KR20110077454A - System and method for determining position and attitude of vehicle - Google Patents

Abstract

PURPOSE: A system and a method for deciding the location and posture of a moving object are provided to accurately estimate errors of bias, posture values and velocity values of a gyro sensor and an acceleration sensor through velocity information and posture information when a GPS(Global Positioning System) receiver is position-fixed normally. CONSTITUTION: A system for deciding the location and posture of a moving object includes a position value calculation unit(113), a speed value calculation unit(114), and a filter(115). The position value calculation unit calculates the position value and posture transformation matrix of the moving object on the basis of a sensor value received from a gyro sensor. The speed value calculation unit calculates the speed value of the moving object on the basis of a sensor value received from an acceleration sensor. The filter estimates errors of the bias, the position value and the speed value of the acceleration sensor and the gyro sensor. The filter estimates the bias of the acceleration sensor on the basis of the posture transformation matrix, the sensor value of the acceleration sensor and gravitational acceleration in the initial operation.

Description

SYSTEM AND METHOD FOR DETERMINING POSITION AND POSITION OF MOVIE

Embodiments in accordance with the present invention relate to systems and methods for determining the position and attitude of a moving object.

The position and attitude calculation system for a black box is a system that outputs the vehicle's attitude and speed using a GPS, a speedometer (for example, a speedometer), a three-axis gyro and a three-axis accelerometer. First, the attitude is calculated using the three-axis gyro, and the velocity is calculated using the three-axis acceleration. By using a filter, an error such as a bias of a gyro and an accelerometer and a conversion coefficient of the speedometer is estimated and compensated for. Then, the position is calculated using the calculated position and velocity, and the position error is estimated and compensated by the filter using the calculated position and the GPS position information. If GPS is not received, the location is obtained using only posture and speed. The position and posture calculation system for the black box is basically designed so that the final position and posture are backed up through the memory when the power is turned off after the initial operation, and the posture is changed from the backed up posture when the power is turned on again. The bias estimation of the gyro sensor and the acceleration sensor has a big influence on the performance of the posture output in the early stage of operation. In most cases, the bias of the gyro sensor does not have a large error because the vehicle remains stationary and does not move during the initial operation. Do not. However, although the acceleration sensor is stationary, gravity acceleration is always active, and when the attitude is inclined, the initial bias estimation is not easy because the acceleration components are divided into three axes. Expensive acceleration sensors can acquire sensor parameter information through experiments and calculate the bias value using this parameter information. However, inexpensive sensors or sensors such as "Black G" (more than 35G) can be used for accident determination such as black boxes. When used, the noise is relatively high and the run-to-run bias is severe, which makes it difficult to estimate the initial bias.

In this specification, a position and posture calculation system and method capable of efficiently calculating a posture of a moving object are proposed.

Position and attitude calculation system and method for estimating the bias of the acceleration sensor based on the attitude transformation matrix calculated based on the vehicle's posture at the initial operation, the gravitational acceleration acting on the stationary moving object and the sensor value which is the output of the acceleration sensor This is provided.

When the GPS receiver is normally position fixed, the speed results along the three axes output from the GPS receiver are converted to the speeds of the navigation coordinate system through the position information of the longitude and latitude, respectively. By calculating, the position and attitude calculation system and method for more accurately estimating the error of the bias, attitude value, and speed value of the gyro sensor and the acceleration sensor through the speed information and the attitude information are provided.

Position and posture calculation system according to an embodiment of the present invention is a posture value calculation unit for calculating the posture value and the attitude transformation matrix of the moving body based on the sensor value received from the gyro sensor, based on the sensor value received from the acceleration sensor And a speed value calculator for calculating a speed value of the moving object and a filter part for estimating errors of bias, attitude value, and speed value of the gyro sensor and the acceleration sensor. At this time, during the initial operation, the filter unit calculates the bias of the acceleration sensor based on the attitude transformation matrix, the gravity acceleration, and the sensor values of the acceleration sensor.

According to an aspect of the present invention, the filter unit may estimate the error and the error of the conversion coefficient of the speedometer based on the speed information received from the speedometer of the moving object, the attitude value and the speed value measured at a previous time, respectively.

