EP3729105A1 - Procédé et dispositif pour faire fonctionner une unité de capteur inertiel pour un véhicule - Google Patents

Procédé et dispositif pour faire fonctionner une unité de capteur inertiel pour un véhicule

Info

Publication number
EP3729105A1
EP3729105A1 EP18816006.3A EP18816006A EP3729105A1 EP 3729105 A1 EP3729105 A1 EP 3729105A1 EP 18816006 A EP18816006 A EP 18816006A EP 3729105 A1 EP3729105 A1 EP 3729105A1
Authority
EP
European Patent Office
Prior art keywords
inertial sensor
data
transformation matrix
correction
matrix
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP18816006.3A
Other languages
German (de)
English (en)
Inventor
Marlon Ramon EWERT
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3729105A1 publication Critical patent/EP3729105A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
    • G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration

Definitions

  • Inertial sensor units detect inertial sensor data, i. Acceleration and rotation rate data.
  • inertial sensor units can be any type of sensor data.
  • inertial sensor units can be any type of sensor data.
  • Capture inertial sensor data of any spatial direction is applied in the three classical spatial directions according to the three-finger rule or right-hand rule. This results in the coordinate system of the inertial sensor.
  • Coordinate system of the vehicle or with the target coordinate systems of other vehicle systems matches.
  • the present invention proposes a method for operating an inertial sensor unit for a vehicle.
  • the method comprises the following steps:
  • Driving direction data is to be understood as existing data that includes information about the direction of travel of the vehicle.
  • Information about the steering angle or cornering of the vehicle include.
  • the yaw rate (yaw rate) can be derived from the wheel speeds together with the steering angle.
  • a correction matrix is a rule for transforming
  • Inertial sensor data with the aim of compensating installation tolerances of the inertial sensor system when installed in the vehicle.
  • a transformation matrix is a rule for transforming
  • Inertial sensor data from the coordinate system of the inertial sensor unit to a target coordinate system may include a rotation of the coordinate system of the inertial sensor unit by 180 °.
  • a target coordinate system may include a rotation of the coordinate system of the inertial sensor unit by 180 °.
  • the change in direction of a spatial direction so that an axis that occupies positive values according to the three-finger rule would be, now occupied with negative values.
  • the transformation matrix may also have scales that deviate from the original coordinate system.
  • the advantage of the method of the present invention is to be found in the fact that a predetermined rule for the transformation of the inertial sensor data can be omitted.
  • Non-volatile memory which is assigned to the inertial sensor unit, are stored.
  • the memory is associated with the inertial sensor unit, which means that the inertial sensor unit can access the memory.
  • the memory itself does not necessarily have to be part of the inertial sensor unit.
  • the memory may be part of a vehicle system with which the inertial sensor unit is coupled.
  • the determination of the transformation matrix then takes place by means of the method of the present invention. This can prevent design and programming errors.
  • Target coordinate system to be developed but it is sufficient to specify or store the desired target coordinate system.
  • the determination of the transformation matrix then takes place automatically by means of the method according to the present invention.
  • the operation of an inertial sensor unit or of units which process data of an inertial sensor unit is made more secure.
  • the step of determining a correction matrix or the step of determining a transformation matrix takes place only in a learning phase of the operation of the inertial sensor unit.
  • Lifetime after installation of the inertial sensor unit in a vehicle is a learning phase. During this time, the essentially automatic configuration and fine adjustment of the inertial sensor unit takes place.
  • a certain time or a certain distance that the vehicle must have covered can be defined.
  • a typical value is 20 km.
  • Configuration activities can be adjusted to the time or the route. It is clear that a trade-off between the accuracy of the configuration and the full use of the inertial sensor unit or the other vehicle systems connected to the inertial sensor unit. It is conceivable that the inertial sensor unit or the other vehicle systems provide a limited range of functions during the learning phase.
  • the method comprises the additional step of combining, wherein in the step the correction matrix and the transformation matrix become one
  • Correction transformation matrix are combined. According to this embodiment, in the step of transforming, the inertial sensor data is then transformed by means of the combined correction transformation matrix.
  • Transformations namely first a correction transformation and then the transformation into the target coordinate system, or vice versa, a single transformation using the correction transformation matrix sufficient. This saves computational resources and can thus speed up the process.
  • the correction transformation matrix is stored in a nonvolatile memory associated with the inertial sensor unit
  • This embodiment has the advantage that the correction transformation matrix need not be recreated each time the inertial sensor unit is restarted, but is retrievably stored in memory.
  • the memory is associated with the inertial sensor unit, which means that the inertial sensor unit can access the memory.
