Azimuth estimation device
阅读说明:本技术 方位推定装置 (Azimuth estimation device ) 是由 宫岛朗 松冈克宏 于 2018-06-22 设计创作,主要内容包括:本发明涉及方位推定装置。具备:卫星数据获取部(101),获取方位推定装置、导航信号的多普勒频移频率;传感器数据获取部(102),从偏航率传感器获取偏航率;多普勒方位推定部(103),推定移动体的方位;状态变量决定部(S14),决定表示方位角的可靠度的状态变量(S);阈值选择部(S16),从用于决定是否采用上述方位作为基准方位的多个组的评价参数阈值群选择上述评价参数阈值群;评价参数计算部(S17),计算用于评价方位的可靠度的多个评价参数;以及采用与否判断部(S18、S19),对多个上述评价参数和上述阈值选择部选择的上述评价参数阈值群进行比较,并基于判断为满足采用条件而决定为采用上述方位作为上述基准方位。(The present invention relates to an azimuth estimating device. The disclosed device is provided with: a satellite data acquisition unit (101) for acquiring Doppler frequency shift frequencies of the navigation signal and the direction estimation device; a sensor data acquisition unit (102) that acquires a yaw rate from a yaw rate sensor; a Doppler direction estimation unit (103) that estimates the direction of the mobile body; a state variable determination unit (S14) for determining a state variable (S) indicating the reliability of the azimuth; a threshold value selection unit (S16) for selecting the evaluation parameter threshold value group from a plurality of evaluation parameter threshold value groups for determining whether or not to adopt the azimuth as a reference azimuth; an evaluation parameter calculation unit (S17) for calculating a plurality of evaluation parameters for evaluating the reliability of the orientation; and a use/non-use determination unit (S18, S19) that compares the plurality of evaluation parameters with the evaluation parameter threshold group selected by the threshold selection unit, and determines to use the azimuth as the reference azimuth based on a determination that a use condition is satisfied.)
1. An azimuth estimating device mounted on a mobile body and sequentially estimating the azimuth of movement of the mobile body, comprising:
a satellite data acquisition unit (101) that acquires, in time series, the Doppler shift frequency of a navigation signal received by a GNSS receiver;
a sensor data acquisition unit (102) that acquires the yaw rate of the mobile body in time series from a yaw rate sensor used in the mobile body;
a Doppler azimuth estimating unit (103) that estimates the azimuth of the mobile body at each time on the basis of an equation that estimates the azimuth of the mobile body at each time, the equation being created on the basis of a plurality of Doppler shift frequencies acquired in time series, and in which an unknown parameter that changes at each time is constrained by an azimuth angle change amount calculated on the basis of the yaw rate;
a state variable determination unit (S14) that determines a state variable (S) that increases according to the elapsed time after a reference azimuth added with the azimuth change amount in autonomous navigation is updated, and that indicates the reliability of the azimuth;
a threshold value selection unit (S16) configured to select, from among a plurality of sets of evaluation parameter threshold value groups for determining whether or not to use the azimuth estimated by the doppler azimuth estimation unit as the reference azimuth, the evaluation parameter threshold value group that easily satisfies a use condition even if the reliability of the azimuth is low, the state variable determined by the state variable determination unit having a value indicating that the reliability of the azimuth is low;
an evaluation parameter calculation unit (S17) which calculates a plurality of evaluation parameters for evaluating the reliability of the azimuth when the Doppler azimuth estimation unit estimates the azimuth; and
and a decision unit (S1, S19) for comparing the plurality of evaluation parameters with the evaluation parameter threshold group selected by the threshold selection unit, and deciding the azimuth estimated by the doppler azimuth estimation unit as the reference azimuth based on the decision that the adoption condition is satisfied.