According to an aspect of the present invention, the filter unit may estimate the error based on the speed information received from the GPS receiver of the moving object, the attitude value measured at the previous time, and the speed value, respectively.

According to one aspect of the invention, the posture value may include a measurement value for at least one of a roll, pitch and yaw of the moving object. In this case, the attitude transformation matrix may be calculated based on a trigonometric function using the measured value as an angle.

Position and posture calculation system according to an embodiment of the present invention is a posture value calculation unit for calculating the posture value of the moving body based on the sensor value received from the gyro sensor, the speed value of the moving body based on the sensor value received from the acceleration sensor And a filter unit for estimating an error of each of the bias, attitude value, and speed value of the gyro sensor and the acceleration sensor based on the speed information and attitude information, the attitude value, and the speed value received from the GPS receiver. . At this time, the speed information is calculated by converting the speed results along the three axes output from the GPS receiver to the speed of the navigation coordinate system through the position information of the longitude and latitude, respectively, and the attitude information is calculated through the calculation between the converted speeds.

The position and posture calculation method according to an embodiment of the present invention is to calculate the posture value and the posture transformation matrix of the moving body based on the sensor value received from the gyro sensor, the speed of the moving body based on the sensor value received from the acceleration sensor Computing the value, estimating the error of each of the bias, attitude value and speed value of the gyro sensor and the acceleration sensor. In this case, the estimating of the error may include calculating a bias of the acceleration sensor based on the posture transformation matrix, the gravity acceleration, and the sensor value of the acceleration sensor during the initial operation.

The position and posture calculation method according to an embodiment of the present invention is to calculate the posture value of the moving body based on the sensor value received from the gyro sensor, calculating the speed value of the moving body based on the sensor value received from the acceleration sensor Estimating an error of each of the bias, attitude value and speed value of the gyro sensor and the acceleration sensor based on the speed information and the attitude information, the attitude value and the speed value received from the GPS receiver. At this time, the speed information is calculated by converting the speed results along the three axes output from the GPS receiver to the speed of the navigation coordinate system through the position information of the longitude and latitude, respectively, and the attitude information is calculated through the calculation between the converted speeds.

In the initial operation, the bias of the acceleration sensor may be estimated based on the attitude transformation matrix calculated based on the vehicle attitude, the gravitational acceleration acting on the stationary moving object, and the sensor value output from the acceleration sensor.

When the GPS receiver is normally position fixed, the speed results along the three axes output from the GPS receiver are converted to the speeds of the navigation coordinate system through the position information of the longitude and latitude, respectively. By calculating, the velocity information and the attitude information may be more accurately estimated than the error of the bias, attitude value, and speed value of the gyro sensor and the acceleration sensor.

In addition to navigational information such as the position, speed, and acceleration of the moving object and basic sensor output, the attitude information is output through its own self-world production. In addition, the attitude of the moving object can be used as information useful for analyzing, reproducing, and reconstructing the situation.

Hereinafter, various embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

Position and attitude calculation system according to embodiments of the present invention is a system that can be used in a black box, etc. to calculate and output the position, attitude and speed of the vehicle through the information received from the GPS receiver and the speedometer, the gyro sensor and the acceleration sensor. .

The position and attitude calculation system first calculates an attitude using a gyro sensor and calculates a speed using an acceleration sensor. Such a position and attitude calculation system may use two filters.

In the first filter, the calculated position and speed, speed information received from the speedometer, and speed and attitude information received from the GPS receiver are used to estimate errors such as the bias error of the gyro sensor and the acceleration sensor or the conversion factor of the speedometer. This will be compensated.

At this time, the position of the moving object is calculated using the attitude and velocity calculated by the first gyro sensor and the acceleration sensor, and the second filter estimates the position error by using the calculated position value and the position information received from the GPS receiver. To compensate.

Alternatively, a single filter may estimate and compensate not only an error of a bias of a gyro sensor and an acceleration sensor and a conversion factor of a speedometer, but also an error of a value of a calculated position.

