阅读说明：本技术 一种车辆里程校准方法、装置及存储介质 (A kind of vehicle mileage calibration method, device and storage medium ) 是由 胡阳 施忠继 贾腾龙 刘奋 于 2019-09-22 设计创作，主要内容包括：本发明涉及一种车辆里程校准方法、装置及存储介质,属于汽车电子信息技术领域。该方法包括：基于轮式车辆的曲线运动模型,计算一定距离内车辆推算坐标与GPS定位坐标间的误差值；建立车辆里程的误差方程,根据误差值及误差方程,通过递推最小二乘法拟合误差参数；根据误差参数修正车辆里程。通过该方案可以递推校准车辆里程,保证能够车辆里程计数的准确。(The present invention relates to a kind of vehicle mileage calibration method, device and storage mediums, belong to automobile electronic information technical field.This method comprises: the curvilinear motion model based on wheeled vehicle, calculates the error amount in certain distance between vehicle projected coordinate and GPS positioning coordinate；The error equation for establishing vehicle mileage passes through least square method of recursion error of fitting parameter according to error amount and error equation；Vehicle mileage is corrected according to error parameter.Vehicle mileage can be calibrated with recursion with this solution, guarantee the accurate of vehicle mileage counting.)

1. a kind of vehicle mileage calibration method characterized by comprising

Curvilinear motion model based on wheeled vehicle calculates the mistake in preset distance between vehicle projected coordinate and GPS positioning coordinate Difference；

The error equation for establishing vehicle mileage, it is quasi- by least square method of recursion according to the error amount and the error equation Close error parameter；

Vehicle mileage is corrected according to the error parameter.

2. the method according to claim 1, wherein the motion model packet based on wheeled vehicle odometer It includes:

According to the motion model and current vehicle position, vehicle projected coordinate is calculated:

Wherein, [x y θ] is the pose of current vehicle, and [dx dy d θ] is kinematic increment, for vehicle location (x, y) Kinematics increment existsD θ indicates angle step, and θ is two adjacent moment vehicles around the angle of circular motion Degree, r are the radius of vehicle circular motion.

3. method according to claim 1 or 2, which is characterized in that described to establish error equation specifically:

Wherein, [ε_x ε_y ε_θ] be position and angle the margin of error, [x y θ] indicate vehicle current time pose, [dx dy d θ] be vehicle location and angle kinematics increment, x and y indicate the two-dimensional coordinate position of vehicle, and θ is two adjacent moment locomotives Around circular motion angle.

4. passing through recursive least-squares the method according to claim 1, wherein described according to the error amount Method error of fitting parameter specifically:

Using the input data of vehicle combination inertial navigation as true valueData setting by odometer measurement is u_i, then there is linear close It is equation:

When the linear relationship equation be overdetermined equation, by least square method of recursion solve over-determined systems, obtain error ginseng Number.

5. the method according to claim 1, wherein described include: based on error parameter amendment vehicle mileage

Error parameter is substituted into vehicle inertial navigation system and wheel speed meter, the error as caused by car gage, wheel diameter is corrected.

6. a kind of vehicle mileage calibrating installation characterized by comprising

It is fixed to calculate vehicle projected coordinate and GPS in preset distance for the curvilinear motion model based on wheeled vehicle for computing module Error amount between the coordinate of position；

Fitting module, according to the error amount and the error equation, passes through recursion for establishing the error equation of vehicle mileage Least square method error of fitting parameter；

Correction module, for correcting vehicle mileage according to the error parameter.

7. device according to claim 6, which is characterized in that the motion model packet based on wheeled vehicle odometer It includes:

According to the motion model and current vehicle position, vehicle projected coordinate is calculated:

Wherein, [x y θ] is the pose of current vehicle, and [dx dy d θ] is kinematic increment, for vehicle location (x, y) Kinematics increment existsD θ indicates angle step, and θ is two adjacent moment vehicles around the angle of circular motion Degree, r are the radius of vehicle circular motion.

8. device according to claim 6, which is characterized in that it is described according to the error amount, pass through recursive least-squares Method error of fitting parameter specifically:

Using the input data of vehicle combination inertial navigation as true valueData setting by odometer measurement is u_i, then there is linear close It is equation:

When the linear relationship equation be overdetermined equation, by least square method of recursion solve over-determined systems, obtain error ginseng Number.