2. An azimuth estimating device mounted on a mobile body and sequentially estimating the azimuth of movement of the mobile body, comprising:
a satellite data acquisition unit (101) that acquires, in time series, the Doppler shift frequency of a navigation signal received by a GNSS receiver;
a sensor data acquisition unit (102) that acquires the magnitude of the speed of the mobile body in time series from a speed sensor used in the mobile body, and that acquires the yaw rate of the mobile body in time series from a yaw rate sensor used in the mobile body;
a Doppler azimuth estimating unit (103) that estimates the azimuth of the mobile body at each time on the basis of an equation that estimates the azimuth of the mobile body at each time and is created on the basis of the Doppler shift frequencies acquired in time series, wherein the unknown parameter that changes at each time is constrained by the size of the speed of the mobile body and the linearization of the time variation of the clock drift;
a state variable determination unit (S14) that determines a state variable (S) that increases according to the elapsed time after a reference azimuth is updated, the reference azimuth being added with an azimuth change amount calculated based on the yaw rate during autonomous navigation, the state variable indicating the reliability of the azimuth;
a threshold value selection unit (S16) configured to select, from among a plurality of sets of evaluation parameter threshold value groups for determining whether or not to use the azimuth estimated by the doppler azimuth estimation unit as the reference azimuth, the evaluation parameter threshold value group that easily satisfies a use condition even if the reliability of the azimuth is low, the state variable determined by the state variable determination unit having a value indicating that the reliability of the azimuth is low;
an evaluation parameter calculation unit (S17) which calculates a plurality of evaluation parameters for evaluating the reliability of the azimuth when the Doppler azimuth estimation unit estimates the azimuth; and
and a decision unit (S18, S19) for comparing the plurality of evaluation parameters with the evaluation parameter threshold group selected by the threshold selection unit, and deciding the azimuth estimated by the doppler azimuth estimation unit as the reference azimuth based on the decision that the adoption condition is satisfied.
3. The orientation estimation device according to claim 1 or 2,
when the speed of the mobile body is relatively high, the state variable is less increased in accordance with an increase in the elapsed time than when the speed of the mobile body is relatively low.
4. The orientation estimation device according to claim 3,
further comprising a reliability level determination unit (S15) for determining an orientation reliability level based on the state variables determined by the state variable determination unit,
the threshold selection unit (S16) selects the evaluation parameter threshold group based on the azimuth reliability level and the velocity level determined by the reliability level determination unit, the more the azimuth reliability level is a level indicating that the reliability of the azimuth is low, and the more the velocity level is a level having a lower velocity, the less the reliability of the azimuth is, the evaluation parameter threshold group satisfying the adoption condition is selected.
5. The orientation estimation device according to claim 4,
the reliability level determination unit determines the bearing reliability level as a level having the highest reliability when the doppler direction estimation unit can estimate the direction for a predetermined time or more.
6. The orientation estimation device according to any one of claims 1 to 5,
the state variable determining unit sets an initial value of the state variable after the azimuth estimating device is powered on to a previous end value that is a value of the state variable when the azimuth estimating device was powered off last time, and sets the initial value to a preset initial value when the previous end value is not present.
Technical Field
The present disclosure relates to an azimuth estimating device that estimates an azimuth in which a mobile body moves.
Background
In addition, a current position estimation method called autonomous navigation is widely known. In autonomous navigation, the azimuth is updated by adding the amount of change in the azimuth determined from the value detected by the yaw rate sensor to the reference azimuth. The velocity is also estimated from the detection value of a velocity sensor or an acceleration sensor.
The use of the method disclosed in
However, the estimated azimuth has an error, of course, and the error varies every time the azimuth is estimated. Therefore, when the azimuth can be estimated by the method disclosed in
On the other hand, it is widely known that, if autonomous navigation continues, errors in yaw rate detected by the yaw rate sensor are accumulated, and thus errors in azimuth estimation increase. Therefore, even if the time for not updating the reference azimuth is long, the azimuth estimation error continues to be large.
Disclosure of Invention
An object of the present disclosure is to provide an azimuth estimation device capable of suppressing an increase in error of an azimuth estimated in autonomous navigation.
