算出k时刻的IMU的车速估计值。利用IMU的车速观测值作为目标值，并将车速估计值与车速观测值的差作为目标函数。The IMU installation attitude error estimation unit (5) is started when the vehicle is in the above-mentioned preset state, and uses the received first angular velocity, first acceleration, heading angle and vehicle speed to establish an IMU speed observation model based on the vehicle body motion constraint assumption, and establishes state equations of heading angle and vehicle speed estimation values, IMU attitude estimation values and gyroscope zero bias estimation values, and calculates the IMU vehicle speed estimation value at time k. The IMU vehicle speed observation value is used as the target value, and the difference between the vehicle speed estimation value and the vehicle speed observation value is used as the objective function.
卡尔曼线性离散动态空间模型状态转移方程：Kalman linear discrete dynamic space model state transfer equation:
xk＝φkxk-1+ukxk = φk xk-1 + uk
卡尔曼观测方程：Kalman observation equation:
zk＝Hkxk+vkzk =Hk xk +vk
xk为系统在k时刻的状态向量，其协方差矩阵为Pk，uk为k时刻的状态噪声，zk为k时刻的观测向量，vk为k时刻的观测噪声。φk是系统状态转移矩阵，Hk是观测矩阵。xk is the state vector of the system at time k, its covariance matrix is Pk ,uk is the state noise at time k, zk is the observation vector at time k, and vk is the observation noise at time k. φk is the system state transfer matrix, and Hk is the observation matrix.
车体运动约束是指对观测矩阵Hk和量测向量zk做适当的取舍或修改，使之符合经验性规律，从而使系统的状态更新更加符合预期。比如车体在运行过程中不会发生较大的侧向滑动和天向位移，因此可适当修改Hk和zk的内容，使侧向和天向速度的量测为0等。The vehicle motion constraint refers to making appropriate trade-offs or modifications to the observation matrix Hk and the measurement vector zk to make them conform to empirical rules, so that the system state update is more in line with expectations. For example, the vehicle body will not have large lateral sliding and azimuth displacement during operation, so the content of Hk and zk can be appropriately modified to make the lateral and azimuth speed measurements 0, etc.
本系统对应的模型为弱非线性系统，应在卡尔曼滤波的基础上做适当改动，应用扩展卡尔曼滤波进行估算，由于公式及推导过程繁琐且为相关专业人士所熟知，此处不予论证。The model corresponding to this system is a weak nonlinear system, and appropriate modifications should be made on the basis of Kalman filtering, and extended Kalman filtering should be used for estimation. Since the formula and derivation process are cumbersome and well known to relevant professionals, they will not be discussed here.
设置扩展卡尔曼滤波的状态维数(通常包含速度，位置，姿态，加速度计动态偏置，陀螺仪动态偏置，载体天线杆臂，车体天线杆臂等)，根据误差传播方差确定上述状态的转移矩阵并对其进行离散化得到φk，在启动卡尔曼滤波之前设置先验的状态x0和先验的协方差矩阵P0，x0若包含上述的状态则包括15-21维(上述每一个状态量都是x、y、z三个维度)，其中就包括了初始的IMU的安装姿态角ψbv，启动扩展卡尔曼滤波可在迭代过程中计算出k时刻的车体速度估计值车体姿态估计值GNSS天线杆臂估计值IMU姿态估计值和陀螺仪动态零偏估计值以下为该过程简式：Set the state dimension of the extended Kalman filter (usually including speed, position, attitude, accelerometer dynamic bias, gyroscope dynamic bias, carrier antenna arm, vehicle body antenna arm, etc.), determine the transfer matrix of the above state according to the error propagation variance and discretize it to obtain φk , set the prior state x0 and the prior covariance matrix P0 before starting the Kalman filter, if x0 includes the above state, it includes 15-21 dimensions (each of the above state quantities is x, y, z three dimensions), including the initial IMU installation attitude angle ψbv , start the extended Kalman filter to calculate the estimated value of the vehicle body velocity at time k in the iterative process Vehicle posture estimation GNSS Antenna Pole Arm Estimation IMU attitude estimate and gyroscope dynamic bias estimate The following is a simplified version of the process:
其中可近似看成a是GNSS系，e是EFEC系，b是IMU系，v是车体系。in Can be roughly regarded as a is the GNSS system, e is the EFEC system, b is the IMU system, and v is the vehicle system.