Basically, the position and posture calculation system according to the present embodiments may be designed such that the final position and posture are backed up through the memory when the power is turned off after the initial operation, and the backed up values are returned when the power is turned on again. Can be designed to calculate the position and posture.

In addition, the position and attitude calculation system according to the present embodiments may continuously provide the position, attitude, and speed information even when the GPS receiver is not received. In this case, the position may be calculated using the previously calculated posture and speed without using the position information of the GPS receiver. In other words, even in areas where GPS receivers are not available, such as tunnels or underground parking lots, navigation information can be continuously provided, which can greatly help vehicle accident analysis and reproduction.

1 is an example showing the overall appearance of a position and attitude calculation system according to an embodiment of the present invention. The position and attitude calculation system 110 according to the present embodiment may be used as, for example, a black box. As shown in FIG. 1, the position and posture calculation system 110 includes a gyro sensor 111, an acceleration sensor 112, a posture value calculator 113, a speed value calculator 114, and a first filter unit ( 115). This position and attitude calculation system 110 is also included in the moving body, the speedometer 120, the output of the GPS receiver 130 and the sensor of the gyro sensor 111 and the acceleration sensor 112 that may be further included. It is a system to output the position and speed of moving object through the value. First, the attitude is obtained using the gyro sensor 111 which is a three-axis gyro, and the speed is calculated using the acceleration sensor 112 which is a three-axis accelerometer. The first filter unit 115 may include a bias between the gyro sensor 111 and the acceleration sensor 112, a conversion coefficient of the speedometer 120, and an attitude value that is an output of the attitude value calculator 113 and the speed value calculator 114. And the error of each of the speed values can be used to compensate for this. In addition, the position and attitude calculation system 110 may calculate the position of the moving object through the position value and the speed value, and may estimate and compensate for an error with respect to the position by using the second filter unit 116 further included. . That is, the second filter unit 116 may estimate the error based on the position information received from the GPS receiver, and compensate for the error caused by the position calculated using the posture value and the speed value based on the estimated error. . The position and attitude calculation system 110 may perform the estimation and compensation of the error of the position through the second filter unit 116, which is a separate filter, but does not include the second filter unit 116. 1 filter unit 115 may be performed.

2 is a block diagram illustrating an internal configuration of a position and attitude calculation system according to an exemplary embodiment of the present invention. The position and posture calculation system 200 according to the present embodiment includes a posture value calculator 210, a speed value calculator 220, and a filter 230 as shown in FIG. 2.

The posture value calculator 210 calculates a posture value and a posture transformation matrix of the moving body based on the sensor value received from the gyro sensor. In this case, the posture value may include a measured value for at least one of a roll, pitch, and yaw of the moving object, and the posture transformation matrix is calculated based on a trigonometric function using the measured value as an angle. Can be. In addition, the posture value calculator 210 may further prevent posture divergence by calculating a posture value and a posture transformation matrix by further using speed information received from the speedometer of the moving object.

The speed value calculator 220 calculates a speed value of the moving body based on the sensor value received from the acceleration sensor. At this time, both the posture value calculator 210 and the speed value calculator 220 compensate for the error estimated by the filter unit 230 based on the posture value and the speed value measured at the previous time, and the posture value of the current time. And speed value can be calculated. The filter unit 230 may include a Kalman filter that estimates the current value based on the value estimated at the previous time, that is, recursively.

The filter unit 230 estimates an error of each of the bias, attitude value, and speed value of the gyro sensor and the acceleration sensor. In this case, the filter unit 230 calculates the bias of the acceleration sensor based on the posture transformation matrix, the gravity acceleration, and the sensor value of the acceleration sensor during the initial operation. In the stationary state during the initial operation of the moving body, the estimation of the bias of the accelerometer has a great influence on the error of the attitude value.In general, the bias of the accelerometer is obtained through experiments to determine the operating characteristics of the sensor, Will be calculated. However, whenever the run-to-run bias is severe, the accelerometer can estimate the bias of the accelerometer using the attitude information known in the case of the accelerometer having a large variation in the bias. That is, the filter unit 230 may calculate the bias of the acceleration sensor by using the attitude transformation matrix, which is known attitude information.