A bearing estimation device according to a first aspect of the present disclosure is a bearing estimation device mounted on a mobile body and sequentially estimating a bearing in which the mobile body moves, the bearing estimation device including: a satellite data acquisition unit that acquires the Doppler frequency shift frequency of a navigation signal received by a GNSS receiver in time series; a sensor data acquisition unit that acquires a yaw rate of the mobile body in time series from a yaw rate sensor used for the mobile body; a Doppler azimuth estimating section that estimates an azimuth of the mobile body based on an equation that estimates an azimuth of the mobile body at each time based on a plurality of Doppler shift frequencies acquired in time series, and an unknown parameter that changes at each time is constrained by an azimuth change amount calculated based on a yaw rate; a state variable determination unit that determines a state variable that increases according to an elapsed time after a reference azimuth, to which an azimuth angle change amount is added during autonomous navigation, is updated, and that indicates the reliability of the azimuth angle; a threshold value selection unit that selects, from among a plurality of sets of evaluation parameter threshold value groups for determining whether or not to use the azimuth estimated by the doppler azimuth estimation unit as a reference azimuth, an evaluation parameter threshold value group that easily satisfies a use condition even if the reliability of the azimuth is low, the state variable determined by the state variable determination unit having a value indicating that the reliability of the azimuth is low; an evaluation parameter calculation unit that calculates a plurality of evaluation parameters for evaluating the reliability of the azimuth when the doppler azimuth estimation unit estimates the azimuth; and a determination unit for comparing the plurality of evaluation parameters with the evaluation parameter threshold group selected by the threshold selection unit, and determining that the azimuth estimated by the doppler azimuth estimation unit is used as the reference azimuth based on the determination that the adoption condition is satisfied.
A bearing estimation device according to a second aspect of the present disclosure is a bearing estimation device mounted on a mobile body and sequentially estimating a bearing in which the mobile body moves, the bearing estimation device including: a satellite data acquisition unit that acquires the Doppler frequency shift frequency of a navigation signal received by a GNSS receiver in time series; a sensor data acquisition unit that acquires a magnitude of a velocity of the moving body in time series from a velocity sensor used in the moving body, and acquires a yaw rate of the moving body in time series from a yaw rate sensor used in the moving body; a doppler direction estimating unit that estimates a direction of the mobile body based on an equation that estimates the direction of the mobile body at each time based on a plurality of doppler shift frequencies acquired in time series, and an unknown parameter that changes at each time is constrained by a linear change in the magnitude of the velocity of the mobile body and a time change in clock drift; a state variable determination unit that determines a state variable that increases in accordance with an elapsed time after a reference azimuth is updated, the reference azimuth being added with an azimuth change amount calculated based on a yaw rate during autonomous navigation, and that indicates the reliability of the azimuth; a threshold value selection unit that selects, from among a plurality of sets of evaluation parameter threshold value groups for determining whether or not to use the azimuth estimated by the doppler azimuth estimation unit as a reference azimuth, an evaluation parameter threshold value group that easily satisfies a use condition even if the reliability of the azimuth is low, the state variable determined by the state variable determination unit having a value indicating that the reliability of the azimuth is low; an evaluation parameter calculation unit that calculates a plurality of evaluation parameters for evaluating the reliability of the azimuth when the doppler azimuth estimation unit estimates the azimuth; and a determination unit for comparing the plurality of evaluation parameters with the evaluation parameter threshold group selected by the threshold selection unit, and determining that the azimuth estimated by the doppler azimuth estimation unit is used as the reference azimuth based on the determination that the adoption condition is satisfied.
These azimuth estimating apparatuses determine a state variable indicating the magnitude of the reliability of the azimuth, and the more the state variable indicates that the reliability of the azimuth is low, the evaluation parameter threshold group to which a plurality of evaluation parameters are compared is set as an evaluation parameter threshold group that easily satisfies the adoption condition even if the reliability of the azimuth is low. Thus, the azimuth estimated by the doppler azimuth estimating unit is used as the reference azimuth even if the reliability is sufficiently high. Therefore, the reference azimuth can be easily updated at an early stage, and therefore, an increase in error of the azimuth estimated in autonomous navigation can be suppressed.
