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Course installation error determination method and device, electronic equipment and storage medium

A technology of installation error and heading error, which is applied in the field of navigation, can solve the problems of inaccurate positioning and navigation results, heading installation error, installation error, etc., and achieve the effects of accurate results, enhanced robustness, and low cost

Active Publication Date: 2020-07-17
BEIJING SANKUAI ONLINE TECH CO LTD
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Problems solved by technology

However, when these sensors are installed on the driving equipment, the actual installation position may be inconsistent with the preset installation position, that is, an installation error occurs. If the data collected by the sensor is directly used without considering the installation error, the final positioning and navigation the result will be inaccurate
However, there is currently a lack of an effective way to measure installation errors, especially heading installation errors.

Method used

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  • Course installation error determination method and device, electronic equipment and storage medium
  • Course installation error determination method and device, electronic equipment and storage medium
  • Course installation error determination method and device, electronic equipment and storage medium

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Embodiment Construction

[0031] Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present application can be more thoroughly understood, and the scope of the present application can be fully conveyed to those skilled in the art.

[0032] The original meaning of heading refers to the direction of navigation of an aircraft or ship, usually represented by the angle formed by the route and the reference line in the horizontal plane, and the angle is measured by turning clockwise from the reference line. At present, in the field of autonomous driving such as unmanned vehicles, this word is also used to indicate the direction of travel of unmanne...

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Abstract

The invention discloses a course installation error determination method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a course angle and atrack angle output by an integrated navigation system of driving equipment in a first driving process, wherein the course angle is determined according to a first sensor in the integrated navigationsystem, the track angle is determined according to a second sensor in the navigation system, and the driving strategy of the first driving process is that the driving equipment performs linear drivingat a speed not less than a preset speed; determining a track angle mean value according to the track angle, and determining a course angle mean value according to the course angle; and obtaining a course installation error of the first sensor according to the track angle mean value and the course angle mean value. The invention has the beneficial effects that hardware of driving equipment does not need to be changed, expensive and complex-to-operate equipment such as an electronic level quadrant and a theodolite does not need to be utilized, the robustness of a calculation result is enhancedthrough mean value calculation of data, the cost is low, the result is accurate, and the efficiency is high.

Description

technical field [0001] The present application relates to the technical field of navigation, in particular to a method, a device, an electronic device and a storage medium for determining a heading installation error. Background technique [0002] Various sensors are usually installed in driving equipment, such as global positioning system GPS sensor, inertial measurement unit IMU, etc., to help driving equipment, especially automatic driving equipment, for positioning and navigation. However, when these sensors are installed on the driving equipment, the actual installation position may be inconsistent with the preset installation position, that is, an installation error occurs. If the data collected by the sensor is directly used without considering the installation error, the final positioning and navigation The result will be inaccurate. However, there is currently a lack of an effective way to measure installation errors, especially heading installation errors. Conte...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01S19/23
CPCG01C25/005G01S19/23
Inventor 周小红申浩郝立良高春乐
Owner BEIJING SANKUAI ONLINE TECH CO LTD
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