速度观测方程：是GNSS速度观测值，是我们要观察的IMU的速度观测，是IMU读到的滤波后的角速度。Velocity observation equation: is the GNSS velocity observation, is the velocity observation of the IMU we want to observe, It is the filtered angular velocity read by the IMU.
可选的，以IMU或GNSS为观测目标都可以达到同样的目的，只是观测和估计方程会因为杆臂产生变化，若忽略两者间的杆臂，两者的速度观测将会相同，以GNSS天线作为目标来观测和估计，在天线为对象的系统中，天线的观测速度为实际的天线速度天线的估计速度(考虑杆臂)在卡尔曼滤波估计的IMU速度的基础上做以下变动：此时收敛过程就变成了以IMU安装姿态为自变量的天线观测速度和估计速度差值的优化过程。Alternatively, the same purpose can be achieved by using IMU or GNSS as the observation target, but the observation and estimation equations will change due to the lever arm. If the lever arm between the two is ignored, the velocity observations of the two will be the same. The GNSS antenna is used as the target for observation and estimation. In a system with the antenna as the object, the observed velocity of the antenna is the actual antenna velocity. The estimated velocity of the antenna (taking into account the arm) is based on the IMU velocity estimated by the Kalman filter as follows: At this point, the convergence process becomes an optimization process of the difference between the antenna observed velocity and the estimated velocity with the IMU installation posture as the independent variable.
不论是以谁为观测对象，目标函数为：Regardless of who is the observed object, the objective function is:
启动多起点模拟退火算法，在符合设定的最小收敛时间的前提下，迭代求出载体系(v系)和IMU系(b系)之间的最优的坐标转换矩阵之后传递给IMU安装姿态误差补偿单元(6)。Start the multi-start simulated annealing algorithm, and iteratively find the optimal coordinate transformation matrix between the carrier system (v system) and the IMU system (b system) under the premise of meeting the set minimum convergence time. It is then passed to the IMU-mounted attitude error compensation unit (6).
IMU安装姿态误差补偿单元(6)将会利用修改现有惯导的坐标转换矩阵，并重新解算校准后的IMU输出，即校正后的加速度fc和校正后的角速度ωc。The IMU-mounted attitude error compensation unit (6) will be used Modify the coordinate transformation matrix of the existing inertial navigation system and recalculate the calibrated IMU output, that is, the corrected acceleration fc and the corrected angular velocity ωc .
本发明提供的惯性测量单元数据补偿方法，将车速估计值与车速观测值的差作为目标函数，为后续基于目标函数求解最优解，并通过最优解对IMU数据进行补偿奠定了基础。The inertial measurement unit data compensation method provided by the present invention takes the difference between the vehicle speed estimation value and the vehicle speed observation value as the objective function, laying a foundation for subsequently solving the optimal solution based on the objective function and compensating the IMU data through the optimal solution.
进一步地，在一个实施例中，步骤S4可以具体包括：Furthermore, in one embodiment, step S4 may specifically include:
S41、根据初始解群的起点数、初始温度、温度衰减因子、搜索步长因子、最大迭代次数、初始解状态、中止条件和初始范围边界，确定初始解群，并从当前解群产生一个位于解空间的新解群；S41, determining the initial solution group according to the number of starting points, initial temperature, temperature attenuation factor, search step factor, maximum number of iterations, initial solution state, termination condition and initial range boundary of the initial solution group, and generating a new solution group located in the solution space from the current solution group;
S42、根据初始解群和目标函数，确定第一目标函数值；S42, determining a first objective function value according to the initial solution group and the objective function;
S43、根据新解群和目标函数，确定第二目标函数值；S43, determining a second objective function value according to the new solution group and the objective function;
S44、根据第二目标函数值和第一目标函数值的差值与预设阈值的大小关系，确定是否接受新解群，并在接受新解群时以新解群迭代更新当前解群，直至迭代次数达到最大迭代次数且满足中止条件时，停止对当前解群的更新；S44, determining whether to accept the new solution group according to the relationship between the difference between the second objective function value and the first objective function value and the preset threshold, and iteratively updating the current solution group with the new solution group when the new solution group is accepted, until the number of iterations reaches the maximum number of iterations and the termination condition is met, then stopping the updating of the current solution group;
S45、根据更新后的当前解群，确定最优解群，并根据最优解群获取最优解；S45, determining an optimal solution group according to the updated current solution group, and obtaining an optimal solution according to the optimal solution group;
S46、根据最优解和预设旋转矩阵公式，确定目标旋转矩阵，并根据目标旋转矩阵和预设坐标转换矩阵，获取校正后的目标数据；S46, determining a target rotation matrix according to the optimal solution and a preset rotation matrix formula, and obtaining corrected target data according to the target rotation matrix and a preset coordinate conversion matrix;
其中，中止条件为连续预设个新解群均不被接受。The termination condition is that consecutive preset new solution groups are not accepted.