When the attitude of the vehicle at the initial departure is expressed through the roll ф , the pitch θ , and the yaw ψ , the attitude transformation matrix may be expressed by Equation 1 below.

"는 자세 변환 행렬을 의미할 수 있다.here, "

May mean an attitude transformation matrix.

In addition, since there is no other acceleration component other than gravity acceleration in the stationary state, the acceleration components for three axes of the moving object in the navigation coordinate system may be represented by a matrix as shown in Equation 2 below.

Here, ' G ' may mean gravity acceleration.

In this case, the acceleration component in the coordinate system for the moving object may be expressed as in Equation 3 below.

Here, " Ax ,"" Ay " and " Az " may each mean an acceleration component for each of the three axes in the coordinate system for the moving object.

The conversion factor for the third axis, respectively "Asfx", "Asfy", "Asfz" La, and the ADC (Analog to Digital Converter) output from the acceleration sensor for each "ADCx", "ADCy" and "ADCz" and the initial bias When " Biasx ", " Biasy " and " Biasz ", the initial bias can be expressed as Equation 4 below.

In this case, when the ADC output is expressed in units of the acceleration output of "m / s ² ", the initial bias may be expressed as in Equation 5 below.

Here, " accx ", " accy ", and " accz " may refer to sensor values output through the acceleration sensor. In this case, the error may be estimated based on the speed information received from the GPS receiver of the moving object, the attitude value and the speed value calculated by the speed value calculator at a previous time.

In another embodiment, the filter unit 230 is a bias, the attitude value and the speed value of the gyro sensor and the acceleration sensor based on the speed information and attitude information received from the GPS receiver, the attitude value and the speed value, respectively. Estimate the error of. That is, after the initial operation described above, when the GPS enters a position fix state normally, the speed information and the posture information provided by the GPS receiver calculate the posture value and the speed value calculation of the position and posture calculation system 200. It can be used as a measure for. At this time, the speed information is calculated by converting the speed results along the three axes output from the GPS receiver into the speed of the navigation coordinate system through the position information of the longitude and latitude, respectively, and the attitude information is calculated through the calculation between the converted speeds. Is calculated.

When the speed information output from the GPS receiver is referred to as " Vx ", " Vy ", and " Vz ", the speed information is converted into a value of the navigation coordinate system using the location information of the longitude and latitude, and can be expressed as in Equation 6 below. have.

는 경도 및 위도의 위치 정보로서 일례로, 다음 수학식 7과 같은 행렬로 표현될 수 있다.here,

Is, for example, position information of longitude and latitude, and may be represented by a matrix as shown in Equation 7 below.

Here, " Lat " may mean latitude, and " Lon " may mean longitude, respectively.

When the speed of the navigation coordinate system is " Vn "," Ve " and " Vd " as in Equation 6, the attitude information using GPS can be calculated as in Equation 8 below.

However, in the calculation of yaw (ψ), yaw (ψ) is 'Vn>0', and 'Ve <0' or 'Vn <0', and when 'Ve <0''360 - yaw (ψ)' It can have a value of.

The filter unit 230 uses the posture information and velocity information calculated as shown in Equation 8, and the posture value and the velocity value calculated at a previous time through the sensor values of the gyro sensor and the acceleration sensor. Compensation is made by estimating the error of each of the and velocity values and (2) the bias of the gyro sensor and the acceleration sensor.

At this time, in both embodiments, the filter unit 230 of the position and attitude calculation system 200 may further estimate the error of each of the attitude value and the speed value by further using the speed information received from the speedometer. At this time, the filter unit 230 may also estimate the error of the conversion coefficient of the speedometer and transmit it to the speedometer.

In addition, the position and posture calculation system 200 may further include a position calculation unit (not shown) that calculates the position of the moving body based on the posture value and the speed value, and the moving body using the posture value, the speed value, and the position. At least one of the posture, speed and position of the information may be provided. Therefore, even when GPS information cannot be received, information such as the position, speed, and attitude of the moving object can be provided to the user.