Drawings
The above objects, and other objects, features, and advantages of the present disclosure will become more apparent from the following detailed description with reference to the accompanying drawings. In the drawings, wherein:
fig. 1 is a block diagram showing the configuration of a direction estimation device.
Fig. 2 is a flowchart showing a process executed by the doppler direction estimating unit in fig. 1.
Fig. 3 is a flowchart showing a process executed by the INS bearing determination unit shown in fig. 1.
Fig. 4 is a diagram showing an orientation reliability level determination table used in a part of the processing of fig. 3.
Fig. 5 is a diagram showing a threshold group selection table used in a part of the processing of fig. 3.
Fig. 6 is a diagram showing an evaluation parameter threshold group list.
Detailed Description
Hereinafter, embodiments will be described with reference to the drawings. The
< summary of the Structure >
The GNSS
Then, the pseudo range ρ is determined from the extracted navigation signaliDoppler shift frequency DiSatellite position (X)si,Ysi,Zsi) State of satellites, navigation data, etc. The navigation data includes a satellite number of the navigation satellite Si, an ephemeris which is orbit information of the navigation satellite Si, a time when the navigation satellite Si transmits a radio wave, and the like.
Satellite position (X) for each navigation satellite Sisi,Ysi,Zsi) The calculation is performed based on the ephemeris of each navigation satellite Si and the time at which the GNSS radio wave is transmitted. For the pseudorange ρiThe time difference between the time when the navigation satellite Si transmits the GNSS radio wave and the time when the
Doppler shift frequency DiIs the frequency difference between the carrier frequency of the radio wave transmitted by the navigation satellite Si and the carrier frequency of the received GNSS radio wave. The carrier frequency of the radio wave transmitted by the navigation satellite Si is determined in advance, and the frequency is stored in advance in a predetermined storage unit provided in the
The
The
The gyro sensor 4 detects rotational angular velocities around a yaw axis, a pitch axis, and a roll axis of the
The
The
The direction estimating
< overview of processing executed by the
Next, an outline of processing performed by the
The satellite
The sensor
The doppler
[ number 1]
Vst i=Vt wheelGxt icos(θ0+θt gyro)+Vt wheelGyt isin(θ0+θt gyro)-Cbv0-At (1)
(1) The formula (iv) is described as formula (6) in
Satellite directional velocity Vs on the left of equation (1)iCalculated according to equation (2).
[ number 2]
(2) The first term on the right of the equation means the relative speed Vr of the
The processing of the doppler
At S2, the doppler shift frequency D included in the satellite data stored in the satellite
[ number 3]
Vri=-Di·C/F (3)
In S3, the current position P (X) of the
As is widely known, if four or more good-quality navigation signals are received, the position P (X) as an unknown number can be calculated by establishing four or more simultaneous equations using the navigation signalsv,Yv,Zv) And clock drift Cbv. However, the position of the
Therefore, for example, in S3, the current coordinates (X) of the
In addition, the pseudo range ρ may be usediDetermine the position P (X) of the
In S4, a line-of-sight vector (Gx) from the
[ number 4]
In the formula (4), ρt iIs the pseudo range of the navigation satellite Si at time t, (X)t si,Yt si,Zt si) Is the satellite position of the navigation satellite Si at time t. (X)t V,Yt V,Zt V) The current position of the
In S5, the relative speed Vr calculated in S2 is substituted into the above equation (2)iAnd the sight line vector (Gx) calculated in S4i,Gyi,Gzi) And the velocity vector (Vxs) of the navigation satellite Si calculated in S1i,Vysi,Vzsi) To calculate the satellite direction velocity Vs of the
In S6, the satellite direction velocity Vs calculated in S5 is substituted into equation (1)iAnd a relative azimuth angle θ updated using the yaw rate acquired from the sensor
Therefore, three or more satellite direction velocities Vs substituted into equation (1) are establishediRelative azimuth angle thetagyroLine of sight vector (Gx)i,Gyi,Gzi) The latter equation. Then, the simultaneous equations composed of those three or more equations are solved. Thus, the azimuth angle initial value θ serving as an unknown parameter in equation (1) can be obtained0。