进一步地，在一个实施例中，步骤S44可以具体包括：Further, in one embodiment, step S44 may specifically include:
S441、若第二目标函数值和第一目标函数值的差值小于预设阈值，则接受新解群；S441, if the difference between the second objective function value and the first objective function value is less than a preset threshold, accept the new solution group;
S442、若第二目标函数值和所述第一目标函数值的差值大于预设阈值，则按照蒙特卡洛准则确定接受概率，并以接受概率接受新解群。S442: If the difference between the second objective function value and the first objective function value is greater than a preset threshold, the acceptance probability is determined according to the Monte Carlo criterion, and the new solution group is accepted with the acceptance probability.
可选地，模拟退火算法来源于晶体的冷却过程，如果固体不处于最低能量状态，给固体加热再冷却，随着温度缓慢下降，固体中的原子按照一定形状排列，形成高密度、低能量的有规则晶体，对应于算法中的全局最优解。而如果温度下降过快，可能导致原子缺少足够的时间排列成晶体的结构，结果产生了具有较高能量的非晶体，这就是局部最优解。因此就可以根据退火的过程，给其再增加一点能量，然后再冷却，跳出局部最优解，最终随着降温过程反复缓慢落入最优解，如图5所示。Alternatively, the simulated annealing algorithm is derived from the cooling process of the crystal. If the solid is not in the lowest energy state, the solid is heated and then cooled. As the temperature slowly drops, the atoms in the solid are arranged in a certain shape to form a regular crystal with high density and low energy, which corresponds to the global optimal solution in the algorithm. If the temperature drops too quickly, the atoms may lack sufficient time to arrange into a crystal structure, resulting in a non-crystal with higher energy, which is the local optimal solution. Therefore, according to the annealing process, a little more energy can be added to it, and then cooled to jump out of the local optimal solution, and finally slowly fall into the optimal solution as the cooling process is repeated, as shown in Figure 5.
模拟退火的搜索结果有可能落入最优解临近的局部最优解中，因此采用多起点模拟退火，让系统有多个起点，在多个起点对应的结果中找到出现频率最高的解(范围解)从而避免一次模拟退火带来误判。The search results of simulated annealing may fall into the local optimal solution near the optimal solution. Therefore, multi-starting point simulated annealing is used to allow the system to have multiple starting points. The solution with the highest frequency (range solution) is found in the results corresponding to multiple starting points to avoid misjudgment caused by a single simulated annealing.