As described above, when the position and attitude calculation system according to an embodiment of the present invention is used, the output of the acceleration sensor and the gravity acceleration acting on the moving object in the stationary state and the attitude transformation matrix calculated based on the vehicle attitude during the initial operation. The bias of the acceleration sensor can be estimated based on the phosphorus sensor value. Alternatively, when the GPS receiver is normally position fixed, the speed results along the three axes output from the GPS receiver are converted into the speeds of the navigation coordinate system through the position information of the longitude and latitude, respectively, and the calculation between the converted speeds is performed. Through the calculation, the velocity information and the attitude information can be more accurately estimated than the error of the bias, attitude value and speed value of the gyro sensor and the acceleration sensor. In the present embodiment, the position and attitude calculation system 200 has been described according to two cases of the initial operation of the moving body and thereafter, but may be operated according to each case in one position and attitude calculation system 200. Of course it is.

In addition, by using the position and attitude calculation system according to an embodiment of the present invention, in addition to the navigation information such as the position, speed and acceleration of the moving body and the basic sensor output, by outputting the attitude information through its own magnetic world, general contact In addition to accidents and collisions, accidents caused by sudden instability in a vehicle such as a vehicle overturning or sliding can be used as useful information for accident analysis, reproduction, and situation reconstruction through the vehicle's attitude information. In addition, even if the GPS receiver is not working or cannot receive information from the GPS receiver, the GPS information is continuously calculated and output through the gyro sensor, acceleration sensor, and speedometer, and the position can be calculated using this. Underground parking lots and tunnels that do not receive can continue to provide navigation solutions.

3 is a flowchart illustrating a position and attitude calculation method according to an embodiment of the present invention. The position and posture calculation method according to the present embodiment may be performed through the position and posture calculation system 200 according to the first embodiment of the position and posture calculation system 200 described with reference to FIG. 2. In FIG. 3, the position and attitude calculation method will be described by describing a process in which each step is performed through the position and attitude calculation system 200.

In step 310, the position and attitude calculation system 200 calculates the attitude value and the attitude transformation matrix of the moving object based on the sensor value received from the gyro sensor. In this case, the posture value may include a measured value for at least one of a roll, pitch, and yaw of the moving object, and the posture transformation matrix may be calculated based on a trigonometric function using the measured value as an angle. In addition, the position and posture calculation system 200 may further prevent posture divergence by calculating a posture value and a posture transformation matrix by further using speed information received from the speedometer of the moving object.

In step 320, the position and attitude calculation system 200 calculates the speed value of the moving object based on the sensor value received from the acceleration sensor. In this case, the position and attitude calculation system 200 compensates for the error estimated through the filter based on the attitude value and the velocity value measured at the previous time in steps 310 and 320, The speed value can be calculated. Such a filter may include a Kalman filter that estimates the current value based on the value estimated at the previous time, that is, recursively. Such estimation of the error may be performed in step 330.

In step 320, the position and attitude calculation system 200 estimates the error of each of the bias, attitude and velocity values of the gyro sensor and the acceleration sensor. In this case, the position and posture calculation system 200 calculates the bias of the acceleration sensor based on the posture transformation matrix, the gravity acceleration, and the sensor values of the acceleration sensor during the initial operation. In the stationary state during the initial operation of the moving body, the estimation of the bias of the accelerometer has a great influence on the error of the attitude value.In general, the bias of the accelerometer is obtained through experiments to determine the operating characteristics of the sensor, Will be calculated. However, whenever the run-to-run bias is severe, the accelerometer can estimate the bias of the accelerometer using the attitude information known in the case of the accelerometer having a large variation in the bias. That is, the position and attitude calculation system 200 may calculate the bias of the acceleration sensor by using the attitude transformation matrix, which is known attitude information.

First, the axis of the navigation coordinate system may be defined as shown in FIG. 4, for example. Figure 4 is an example showing the axis of the navigation coordinate system available in the position and attitude calculation system according to an embodiment of the present invention.

