Coordinate system transformation method for detection of vehicle motion acceleration

Abstract

The invention relates to a coordinate system transformation method for detection of vehicle motion acceleration. The method includes the steps of establishing a correlative relationship between an MEMS (micro-electromechanical system) coordinate system and a geographic coordinate system through MEMS accelerometers and MEMS magnetometers; acquiring an attitude matrix according to outputs of the gyroscopes during navigation; according to the attitude matrix, acquiring a transformation matrix C<n><m> of the MEMS coordinate system and the geographic coordinate system; by the aid of the transformation matrix C<N><M>, transforming an acceleration output by the MEMS accelerometers into a geographic coordinate acceleration; according to a GPS (global positioning system) east velocity V<GPS><E> output by a GPS and a vehicle velocity V<R>, acquiring a relative course angle Psi<N><NB>; according to the related course angle, acquiring a transformation matrix C<N> from the geographic coordinate system to a vehicle body coordinate system; after a calculation method of the transformation matrix C<N> and the transformation matrix C<N><M> is acquired, acquiring a transformation matrix C<M> of the MEMS coordinate system and the vehicle body coordinate system by the Strassen algorithm; according to the transformation matrix C<M> of the MEMS coordinate system and the vehicle body coordinate system, transforming outputs of all of the MEMS gyroscopes and accelerometers to the vehicle body coordinate system.

Description

technical field [0001] The invention relates to the field of computers, in particular to a coordinate system conversion method for vehicle motion acceleration detection. Background technique [0002] At present, with the development of sensor technology and information processing technology, the application of vehicle acceleration detection in the field of automobile insurance is deepening, and the demand for the accuracy of acceleration vector measurement in vehicle motion is constantly increasing. [0003] In order to realize the detection of vehicle motion acceleration, plug-and-play vehicle-mounted equipment is generally used, which includes MEMS accelerometers and gyroscopes. Due to the limitations of the installation location and size, the installation of the vehicle-mounted equipment has greater randomness. Installation problem. At present, the existing products on the market do not process the random installation position, directly collect the synthetic scalar infor...

AI Technical Summary

Problems solved by technology

[0004] In view of the shortcomings of the existing technology in detecting the acceleration of vehicle motion, that is, regardless of the position and direction of the OBD interface, it can ensure that the measurement axis of the MEMS component is consistent with the direction of the vehicle, otherwise errors will occur, which will affect the vehicle attitude judgment results

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