If the parameter theta is unknown0、Cbv0And a is after the initial time, the same even if the time is different. Therefore, it is not necessary to create three equations at the same time, and the unknown parameter can be obtained if the total number of equations created at a plurality of times is 3 or more. For example, even if 3 times (t) are assumed0,t1,t2) Is 1, the initial azimuth value θ can be obtained using the observed satellite data0。
The INS
Since the yaw rate is obtained at the sensor value acquisition cycle, the INS bearing
However, the INS bearing
The processing executed by the INS
In S11, it is determined whether or not the doppler
In S12, it is determined whether or not the doppler direction estimation is continued. The doppler direction means a direction estimated by the doppler
If the doppler direction estimation is continued, the error of the estimated direction becomes small, that is, the reliability of the estimated direction becomes high. Therefore, if the determination at S12 is yes, the orientation reliability level is set to the highest level at S13. Further, the value of the state variable S is set to 0. The state variable S is explained in S14. S19 is proceeded to after S13 is executed.
If the determination at S12 is no, the routine proceeds to S14. In S14, a state variable S is calculated. In the present embodiment, the state variable S is calculated using the expression (5).
[ number 5]
In the formula (5), S0Is the initial value of the state variable S. The initial value S0This is a value used until S13 is executed after the power of the
When the previous end value, which is the value of the state variable S at the time of power-off of the previous
In equation (5), tc is an azimuth initial value θ used by the INS
t is the current time, v is the vehicle speed, and A (v) is a value defined with the vehicle speed as a variable. Specifically, when the velocity v is relatively high, a (v) is relatively small, and when the velocity v is relatively low, a (v) is relatively large. For example, a (v) can be set as a function of: when the vehicle speed is 0, a (v) is 0, when the speed v is higher than a certain speed v1, a (v) becomes a1, and when the speed v is lower than the speed v1 and higher than 0, a (v) becomes a2 (> a 1).
The value of a (v) may be a function that continuously decreases as the speed v increases. Further, a (v) may be in the form of a table for determining a value corresponding to the velocity v.
The INS
In S15, the orientation reliability level is determined based on the state variable S and the orientation reliability level determination table shown in fig. 4. In FIG. 4, DIRLVn _ LMT (n is 1 to 5) is a threshold value for the state variable S. Therefore, the orientation reliability level determination table shown in fig. 4 is a table for determining the orientation reliability level based on the value of the state variable S.
In fig. 4, continuation of the azimuth estimation operation means that the doppler azimuth estimation described above is continued. The autonomous navigation means a positioning method for sequentially calculating the movement amount of the
In fig. 4, the greater the value of the azimuth reliability level, the higher the reliability of the azimuth angle θ, in other words, the smaller the error of the azimuth angle θ. In fig. 4, an azimuth reliability level of 7 means that the error is 0.5 degrees or less.
The degree of error when the bearing reliability level is the highest level is determined by measuring in advance how much the difference from the reference value converges. The reference value is a value measured by mounting a high-precision position measurement system including a high-precision gyro sensor, a high-resolution speedometer, and the like used in an aircraft on the
The threshold value for determining the state variable S of the bearing reliability level lower than the highest level is also determined by the difference between the actual measurement and the reference value measured by the high-precision position measurement system.
In the next S16, an evaluation parameter threshold group P is selected based on the bearing reliability level and the current velocity v determined in S15, and the threshold group selection table shown in fig. 5. The threshold group selection table is a table for selecting one evaluation parameter threshold group P from a plurality of groups of evaluation parameter threshold groups P.