When the attitude of the vehicle at the initial departure is expressed through the roll ф , the pitch θ , and the yaw ψ , the attitude transformation matrix may be expressed by Equation 1 described above.

In addition, since there is no acceleration component other than gravity acceleration in the stationary state, the acceleration components for three axes of the moving object in the navigation coordinate system may be expressed by the matrix as shown in Equation 2 above.

In this case, the acceleration component in the coordinate system for the moving object may be expressed as in Equation 3 above.

The conversion factor for the third axis, respectively "Asfx", "Asfy", "Asfz" La, and the ADC (Analog to Digital Converter) output from the acceleration sensor for each "ADCx", "ADCy" and "ADCz" and the initial bias When " Biasx ", " Biasy " and " Biasz ", the initial bias may be expressed as in Equation 4 described above.

In this case, when the ADC output is expressed in units of acceleration output of “m / s ² ”, the initial bias may be expressed as in Equation 5 described above.

Here, " accx ", " accy ", and " accz " may refer to sensor values output through the acceleration sensor. In this case, the error may be estimated based on the speed information received from the GPS receiver of the moving object, the attitude value and the speed value calculated by the speed value calculator at a previous time. At this time, the position and attitude calculation system 200 may further estimate the error of each of the attitude value and the speed value by further using the speed information received from the speedometer. In this case, the position and attitude calculation system 200 may also estimate the error of the conversion coefficient of the speedometer and transmit it to the speedometer.

5 is an example illustrating a process of calculating the bias of the acceleration sensor in the position and attitude calculation system according to an embodiment of the present invention. Assuming that the position and posture calculation system according to the present embodiment includes the acceleration sensor 510 and the posture value calculator 520, the posture value calculator 520 calculates the output 530 of the acceleration sensor 510. By subtracting the result of the multiplication operation of the posture transformation matrix 540 and the matrix of gravity acceleration 550 expressed as in Equation 2, the bias 560 of the acceleration sensor 510 can be calculated. At this time, the position and attitude calculation system stores the last posture value in the memory at the end, and the bias 560 of the acceleration sensor 510 through the posture transformation matrix 540 calculated through the last posture value stored in the memory at the first operation. Can be calculated.

As described above, when the position and attitude calculation method according to the embodiment of the present invention is used, the attitude transformation matrix calculated based on the vehicle attitude and the gravitational acceleration and the acceleration sensor output to the stationary vehicle during the initial operation The bias of the acceleration sensor can be estimated based on the phosphorus sensor value.

6 is a flowchart illustrating a position and attitude calculation method according to another embodiment of the present invention. The position and posture calculation method according to the present embodiment may be performed through the position and posture calculation system 200 according to the second embodiment of the position and posture calculation system 200 described with reference to FIG. 2. In FIG. 6, a method of calculating a position and a posture will be described by describing a process of performing each step through the position and posture calculation system 200.

In step 310, the position and attitude calculation system 200 calculates the attitude value and the attitude transformation matrix of the moving object based on the sensor value received from the gyro sensor. In this case, the posture value may include a measured value for at least one of a roll, pitch, and yaw of the moving object, and the posture transformation matrix may be calculated based on a trigonometric function using the measured value as an angle.

In step 320, the position and attitude calculation system 200 calculates the speed value of the moving object based on the sensor value received from the acceleration sensor. In this case, the position and attitude calculation system 200 compensates for the error estimated through the filter based on the attitude value and the velocity value measured at the previous time in steps 310 and 320, The speed value can be calculated. Such a filter may include a Kalman filter that estimates the current value based on the value estimated at the previous time, that is, recursively. Such estimation of the error may be performed in step 330.

In operation 320, the position and attitude calculation system 200 may determine the bias, the attitude value and the bias of the gyro sensor and the acceleration sensor based on the speed information and the attitude information, the attitude value and the speed value received from the GPS receiver. Estimate the error of each of the speed values. That is, after the initial operation described above, when the GPS enters a position fix state normally, the speed information and the posture information provided by the GPS receiver calculate the posture value and the speed value calculation of the position and posture calculation system 200. It can be used as a measure for. At this time, the speed information is calculated by converting the speed results along the three axes output from the GPS receiver into the speed of the navigation coordinate system through the position information of the longitude and latitude, respectively, and the attitude information is calculated through the calculation between the converted speeds. Is calculated.