IMU安装姿态误差估算单元(5)用多起点模拟退火算法推算IMU模组的安装姿态误差，即车辆载体和IMU之间的等效旋转矢量，具体流程参照图6，以下为执行流程：The IMU installation attitude error estimation unit (5) uses a multi-starting point simulated annealing algorithm to infer the installation attitude error of the IMU module, that is, the equivalent rotation vector between the vehicle carrier and the IMU. The specific process is shown in Figure 6. The following is the execution process:
1)设定初始解群的起点数N，设置初始温度T，设置温度衰减因子，设置搜索步长因子，设置最大迭代次数L，设置初始解状态Q，设置中止条件，设定初始范围边界；1) Set the number of starting points N of the initial solution group, set the initial temperature T, set the temperature attenuation factor, set the search step factor, set the maximum number of iterations L, set the initial solution state Q, set the termination condition, and set the initial range boundary;
2)随机生成初始解群计算目标函数f(Ψ)的第一目标函数值；2) Randomly generate the initial solution group Calculate the first objective function value of the objective function f(Ψ);
3)从当前解群产生一个位于解空间的新解群Ψ′，同时计算其目标函数f(Ψ′)的第二目标函数值；3) Generate a new solution group Ψ′ in the solution space from the current solution group, and calculate the second objective function value of its objective function f(Ψ′);
4)计算当前解群和新解群所对应的目标函数差Δf＝f(Ψ′)-f(Ψ)；4) Calculate the objective function difference Δf=f(Ψ′)-f(Ψ) corresponding to the current solution group and the new solution group;
5)如果Δf小于0，接受新解群，将Ψ′替换原来的Ψ，f(Ψ′)替换原来的f(Ψ)，如果Δf大于0，则按照蒙特卡洛Metropolis准则确定接受新解群的接受概率Pk，并以该接受概率接受新解群；5) If Δf is less than 0, accept the new solution group, replace the original Ψ with Ψ′, and replace the original f(Ψ) with f(Ψ′). If Δf is greater than 0, determine the acceptance probability Pk of the new solution group according to the Monte Carlo Metropolis criterion, and accept the new solution group with the acceptance probability;
其中，kB是玻尔兹曼常数，一般取8.6173324×10-5，粒子在温度T时趋于平衡的概率为Where kB is the Boltzmann constant, which is usually 8.6173324×10-5 . The probability that a particle will reach equilibrium at temperature T is
6)判断迭代次数是否到达最大迭代次数L，如果没有跳回步骤3)；6) Determine whether the number of iterations has reached the maximum number of iterations L, if not jump back to step 3);
7)判断是否满足中止条件，如果不满足中止条件，则降低初始温度T，此时，可能最大迭代次数不足，适当增加并重置最大迭代次数，跳回步骤3)7) Determine whether the termination condition is met. If the termination condition is not met, reduce the initial temperature T. At this time, the maximum number of iterations may be insufficient. Increase and reset the maximum number of iterations appropriately and jump back to step 3)
8)若满足中止条件，则根据更新后的当前解群求出最优解群，并在最优解群中找出最优的一个解即可,根据预设旋转矩阵公式得到目标旋转矩阵之后将其传递给IMU安装姿态误差补偿单元(6)。8) If the termination condition is met, the optimal solution group is obtained based on the updated current solution group, and the best solution is found in the optimal solution group. Then, the target rotation matrix can be obtained according to the preset rotation matrix formula It is then passed to the IMU mounted attitude error compensation unit (6).
其中，目标函数f(Ψ)为：Among them, the objective function f(Ψ) is:
其中，是估算车速，是观测车速，θ,ψ分别表示滚转角、俯仰角和航向角。in, is the estimated vehicle speed, is to observe the vehicle speed, θ, ψ represent the roll angle, pitch angle and heading angle respectively.
目标旋转矩阵公式：Target rotation matrix formula:
IMU安装姿态误差补偿单元(6)利用得到的IMU和目标旋转矩阵和预设坐标转换矩阵(现有惯导的坐标转换矩阵)将IMU的传感器输出转换到载体坐标系下，输出校正后的加速度fc和角速度ωc。The IMU installation attitude error compensation unit (6) converts the sensor output of the IMU into the carrier coordinate system using the obtained IMU and target rotation matrix and the preset coordinate conversion matrix (the coordinate conversion matrix of the existing inertial navigation), and outputs the corrected accelerationfc and angular velocityωc .
图7为两组实验每个时刻的误差统计图，实验中所用GPS和IMU均为消费级产品，图中横坐标为时间，纵坐标为GPS和推算航迹各时刻的距离误差，图7中上图为对照组，实验全程总误差6530米，图7中下图为实验组，实验全程总误差2322米，由此可以一定程度地量化本发明的IMU数据处理单元(2)对降低航迹误差的作用。FIG7 is a statistical diagram of the errors at each moment of the two groups of experiments. The GPS and IMU used in the experiments are both consumer-grade products. The horizontal axis in the figure is time, and the vertical axis is the distance error of the GPS and the estimated track at each moment. The upper figure in FIG7 is the control group, and the total error of the whole experiment is 6530 meters. The lower figure in FIG7 is the experimental group, and the total error of the whole experiment is 2322 meters. This can quantify the effect of the IMU data processing unit (2) of the present invention on reducing the track error to a certain extent.
