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Parameter error calibration method and device and memory medium

A calibration method and error technology, applied in the field of communication, can solve problems affecting measurement accuracy, lack of effective calibration of scale factor error, zero error factor, and data information distortion, so as to improve measurement accuracy, increase parameter error readjustment, and increase calibration the effect of time

Active Publication Date: 2019-11-12
北京神导科技股份有限公司
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

[0004] There are many kinds of errors in inertial navigation devices or equipment. In the prior art, there is only calibration of installation errors, and there is a lack of effective calibration of scale factor errors and zero error factors, which greatly affects the measurement accuracy. After the large original data, and then through the integral operation, the obtained data information often causes serious distortion

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  • Parameter error calibration method and device and memory medium
  • Parameter error calibration method and device and memory medium
  • Parameter error calibration method and device and memory medium

Examples

Experimental program
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Embodiment 1

[0030] Figure 1A It is a flowchart of a parameter error calibration method provided by Embodiment 1 of the present invention. This embodiment can be applied to the situation of calibrating the parameter error of the measurement device in the inertial navigation device or equipment. This method can be implemented by any embodiment of the present invention. The calibration device of the parameter error in is carried out, and this device can realize by software and / or hardware, and generally can be integrated on the inertial navigation device or equipment, and this method specifically comprises the following steps:

[0031] S110. Acquire output information of at least one measurement device in the inertial measurement unit.

[0032] An inertial measurement unit (Inertial measurement unit, IMU) is a device that measures the angular velocity and acceleration of an object in three-dimensional space, and is installed in a device or device that requires motion control, such as a car a...

Embodiment 2

[0052] figure 2 It is a structural block diagram of a parameter error calibration device provided in Embodiment 2 of the present invention, and the device specifically includes: an output information acquisition module 210 , an auxiliary information acquisition module 220 and a parameter error calibration module 230 .

[0053] An output information acquisition module 210, configured to acquire output information of at least one measurement device in the inertial measurement unit;

[0054] Auxiliary information acquisition module 220, used to obtain the output information of the auxiliary correction module and the output information of the barometric altimeter; the auxiliary correction module includes a GPS measurement module and / or an odometer;

[0055] A parameter error calibration module 230, configured to, according to the output information of at least one measuring device in the inertial measurement unit, the output information of the auxiliary correction module, and the...

Embodiment 3

[0074] image 3 A schematic structural diagram of a device provided in Embodiment 3 of the present invention, such as image 3 As shown, the device includes a processor 30, a memory 31, an input device 32 and an output device 33; the number of processors 30 in the device can be one or more, image 3 Take a processor 30 as an example; the device processor 30, memory 31, input device 32 and output device 33 can be connected by bus or other means, image 3 Take connection via bus as an example.

[0075] Memory 31, as a computer-readable storage medium, can be used to store software programs, computer-executable programs and modules, such as the modules corresponding to the parameter error calibration device in Embodiment 2 of the present invention (output information acquisition module 210, auxiliary information acquisition module 220 and parameter error calibration module 230). The processor 30 executes various functional applications and data processing of the device by runn...

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Abstract

The embodiment of the invention discloses a parameter error calibration method and device and a memory medium. The method comprises the steps of obtaining output information of at least one measurement device in an inertial measurement unit; obtaining the output information of an auxiliary correction module and the output information of a barometric altimeter, wherein the auxiliary correction module comprises a GPS measurement module and / or an odometer; and calibrating at least one parameter error of the measurement device in the inertial measurement unit according to the output information ofthe at least one measurement device in the inertial measurement unit, the output information of the auxiliary correction module and the output information of the barometric altimeter. According to the technical scheme provided by the embodiments of the invention, the output information of the at least one measurement device in the inertial measurement unit, the output information of the auxiliarycorrection module and the output information of the barometric altimeter are obtained, the optimum calibration parameter is obtained through utilization of an iteration function of a genetic algorithm, and measurement precision of the inertial measurement unit is improved.

Description

technical field [0001] The embodiments of the present invention relate to the field of communication technologies, and in particular, to a parameter error calibration method, device, equipment, and storage medium. Background technique [0002] With the continuous development of science and technology, inertial navigation technology is widely used in the field of navigation and positioning, and has become an indispensable part of the field of navigation and positioning. [0003] Inertial Navigation (Inertial Navigation) is a technology that obtains the instantaneous velocity and instantaneous position of the target object by measuring the acceleration information of the target object (for example, a vehicle) and automatically performing integral calculations, so as to achieve the purpose of navigation and positioning of the target object; inertial navigation device Or equipment is usually installed inside the target object, does not rely on external information when working, ...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C5/06G01S19/40G01C22/00
CPCG01C25/005G01C5/06G01S19/40G01C22/00
Inventor 时俊宇彭程
Owner 北京神导科技股份有限公司
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