When the speed information output from the GPS receiver is referred to as " Vx ", " Vy ", and " Vz ", the speed information is converted into a value of the navigation coordinate system by using the position information of the longitude and latitude, as shown in Equations 6 and 7 above. Can be expressed.

When the speed of the navigation coordinate system is " Vn &quot;," Ve " and " Vd " as in Equation 6, the attitude information using GPS can be calculated as shown in Equation 8.

The position and posture calculation system 200 uses (1) the current time by using the posture information and velocity information calculated as shown in Equation 8, and the posture value and the velocity value calculated in the previous time through the sensor values of the gyro sensor and the acceleration sensor. Compensation is made by estimating the error of each of the attitude value and the speed value of (2) and the bias of the gyro sensor and the acceleration sensor.

At this time, the position and attitude calculation system 200 may further estimate the error of each of the attitude value and the speed value by further using the speed information received from the speedometer. In this case, the position and attitude calculation system 200 may also estimate the error of the conversion coefficient of the speedometer and transmit it to the speedometer.

In addition, the position and posture calculation system 200 may calculate the position of the moving body based on the posture value and the speed value, and obtains at least one piece of information of the posture, the speed, and the position of the moving object by using the posture value, the speed value, and the position. Can provide. Therefore, even when GPS information cannot be received, information such as the position, speed, and attitude of the moving object can be provided to the user.

As described above, using the position and attitude calculation method according to another embodiment of the present invention, when the GPS receiver is normally position fixed, the speed result along three axes output from the GPS receiver is calculated according to the longitude and latitude. By converting the position information into the speed of the navigation coordinate system, and calculating it through the calculation between the converted speeds, the speed information and the attitude information are more accurate than the error of the bias, attitude value, and speed value of the gyro sensor and the acceleration sensor. It can be estimated. In addition, by using the position and attitude calculation method according to an embodiment of the present invention, in addition to the navigation information such as the position, speed and acceleration of the moving object and the basic sensor output, by outputting the attitude information through its own magnetic world, general contact accident In addition to collision accidents, accidents caused by sudden instability in a vehicle such as a vehicle overturning or sliding can be used as useful information for accident analysis, reproduction, and situation reconstruction through the vehicle's attitude information. In addition, even if the GPS receiver is not working or cannot receive information from the GPS receiver, the GPS information is continuously calculated and output through the gyro sensor, acceleration sensor, and speedometer, and the position can be calculated using this. Underground parking lots and tunnels that do not receive can continue to provide navigation solutions.

Embodiments according to the present invention can be implemented in the form of program instructions that can be executed by various computer means can be recorded on a computer readable medium. Computer-readable media may include, alone or in combination with the program instructions, file data, data structures, and the like. The program instructions recorded on the media may be those specially designed and constructed for the present invention, or they may be of the kind well-known and available to those having skill in the computer software arts. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tape, optical media such as CD-ROMs, DVDs, and magnetic disks, such as floppy disks. Magneto-optical media, and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine code generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like. Hardware devices may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

In the present invention as described above has been described by the specific embodiments, such as specific components and limited embodiments and drawings, but this is provided to help a more general understanding of the present invention, the present invention is not limited to the, Various modifications and variations can be made by those skilled in the art to which the present invention pertains.

Therefore, the spirit of the present invention should not be limited to the described embodiments, and all of the equivalents or equivalents of the claims as well as the claims to be described later will belong to the scope of the present invention. .

1 is an example showing the overall appearance of a position and attitude calculation system according to an embodiment of the present invention.

2 is a block diagram illustrating an internal configuration of a position and attitude calculation system according to an exemplary embodiment of the present invention.

3 is a flowchart illustrating a position and attitude calculation method according to an embodiment of the present invention.

Figure 4 is an example showing the axis of the navigation coordinate system available in the position and attitude calculation system according to an embodiment of the present invention.

