IMU data compensation method and device

Abstract

The invention provides an IMU data compensation method and device. The method comprises the steps that first IMU data collected by an IMU when the moving speed is smaller than a speed threshold valueare acquired; a first conversion relation is calculated according to the first IMU data and the standard IMU data, the installation posture of the IMU corresponds to a first coordinate system, the first conversion relation is a conversion relation between the first coordinate system and a second coordinate system, and the second coordinate system is a coordinate system calibrated based on the gravity direction of the IMU; second IMU data acquired by the IMU during linear movement is acquired, and the second IMU data is converted into third IMU data according to the first conversion relationship; a second conversion relation is calculated according to the third IMU data, the second conversion relation is a conversion relation between a second coordinate system and a third coordinate system,and the third coordinate system is a coordinate system calibrated on the basis of the advancing direction of the IMU during linear movement; and the IMU data acquired by the IMU is compensated by using the first conversion relationship and the second conversion relationship. And the compensated IMU data is relatively high in accuracy, so that the requirement on the mounting posture of the inertial sensor can be reduced.

Description

technical field [0001] The invention relates to the field of measurement technology, in particular to an IMU data compensation method and device. Background technique [0002] An inertial measurement unit (IMU) is a device that measures the three-axis attitude angle and acceleration of an object. Inertial sensors are usually installed on movable platforms such as vehicles and drones, and their measurement data can be used as the basis for detecting the driving status of the movable platform. [0003] Taking the vehicle as an example, it is often necessary to judge the rapid acceleration, deceleration and sharp turn in the detection of the driving state of the vehicle. It is difficult for external equipment to directly obtain the data of the vehicle engine or brake operation and wheel deflection. Therefore, this judgment needs to rely on Measurement data from inertial sensors. For example, if the vehicle peripherals can obtain the acceleration of the vehicle in the forward ...

AI Technical Summary

Problems solved by technology

[0004] This has high requirements for the accuracy of the inertial sensor data, and the accuracy of the inertial sensor measurement data is affected by the installation attitude of the inertial sensor. In order to meet the requirements, the existing method is to ensure a more accurate installation attitude of the inertial sensor. To ensure the accuracy of its measurement data, the existing problem is that there are high requirements for the installation attitude of the inertial sensor: continue to take the vehicle as an example, when installing the inertial sensor on the vehicle, it is necessary to ensure that the inertial sensor installation attitude corresponds to the coordinate system. One of the axes is in the same direction as the vehicle's forward direction to measure the data required for accurate judgment of rapid acceleration and deceleration. At the same time, it is necessary to avoid the tilt of the inertial sensor to reduce the influence of the gravitational acceleration component on the judgment.

Images