  • the memory itself does not necessarily have to be part of the inertial sensor unit.
  • the memory may be part of a vehicle system with which the inertial sensor unit is coupled. Also conceivable is the correction transformation matrix to test or
  • correction transformation matrix be changed or deleted for diagnostic or maintenance purposes.
  • the filing takes place continuously during the learning phase and when filing the learning phase the further filing is excluded or prevented.
  • a so-called lock i. a lock is placed.
  • Correction transformation matrix made steady adjustments. Accordingly, it is advantageous to store the correction transformation matrix in the nonvolatile memory only when the learning phase ends.
  • the correction matrix is stored in a non-volatile memory
  • This embodiment has the advantage that the correction matrix does not have to be created again every time the inertial sensor unit is restarted, but is retrievable in a memory.
  • the filing takes place continuously during the learning phase and when filing the learning phase the further filing is excluded or prevented.
  • a so-called lock ie a lock
  • adjustments can always be made, in particular, to the correction matrix. Accordingly, it is advantageous to store the correction matrix only in the nonvolatile memory when the learning phase ends.
  • the transformation matrix is stored in a non-volatile memory
  • This embodiment has the advantage that the transformation matrix does not have to be recreated each time the inertial sensor unit is restarted, but is retrievable in a memory.
  • the method comprises the additional step of scaling
  • Inertial sensor data using a scaling matrix Inertial sensor data using a scaling matrix.
  • Another aspect of the present invention is a computer program configured to carry out all the steps of the method according to the present invention.
  • Another aspect of the present invention is a machine-readable storage medium on which the computer program according to the present invention is stored.
  • Another aspect of the present invention is an electronic one
  • a control unit configured to perform all the steps of the method according to the present invention.
  • FIG. 1 flowchart of the method according to the present invention.
  • FIG. 1 shows a flow chart of the method 100 according to the present invention.
  • the method 100 is performed while driving a vehicle having an inertial sensor unit according to the present invention.
  • step 101 inertial sensor data and direction data or
  • Steering angle data can be recorded via corresponding sensors of the vehicle. It is also conceivable that, for example.
  • Direction of travel data on the position of the gear lever or the setting of the drive train, in particular the transmission of the vehicle are detected.
  • a correction matrix for the inertial sensor data is determined as a function of the detected driving direction data or steering angle data.
  • Correction matrix can be used to correct small angle errors caused by installation tolerances of the inertial sensor unit in the vehicle or as part of other vehicle systems in these vehicle systems.
  • Vehicle system for highly accurate position determination it is advantageous that even the smallest angle errors are corrected as early as possible in the signal chain.
  • the determination is based on the comparison of the recorded inertial sensor data, driving direction data and steering angle data. It is conceivable a correction by target-actual comparisons.
  • a transformation matrix for a target coordinate system is dependent on the direction of travel data or steering angle data or
  • This step can take two forms.
  • the adjustment of the inertial sensor data, the direction of travel data or the steering angle data or the wheel speeds can be adjusted
  • Coordinate system of the inertial sensor unit and the target coordinate system done. It may initially go to the rough determination. For example. whether the target coordinate system is built according to the three-finger rule or whether the installation in the vehicle, the coordinate system of the
  • Inertialsensorhim coincides with the coordinate system of the vehicle (sign check).
  • Target coordinate system for example, stored in one of the inertial sensor unit associated memory unit, for example, a non-volatile memory.
  • the memory is associated with the inertial sensor unit, which means that the inertial sensor unit can access the memory.
  • the store itself does not necessarily have to be part of the inertial sensor unit.
  • the memory may be part of a vehicle system with which the inertial sensor unit is coupled.
  • fine-tuning can take place, for example if the
  • Target coordinate system not only multiples of 90 ° to the
  • Coordinate system of the inertial sensor unit is twisted or individual axes of the coordinate systems to apply their positive values in different directions, but when the transformations are more complex.
  • the presence of the target coordinate system is also helpful for the second expression.
  • step 104 the inertial sensor data is transformed by means of the correction matrix or the transformation matrix.
  • the application is also variable. For example. it is conceivable that
  • Transformations take place with different transformation matrices.
  • the transformed inertial sensor data is output.
  • the inertial sensor data can be output via a vehicle communication system, such as, for example, a bus system, such as, for example, CAN, Flexray or Ethernet.
  • a bus system such as, for example, CAN, Flexray or Ethernet.
  • An output via wireless communication means or channels is also conceivable.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Navigation (AREA)
  • Gyroscopes (AREA)