5 is an example illustrating a process of calculating the bias of the acceleration sensor in the position and attitude calculation system according to an embodiment of the present invention.

6 is a flowchart illustrating a position and attitude calculation method according to another embodiment of the present invention.

<Explanation of symbols for the main parts of the drawings>

110: position and attitude calculation system

111: gyro sensor

112: acceleration sensor

113: posture value calculation unit

114: speed value calculation unit

115: filter unit

120: speedometer

130: GPS receiver

Claims (13)

A posture value calculator configured to calculate a posture value and a posture transformation matrix of the moving body based on the sensor value received from the gyro sensor; A speed value calculator configured to calculate a speed value of the moving body based on a sensor value received from an acceleration sensor; And Filter unit for estimating the error of the bias, the attitude value and the speed value of the gyro sensor and the acceleration sensor Including, The filter unit, And, during an initial operation, estimate a bias of the acceleration sensor based on the attitude transformation matrix, gravity acceleration, and sensor values of the acceleration sensor. The method of claim 1, The filter unit, And estimating an error of the error and the conversion coefficient of the speedometer, respectively, based on the speed information received from the speedometer of the moving object, the attitude value and the speed value measured at a previous time. The method of claim 1, The filter unit, And estimating the error based on the speed information received from the GPS receiver of the moving object, the attitude value calculated at the speed value calculator and the speed value at a previous time, respectively. The method of claim 1, The posture value comprises a measurement for at least one of a roll, pitch and yaw of the moving object. 5. The method of claim 4, And the attitude transformation matrix is calculated based on a trigonometric function of the measured values as angles. The method of claim 1, Position calculation unit for calculating the position of the moving body based on the posture value and the speed value Further comprising, position and posture calculation system. The method of claim 6, A position and attitude calculation system for providing information on at least one of the position, the speed, and the position of the moving object using the position value, the speed value, and the position. The method of claim 1, The posture value calculation unit, And calculating the attitude value and the attitude transformation matrix by further using speed information received from the speedometer of the moving object. A posture value calculator configured to calculate a posture value of the moving body based on the sensor value received from the gyro sensor; A speed value calculator configured to calculate a speed value of the moving body based on a sensor value received from an acceleration sensor; And A filter unit for estimating a bias of the gyro sensor and the acceleration sensor, an error of each of the attitude value and the speed value based on the speed information and the attitude information received from the GPS receiver, the attitude value and the speed value Including, The speed information is calculated by converting the speed results along the three axes output from the GPS receiver to the speed of the navigation coordinate system through the location information of the longitude and latitude, respectively. Wherein the attitude information is calculated through calculation between the converted velocities. 10. The method of claim 9, The filter unit, And estimating an error of the error and a conversion factor of the speedometer based on speed information received from the speedometer of the moving object, a posture value and a speed value calculated at a previous time. 10. The method of claim 9, The posture value includes a measurement of at least one of a roll, a pitch, and a yaw of the movable body; And the attitude transformation matrix is calculated based on a trigonometric function of the measured values as angles. Calculating a posture value and a posture transformation matrix of the moving body based on the sensor value received from the gyro sensor; Calculating a speed value of the moving body based on a sensor value received from an acceleration sensor; And Estimating an error of each of the bias, the attitude value, and the speed value of the gyro sensor and the acceleration sensor; Including, Estimating the error, And calculating a bias of the acceleration sensor based on the attitude transformation matrix, the gravity acceleration, and the sensor value of the acceleration sensor during initial operation. Calculating a posture value of the moving body based on the sensor value received from the gyro sensor; Calculating a speed value of the moving body based on a sensor value received from an acceleration sensor; And Estimating an error of the bias, the attitude value, and the speed value of the gyro sensor and the acceleration sensor based on the speed information and the attitude information received from the GPS receiver, the attitude value, and the speed value. Including, The speed information is calculated by converting the speed results along the three axes output from the GPS receiver to the speed of the navigation coordinate system through the location information of the longitude and latitude, respectively. And the attitude information is calculated through calculation between the converted speeds.

Images