本发明提供的惯性测量单元数据补偿方法，由于初始解群是随机的，有抵御外部不稳定因素的能力，使系统鲁棒性增强，同时可以避免陷入局部解的困局，找到全局最优解，此外多起点搜索避免了单个粒子求解的偶然性偏差，并通过设置迭代次数提前结束收敛，保证了求解的快速性。The inertial measurement unit data compensation method provided by the present invention has the ability to resist external unstable factors because the initial solution group is random, so the system robustness is enhanced, and at the same time it can avoid falling into the dilemma of local solution and find the global optimal solution. In addition, the multi-starting point search avoids the accidental deviation of the single particle solution, and ends the convergence in advance by setting the number of iterations, thereby ensuring the rapidity of the solution.
下面对本发明提供的惯性测量单元数据补偿系统进行描述，下文描述的惯性测量单元数据补偿系统与上文描述的惯性测量单元数据补偿方法可相互对应参照。The inertial measurement unit data compensation system provided by the present invention is described below. The inertial measurement unit data compensation system described below and the inertial measurement unit data compensation method described above can be referred to each other.
图8是本发明提供的惯性测量单元数据补偿系统的结构示意图，如图8所示，包括：数据处理模块810、数据获取模块811、安装估算模块812以及数据补偿模块813；FIG8 is a schematic diagram of the structure of the inertial measurement unit data compensation system provided by the present invention, as shown in FIG8 , comprising: a data processing module 810, a data acquisition module 811, an installation estimation module 812 and a data compensation module 813;
数据处理模块810，用于对目标车辆的惯性测量单元IMU的目标数据去噪预处理，以获取第一目标数据；A data processing module 810 is used for pre-processing the target data of the inertial measurement unit IMU of the target vehicle to obtain first target data;
数据获取模块811，用于根据目标车辆的导航信息，获取目标车辆处于预设状态时的航向角和车速；The data acquisition module 811 is used to acquire the heading angle and vehicle speed of the target vehicle when the target vehicle is in a preset state according to the navigation information of the target vehicle;
安装估算模块812，用于根据第一目标数据、航向角和车速，确定目标函数；An estimation module 812 is installed to determine a target function based on the first target data, the heading angle and the vehicle speed;
数据补偿模块813，用于基于多起点模拟退火算法确定目标函数的最优解，并根据最优解，确定IMU相对车体系的姿态，以获取校正后的目标数据；The data compensation module 813 is used to determine the optimal solution of the objective function based on the multi-starting point simulated annealing algorithm, and determine the posture of the IMU relative to the vehicle system according to the optimal solution to obtain the corrected target data;
其中，目标数据包括角速度和加速度；Among them, the target data includes angular velocity and acceleration;
预设状态为以大于预设车速和小于预设航向角速率的直线运动。The preset state is a straight-line motion at a speed greater than a preset vehicle speed and less than a preset heading angular velocity.
本发明提供的惯性测量单元数据补偿系统，结合模拟退火算法实现对安装姿态误差的估算和补偿，能够在车辆载体直线运动且具有一定速度的状态下，估算IMU的安装姿态误差并补偿，提高航迹推算的准确性和稳定性。The inertial measurement unit data compensation system provided by the present invention realizes the estimation and compensation of the installation attitude error in combination with the simulated annealing algorithm. It can estimate and compensate the installation attitude error of the IMU when the vehicle carrier moves in a straight line at a certain speed, thereby improving the accuracy and stability of track calculation.
图9是本发明提供的一种电子设备的结构示意图，如图9所示，该电子设备可以包括：处理器(processor)910、通信接口(communication interface)911、存储器(memory)912和总线(bus)913，其中，处理器910，通信接口911，存储器912通过总线913完成相互间的通信。处理器910可以调用存储器912中的逻辑指令，以执行如下方法：FIG9 is a schematic diagram of the structure of an electronic device provided by the present invention. As shown in FIG9 , the electronic device may include: a processor 910, a communication interface 911, a memory 912 and a bus 913, wherein the processor 910, the communication interface 911 and the memory 912 communicate with each other through the bus 913. The processor 910 may call the logic instructions in the memory 912 to execute the following method:
对目标车辆的惯性测量单元IMU的目标数据去噪预处理，以获取第一目标数据；De-noising and pre-processing target data of an inertial measurement unit (IMU) of a target vehicle to obtain first target data;
根据目标车辆的导航信息，获取目标车辆处于预设状态时的航向角和车速；According to the navigation information of the target vehicle, the heading angle and the speed of the target vehicle when it is in a preset state are obtained;
根据第一目标数据、航向角和车速，确定目标函数；Determine the target function according to the first target data, the heading angle and the vehicle speed;
基于多起点模拟退火算法确定目标函数的最优解，并根据最优解，确定IMU相对车体系的姿态，以获取校正后的目标数据；Determine the optimal solution of the objective function based on the multi-starting point simulated annealing algorithm, and determine the attitude of the IMU relative to the vehicle system based on the optimal solution to obtain the corrected target data;
其中，目标数据包括角速度和加速度；Among them, the target data includes angular velocity and acceleration;
预设状态为以大于预设车速和小于预设航向角速率的直线运动。The preset state is a straight-line motion at a speed greater than a preset vehicle speed and less than a preset heading angular velocity.