Abstract

L'invention concerne un procédé (100) pour faire fonctionner une unité de capteur inertiel pour un véhicule, comprenant les étapes suivantes : a. détection (101) de données de capteur inertiel, de données de direction de déplacement et/ou de données d'angle de braquage et/ou de vitesses de roues pendant le déplacement du véhicule; b. détermination (102) d'une matrice de correction pour les données de capteur inertiel en fonction des données de direction de déplacement et/ou des données d'angle de braquage détectées; c. détermination (103) d'une matrice de transformation pour les données de capteur inertiel pour un système de coordonnées cible en fonction des données de direction de déplacement et/ou des données d'angle de braquage; d. transformation (104) des données de capteur inertiel au moyen de la matrice de correction et/ou de la matrice de transformation; e. émission (105) des données de capteur inertiel transformées.
EP18816006.3A 2017-12-18 2018-12-06 Procédé et dispositif pour faire fonctionner une unité de capteur inertiel pour un véhicule Withdrawn EP3729105A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017223001.0A DE102017223001A1 (de) 2017-12-18 2017-12-18 Verfahren und Vorrichtung zum Betreiben einer Inertialsensoreinheit für ein Fahrzeug
PCT/EP2018/083754 WO2019121033A1 (fr) 2017-12-18 2018-12-06 Procédé et dispositif pour faire fonctionner une unité de capteur inertiel pour un véhicule

Publications (1)

Publication Number Publication Date
EP3729105A1 true EP3729105A1 (fr) 2020-10-28

Family

ID=64664273

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18816006.3A Withdrawn EP3729105A1 (fr) 2017-12-18 2018-12-06 Procédé et dispositif pour faire fonctionner une unité de capteur inertiel pour un véhicule

Country Status (7)

Country Link
US (1) US20210088547A1 (fr)
EP (1) EP3729105A1 (fr)
JP (1) JP2021507266A (fr)
CN (1) CN111448462A (fr)
DE (1) DE102017223001A1 (fr)
TW (1) TW201932843A (fr)
WO (1) WO2019121033A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111060126B (zh) * 2019-12-31 2022-06-07 东软睿驰汽车技术（沈阳）有限公司 定位方法、装置及车辆
EP3957953A1 (fr) * 2020-08-19 2022-02-23 Aptiv Technologies Limited Système et procédé d'autotest d'unité de mesure de l'inertie (imu)
CN116026370B (zh) * 2023-03-30 2023-06-09 中国船舶集团有限公司第七〇七研究所 基于矩阵等价转换的光纤陀螺误差校准方法及系统

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005033237B4 (de) * 2005-07-15 2007-09-20 Siemens Ag Verfahren zur Bestimmung und Korrektur von Fehlorientierungen und Offsets der Sensoren einer Inertial Measurement Unit in einem Landfahrzeug
DE102005054208B3 (de) * 2005-11-14 2007-06-14 Siemens Ag Verfahren zur Bestimmung von Langzeit-Offset-Drifts von Beschleunigungssensoren in Kraftfahrzeugen
US8855929B2 (en) * 2010-01-18 2014-10-07 Qualcomm Incorporated Using object to align and calibrate inertial navigation system
DE102014202026A1 (de) * 2014-02-05 2015-08-06 Robert Bosch Gmbh Verfahren und Vorrichtung zum Kalibrieren eines Beschleunigungssensors in einem Kraftfahrzeug
DE102015209132A1 (de) * 2015-05-19 2016-11-24 Robert Bosch Gmbh Verfahren zum Betreiben eines Inertialsensors und eines Fahrzeugs, Fahrzeug
IT201600068808A1 (it) * 2016-07-01 2018-01-01 Octo Telematics Spa Procedimento di calibrazione del posizionamento di un dispositivo di bordo per l’acquisizione e la trasmissione a distanza di dati relativi a parametri di moto e di guida di autoveicoli e motoveicoli.

Also Published As

Publication number Publication date
TW201932843A (zh) 2019-08-16
JP2021507266A (ja) 2021-02-22
US20210088547A1 (en) 2021-03-25
CN111448462A (zh) 2020-07-24
DE102017223001A1 (de) 2019-06-19
WO2019121033A1 (fr) 2019-06-27

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