9. a kind of device, including memory, processor and storage can be run in the memory and on the processor Computer program, which is characterized in that the processor is realized when executing the computer program as appointed in claim 1 to 5 The step of one vehicle mileage calibration method.

10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists In realizing the vehicle mileage calibration method as described in any one of claim 1 to 5 when the computer program is executed by processor Step.

Technical field

The present invention relates to automobile electronic information technical field more particularly to a kind of vehicle mileage calibration method, device and deposit Storage media.

Background technique

Automobile is more long using the time, and driving range is longer, and the degree of wear of wheel is also more serious, and air pressure in wheel, Surface abrasion degree can all change radius of wheel, and then influence wheel speed meter and calculate vehicle moving distance.Passing through vehicle mileage meter When calculating track of vehicle and positioning, can all there be inclined error with practical GPS positioning.

To solve the problems, such as that mileage calculation is not allowed to lead to vehicle location error, currently, more often according to vehicle physical location with The error of theoretical position generates penalty coefficient, to reduce error, but the practical influence generated by wheel of vehicle abrasion, is keeping straight on It is big with the fluctuating error that generates when turning, it is based purely on penalty coefficient and carries out that mileage calibration effect is unstable, and accuracy is not high, cause Keep calibration effect poor.

Summary of the invention

In view of this, the embodiment of the invention provides a kind of vehicle mileage calibration method, device and storage medium, it can be quickly Accurately calibration vehicle mileage corrects data in inertial navigation and wheel speed meter.

In the embodiment of the present invention in a first aspect, providing a kind of vehicle mileage calibration method, comprising:

Curvilinear motion model based on wheeled vehicle calculates in preset distance between vehicle projected coordinate and GPS positioning coordinate Error amount；

The error equation for establishing vehicle mileage passes through recursive least-squares according to the error amount and the error equation Method error of fitting parameter；

Vehicle mileage is corrected according to the error parameter.

In the second aspect of the embodiment of the present invention, a kind of vehicle mileage calibrating installation is provided, comprising:

Computing module, for the curvilinear motion model based on wheeled vehicle, calculate in preset distance vehicle projected coordinate with Error amount between GPS positioning coordinate；

Fitting module, according to the error amount and the error equation, passes through for establishing the error equation of vehicle mileage Least square method of recursion error of fitting parameter；

Correction module, for correcting vehicle mileage according to the error parameter.

In the third aspect of the embodiment of the present invention, a kind of device is provided, including memory, processor and be stored in institute The computer program that can be run in memory and in the processor is stated, the processor is realized when executing the computer program Such as the step of first aspect the method for the embodiment of the present invention.

In the fourth aspect of the embodiment of the present invention, a kind of computer readable storage medium is provided, it is described computer-readable Storage medium is stored with computer program, and first aspect of the embodiment of the present invention is realized when the computer program is executed by processor The step of the method for offer.

5th aspect of the embodiment of the present invention, provides a kind of computer program product, the computer program product packet Computer program is included, realizes that first aspect of the embodiment of the present invention mentions when the computer program is executed by one or more processors The step of the method for confession.

In the embodiment of the present invention, according to the error between the projected coordinate of vehicle in certain distance and GPS positioning coordinate, with And the error equation of vehicle, error parameter is solved by least square method of recursion, and then calibrate to vehicle mileage.By more Secondary test can guarantee that the fitting of error parameter obtains predetermined precision in conjunction with least square method of recursion, to promote mileage school Quasi- accuracy, and fully consider that wheel wear influences based on error equation and the equation of motion, it corrects inertial navigation and wheel generates Influence so that the more reliable stabilization of correction result.

Detailed description of the invention

Fig. 1 is a kind of flow diagram of vehicle mileage calibration method provided in an embodiment of the present invention；

Fig. 2 is a kind of structural schematic diagram of vehicle mileage calibrating installation provided in an embodiment of the present invention.

Specific embodiment

The embodiment of the invention provides a kind of vehicle mileage calibration method, device and storage mediums, are used for accurate alignment vehicle Mileage error.

In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that disclosed below Embodiment be only a part of the embodiment of the present invention, and not all embodiment.Based on the embodiments of the present invention, this field Those of ordinary skill's all other embodiment obtained without making creative work, belongs to protection of the present invention Range.