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公开(公告)号：EP3396316A1
公开(公告)日：2018-10-31
申请号：EP16877247.3
申请日：2016-07-04
发明人： SHEN, Xuefeng , CHE, Xianghui , REN, Qiang , CAO, Guangjie , DONG, Guangyang , TU, Rui
IPC分类号： G01C21/16
摘要： The present invention discloses a GNSS-INS vehicle attitude determination method based on a single antenna, including the steps as below: mounting a GNSS antenna at a centroid and in the center of the vehicle, and mounting the IMU measuring unit of the MEMS sensor on the steering shaft of the vehicle; obtaining the position and velocity information of the vehicle by means of the GNSS antenna, obtaining the heading angular speed information of the vehicle by means of the IMU measuring unit; calculating the attitude angle of the vehicle by means of the combination with accelerometer and gyroscope; calculating the heading angle of the vehicle based on the position, velocity, and heading angular speed of the vehicle. By means of a combination of the single antenna GNSS and the IMU/MEMS sensor with a low cost, the attitude and direction are determined based on the kinematics model of the agricultural vehicle. The method combines the advantages of the short-term high precision of the IMU gyroscope and the long-term high stability of the GNSS single antenna, so as to avoid the divergence phenomenon which occurs when using the gyroscope and reduce the noise level of the GNSS attitude determination. Hence, the accuracy of the attitude determination can be increased several times.
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公开(公告)号：EP3364155A1
公开(公告)日：2018-08-22
申请号：EP16854771.9
申请日：2016-07-04
发明人： REN, Qiang , WANG, Jiejun , SHEN, Xuefeng , WEI, Lilong , CUI, Guiyan
IPC分类号： G01C25/00
CPC分类号： G01C25/005 , G01C21/16 , G01C25/00
摘要： A method for initial alignment of an inertial navigation apparatus, comprising the following steps: providing an apparatus loaded with a sensor, and preprocessing the sensor; carrying out relative alignment to calculate an installation error angle of the sensor; carrying out absolute alignment to calculate an installation attitude angle error of the sensor to increase an accuracy of an error attitude angle calculated during the relative alignment. The relative alignment process calculates a relative error attitude angle, the relative error attitude angle being used as the initial value for attitude error in a stat vector in the absolute alignment process, thereby accelerating convergence of the Kalman filter. Alignment precision is further enhanced by the absolute alignment process.
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公开(公告)号：EP3364151A1
公开(公告)日：2018-08-22
申请号：EP16854769.3
申请日：2016-07-04
发明人： TU, Rui , SHEN, Xuefeng , ZHAO, Wenlong , DAI, Wending , YUE, Qiang
CPC分类号： G01C25/00 , G01C17/38 , G01C25/005 , G01P15/18 , G01P21/00
摘要： A precision calibration method of attitude measuring systems is provided. The precision calibration method of attitude measuring systems includes the following steps: calibrating a zero-deviation, a scale coefficient, and a non-orthogonal angle between axes of an accelerometer to the attitude measuring system via an ellipsoid fitting model (S1); compensating original data of the accelerometer using a calculated ellipsoid parameter (S2); calibrating an electronic compass via the ellipsoid fitting model according to compensated accelerometer data (S3); compensating original electronic compass data by the calculated ellipsoid parameter (S4); calculating an attitude according to the compensated data of the accelerometer and compensated data of the electronic compass (S5). The above steps of the method have a reliable calibration result and a high precision with a less time consumption of calibration.
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公开(公告)号：EP3364151B1
公开(公告)日：2020-11-25
申请号：EP16854769.3
申请日：2016-07-04
发明人： TU, Rui , SHEN, Xuefeng , ZHAO, Wenlong , DAI, Wending , YUE, Qiang
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公开(公告)号：EP3396316B1
公开(公告)日：2020-09-30
申请号：EP16877247.3
申请日：2016-07-04
发明人： SHEN, Xuefeng , CHE, Xianghui , REN, Qiang , CAO, Guangjie , DONG, Guangyang , TU, Rui
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公开(公告)号：EP4446190A1
公开(公告)日：2024-10-16
申请号：EP22902632.3
申请日：2022-03-03
发明人： SHEN, Xuefeng , SUN, Fei , REN, Qiang , DONG, Guangyang , FENG, Shaoxi
摘要： Provided are a vehicle control method and apparatus, a device, and a storage medium. The vehicle control method includes: acquiring positioning data output by a global navigation satellite system, GNSS, module and IMU data output by an inertial measurement unit, IMU, module, and acquiring attitude angle data based on the positioning data and the IMU data (S110); acquiring rotation angle information of a vehicle front wheel based on the IMU data, motor position encoder data of an electric steering wheel, and vehicle size data (S 120); acquiring target rotation angle information of the vehicle front wheel based on the positioning data, the attitude angle data, the vehicle size data, the rotation angle information of the vehicle front wheel, and planned path data (S130); generating target control information based on the target rotation angle information, and sending the target control information to the electric steering wheel so that the electric steering wheel rotates based on the target control information (S140).
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公开(公告)号：EP3865914A1
公开(公告)日：2021-08-18
申请号：EP19934347.6
申请日：2019-12-24
发明人： DENG, Haifeng , YUAN, Benyin , SHEN, Xuefeng
摘要： A GNSS/IMU-based tilt measurement system includes a GNSS/IMU receiver. The GNSS/IMU receiver includes a GNSS antenna, a GNSS positioning board, an IMU inertial sensor and a position transfer device. The GNSS antenna is configured to receive a satellite navigation positioning signal. The GNSS positioning board is configured to calculate coordinates of the phase center of the GNSS antenna according to a signal received by the GNSS antenna and use the coordinates of the phase center as reference coordinates for measuring a relative position point. The IMU inertial sensor is configured to measure the acceleration and the angular velocity of the receiver. The relative position transfer medium is configured to connect the reference coordinates and the coordinates of the relative position point to be measured. The position transfer device is configured to implement the measurement function of the relative position point. The present invention aims to achieve reliable and high-precision measurement of the relative position point, so as to replace the traditional GNSS measurement method and the tilt measurement method based on the AHRS technology or the space intersection technology. Additionally, the present invention improves the operation efficiency of the GNSS receiver for fieldwork measurement, reduces the labor intensity of the user, and broadens the application of the GNSS receiver in the fields of digital construction, precision agriculture, intelligent driving and the like.
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8.发明公开
公开(公告)号：EP3489624A1
公开(公告)日：2019-05-29
申请号：EP17864219.5
申请日：2017-06-20
发明人： REN, Qiang , WANG, Jiejun , SHEN, Xuefeng , FENG, Shaoxi , DONG, Guangyang
摘要： An automatic calibration method of an angle sensor for an automatic drive control system of a farm machine includes the following steps. Step S1: Step S1: fixing a steering wheel of the farm machine to make front wheels of a vehicle kept at a fixed angle. Step S2: collecting a plurality of pieces of current position information of the farm machine, and processing the plurality of pieces of current position information to obtain an average value. Step S3: establishing a two-wheel farm machine kinematics model based on a center of a rear axle. Step S4: performing a radius calculation to obtain a set of angle correspondences. Step S5: rotating the farm machine by a preset angle at a constant speed with the rear axle of the farm machine as a center, and performing Step S1 through Step S4;Step S6: after performing Step S5 for several times, performing an angle value fitting calculation to obtain a calibration coefficient. By applying the technique combining vehicle kinematics and high-precision GNSS, a high-precision angle sensor calibration can be realized without the external assisting apparatus and related experiential parameter input, and an automatic calibration can be realized. The present application is suitable for the precise agricultural automatic drive control systems.
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