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Method and device for measuring speed

A speed measurement and observation value technology, applied in the field of signal processing, can solve problems such as influence and error increase, and achieve the effect of realizing gain, eliminating cumulative error, and high reliability

Active Publication Date: 2019-09-24
浙江福嗳科技有限公司
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AI Technical Summary

Problems solved by technology

The error of speed estimation using the integral of the inertial sensor increases with time, and the speed obtained by using the positioning result to perform the differential operation is affected by the accuracy of the positioning sensor. The existing technical literature does not solve these problems

Method used

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  • Method and device for measuring speed
  • Method and device for measuring speed

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Embodiment Construction

[0048] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0049] like figure 1As shown, the present invention discloses a speed measuring method, the steps are as follows:

[0050] Step 1, initialization: set the sampling point t=0, set the sampling time of the accelerometer and positioning sensor to T, set the sampling time of the gyroscope to N T, where N is a positive integer; determine the weight coefficient w according to the actual situation i ,i=1,2,3,4;

[0051] Step 2, collect data: let t←t+1, get the eastward and northward acceleration a of the measured object at the sampling point t from the accelerometer x,t with a y,t ; Obtain the yaw rate sequence of the measured object from the sampling point t-1 to t from the gyroscope Obtain the position coordinates of the measured object at the ...

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Abstract

The invention discloses a speed measuring method and device. The method includes the following steps of: initialization; data collection; speed observation value and error envelope matrix calculation;speed observation value error coefficient calculation; speed estimated value calculation; and sampling point speed estimated value output. Compared with the prior art, the speed measuring method anddevice of the invention have the following advantages that: the speed measuring method and device can eliminate the cumulative error of inertial sensor integration-based speed estimation; the speed measuring method and device can obtain more accurate speed estimated values and have higher reliability compared with a method or device which applies a positioning system alone to perform differentialoperation; and the speed measuring method and device can obtain a current vehicle condition through analyzing a gyroscope output sequence so as to obtain a speed observation value error coefficient and can realize the automatic adjustment of gain in a speed estimation process, thereby further improving the accuracy of estimation.

Description

technical field [0001] The invention relates to signal processing technology, in particular to a speed measuring method and device. Background technique [0002] In many applications, it is necessary to obtain the moving speed of the target in real time, that is, its speed component value relative to the east and north directions. A common method is to use a speed detector installed on the target to obtain the speed. The document "Niu Yingming, Xiao Xiao, Xia Xisheng, Li Chao, a speed measurement system, application number: CN201310714583.X, application date: 2013-12-20" discloses a speed measurement system for speed detection of vehicles , including at least one speed measurement subsystem, each speed measurement subsystem includes: a plurality of drive modules, a plurality of input voting modules, a plurality of unit processing modules, a speed fusion module, and an output voting module. In the speed measuring system provided by the invention, multiple judgments are made...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01P3/00
Inventor 李泽琦
Owner 浙江福嗳科技有限公司
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