Each evaluation parameter threshold value group P includes threshold values for a plurality of evaluation parameters (hereinafter, evaluation parameter threshold values). The evaluation parameter threshold is a threshold for evaluating an error of the azimuth estimated by the doppler
Fig. 5 is a table for determining the evaluation parameter threshold group P based on the bearing reliability level and the velocity level. The evaluation parameter threshold groups P1 to P4 shown in fig. 5 are each composed of a plurality of evaluation parameter thresholds. Fig. 6 shows an example of the evaluation parameter threshold values included in the evaluation parameter threshold value groups P1 to P4. In fig. 6, THRE _ VAR1 _ A, THRE _ VAR1 _ B and the like are evaluation parameter thresholds.
In the threshold group selection table shown in fig. 5, the lower the azimuth reliability level, in other words, the lower the azimuth reliability level is a level indicating that the azimuth reliability is low, the lower the reliability is, the evaluation parameter threshold value becomes a value indicating that the azimuth reliability is low. The evaluation parameter threshold value has a value indicating a lower reliability as the speed level is lower.
Similarly to fig. 4, each of the evaluation parameter threshold values constituting the evaluation parameter threshold value group P shown in fig. 5 is obtained from the doppler shift frequency D actually obtained in a state where the difference between the measured reference value and the azimuth estimated by the doppler
Therefore, when the doppler
Therefore, in S17, the doppler shift frequency D at the time of estimating the azimuth by the doppler
For example, the condition that all the evaluation parameters realize the evaluation parameter threshold value can be set. The evaluation parameter threshold value is realized by the evaluation parameter, which means that the evaluation parameter is a value on the side where the reliability of the orientation is higher than the evaluation parameter threshold value.
In addition to the adoption condition, the adoption condition may be satisfied when the evaluation parameter threshold is realized at a predetermined ratio (for example, 8 out) among the plurality of evaluation parameters. Further, a grade may be set for the achievement degree of each evaluation parameter and the evaluation may be made, and whether or not the adoption condition is satisfied may be determined using the total score of all the evaluation parameters.
If the determination at S18 is yes, it can be considered that the reliability of the azimuth estimated by the doppler
In S21, the azimuth angle θ updated in S20 and the latest azimuth reliability level are output to the application program using them. As an example of the application program, there is a position estimation application program for performing autonomous navigation using the azimuth angle θ and the velocity v of the
In the processing of fig. 3, S14 corresponds to a state variable determination unit, S15 corresponds to a reliability level determination unit, S16 corresponds to a threshold selection unit, S17 corresponds to an evaluation parameter calculation unit, and S18 and S19 correspond to a non-use determination unit.
< summary of the embodiments >
The
The embodiments have been described above, but the disclosed technology is not limited to the above-described embodiments, and the following modifications are included in the disclosed scope, and various changes can be made without departing from the gist of the invention in addition to the following.
The flowchart or flowchart process described in this application is configured by a plurality of units (or steps), and each unit is represented as S2, for example. Further, each part may be divided into a plurality of sub-parts, or a plurality of parts may be combined into one part. Further, each unit configured as described above may be referred to as an apparatus, a module, or a method.
<
The formula (1) shown in the above embodiment is such that the following
[ number 6]
Constraint 2Vzt=O
Constraint 3Cbvt=Cbv0+At
As disclosed in
As a constraint, in the case where only the azimuth angle variation is used, V is represented by formula (1)t wheel、θ0And CbvtBecomes an unknown parameter. Therefore, the number of unknown parameters in all time points of the time-series data is "the number of time points × 2+ 1".
In addition, as a constraint condition, when only the time change of the clock drift Cbv is used, V is represented by formula (1)t wheel、θ0、θt gyro、Cbv0And a becomes an unknown parameter, the number of unknown parameters at all times in the time series data is "the number of times × 2+ 3".
In addition, as the constraint condition, when the time change of the clock drift Cbv and the vehicle speed data are used, in the formula (1), θ0、θt gyro、Cbv0And a becomes an unknown parameter, the number of unknown parameters at all times in the time series data is "the number of times × 1+ 3".
<
In the above-described embodiment, the mobile body is a vehicle, but the mobile body may be other than a vehicle.
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