此外，上述的存储器中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机电源屏(可以是个人计算机，服务器，或者网络电源屏等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer power screen (which can be a personal computer, a server, or a network power screen, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk.
进一步地，本发明公开一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，计算机能够执行上述各方法实施例所提供的惯性测量单元数据补偿方法，例如包括：Furthermore, the present invention discloses a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, and when the program instructions are executed by a computer, the computer can execute the inertial measurement unit data compensation method provided by the above-mentioned method embodiments, for example, comprising:
对目标车辆的惯性测量单元IMU的目标数据去噪预处理，以获取第一目标数据；De-noising and pre-processing target data of an inertial measurement unit (IMU) of a target vehicle to obtain first target data;
根据目标车辆的导航信息，获取目标车辆处于预设状态时的航向角和车速；According to the navigation information of the target vehicle, the heading angle and the speed of the target vehicle when it is in a preset state are obtained;
根据第一目标数据、航向角和车速，确定目标函数；Determine the target function according to the first target data, the heading angle and the vehicle speed;
基于多起点模拟退火算法确定目标函数的最优解，并根据最优解，确定IMU相对车体系的姿态，以获取校正后的目标数据；Determine the optimal solution of the objective function based on the multi-starting point simulated annealing algorithm, and determine the attitude of the IMU relative to the vehicle system based on the optimal solution to obtain the corrected target data;
其中，目标数据包括角速度和加速度；Among them, the target data includes angular velocity and acceleration;
预设状态为以大于预设车速和小于预设航向角速率的直线运动。The preset state is a straight-line motion at a speed greater than a preset vehicle speed and less than a preset heading angular velocity.
另一方面，本发明还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现以执行上述各实施例提供的惯性测量单元数据补偿方法，例如包括：On the other hand, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to perform the inertial measurement unit data compensation method provided in the above embodiments, for example, including:
对目标车辆的惯性测量单元IMU的目标数据去噪预处理，以获取第一目标数据；De-noising and pre-processing target data of an inertial measurement unit (IMU) of a target vehicle to obtain first target data;
根据目标车辆的导航信息，获取目标车辆处于预设状态时的航向角和车速；According to the navigation information of the target vehicle, the heading angle and the speed of the target vehicle when it is in a preset state are obtained;
根据第一目标数据、航向角和车速，确定目标函数；Determine the target function according to the first target data, the heading angle and the vehicle speed;
基于多起点模拟退火算法确定目标函数的最优解，并根据最优解，确定IMU相对车体系的姿态，以获取校正后的目标数据；Determine the optimal solution of the objective function based on the multi-starting point simulated annealing algorithm, and determine the attitude of the IMU relative to the vehicle system based on the optimal solution to obtain the corrected target data;
其中，目标数据包括角速度和加速度；Among them, the target data includes angular velocity and acceleration;
预设状态为以大于预设车速和小于预设航向角速率的直线运动。The preset state is a straight-line motion at a speed greater than a preset vehicle speed and less than a preset heading angular velocity.
以上所描述的系统实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。The system embodiment described above is merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机电源屏(可以是个人计算机，服务器，或者网络电源屏等)执行各个实施例或者实施例的某些部分所述的方法。Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, a disk, an optical disk, etc., including a number of instructions for a computer power screen (which can be a personal computer, a server, or a network power screen, etc.) to execute the methods described in each embodiment or some parts of the embodiments.
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.
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