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CN-120651272-B - Omnidirectional performance evaluation method and related device for inertial measurement unit

CN120651272BCN 120651272 BCN120651272 BCN 120651272BCN-120651272-B

Abstract

The application discloses an omnibearing performance evaluation method and a related device of an inertial measurement unit. The method comprises the step of comprehensively evaluating the performance of the IMU module through noise covariance analysis in a static state, time difference stability test, attitude angle integral test in a splay-like motion and frequency spectrum analysis of an accelerometer. Meanwhile, the RTK information acquired during the movement around the splay is combined for track integral verification, so that the positioning accuracy and stability of the IMU in a complex movement environment are further ensured. According to the application, through the multi-dimensional omnibearing test method, the comprehensive performance of the IMU can be effectively and accurately evaluated, a basis is provided for screening out high-quality IMU modules, and reliable and stable sensor support is provided for an automatic driving vehicle, so that the safety and stability of the whole automatic driving system are improved.

Inventors

  • LI SIQIAN
  • YU ENYUAN
  • MIAO QIANKUN

Assignees

  • 新石器慧通（北京）科技有限公司

Dates

Publication Date
20260505
Application Date
20250715

Claims (10)

  1. 1. An all-round performance evaluation method of an inertial measurement unit, comprising: Acquiring test data of an Inertial Measurement Unit (IMU) to be evaluated, wherein the test data at least comprises a plurality of groups of IMU data and real-time dynamic differential RTK data in a motion process, and each group of IMU data comprises a time stamp, accelerometer data and gyroscope data; performing static analysis on the IMU based on the plurality of groups of IMU data to respectively determine time difference stability between adjacent frames of the IMU and standard deviations of all axes in an accelerometer and a gyroscope of the IMU; Dynamically analyzing the IMU based on the plurality of groups of IMU data and RTK data to respectively perform spectrum analysis on an accelerometer and a gyroscope based on IMU data generated in the motion process to determine a spectrum result of the IMU in the motion process, and performing angle integration and track integration based on IMU data generated in the motion process around the splay to determine an angle and a track of the IMU in the motion process; And sequentially using different analysis results to carry out omnibearing evaluation on the performance of the IMU according to the evaluation priority orders set for the different analysis results.
  2. 2. The method of claim 1, wherein determining the time difference stability between adjacent frames of the IMU comprises: based on the time stamp carried by the test data, respectively calculating the time interval between each adjacent frame of IMU data in the test data; and taking the calculated time interval as the time difference stability between the adjacent frames of the IMU.
  3. 3. The method of claim 1, wherein determining the standard deviation of each axis in the accelerometer and gyroscope of the IMU, in particular comprises: based on the accelerometer data in the test data, the standard deviation of each axis in the accelerometer of the IMU is determined by the following formula: Wherein, the The axial direction of the accelerometer is represented, and the value is x, y and z; the method comprises the steps of collecting the group number of IMU data; Is the first The data of the accelerometer are shown in Taking the value of the shaft; Is an accelerometer Data mean of axes; Based on the gyroscope data in the test data, determining standard deviations of all axes in the gyroscope of the IMU through the following formula: Wherein, the The axial direction of the gyroscope is represented, and the value is x, y and z; is the total amount of acquired IMU data; Is the first Individual gyroscope data is shown in Taking the value of the shaft; Is a gyroscope Data mean of axis.
  4. 4. The method of claim 1, wherein the determining the IMU spectral results during motion by performing spectral analysis on an accelerometer and a gyroscope based on IMU data generated during motion, in particular comprises: based on the accelerometer data and the gyroscope data in the test data, adopting discrete Fourier transform to convert each axis data value in the accelerometer and the gyroscope of the IMU from a time domain signal to a frequency domain signal.
  5. 5. The method of claim 1, wherein determining the IMU angle and trajectory during movement based on angle and trajectory integration of IMU data generated during movement around a splay, in particular comprises: Based on multiple groups of IMU data and RTK data in the splay movement process, the movement track of the IMU in the movement process is respectively determined by the following formulas Speed of Angle and angle : Wherein, the Is the motion trail at the e+1 time, Is the movement track at the e-th moment, Is the speed at time e +1, Is the speed at the time instant e, Indicating the acceleration of gravity and, The gesture matrix is represented as such, Indicating the value of the accelerometer, Indicating the time difference between the e-th moment and the e + 1-th moment, Representing the quaternion at time e +1, Representing the quaternion at time e, Represents a rotation axis of the shaft, The value of the gyroscope is represented, And the initialization track, the speed and the angle in the movement process are all determined by the RTK data.
  6. 6. The method according to any one of claims 1-5, wherein the performance of the IMU is evaluated in an omnidirectional manner using different analysis results in turn, in accordance with an evaluation priority order set for the different analysis results, in particular comprising: Judging whether the track closing error is not smaller than the set percentage of the total motion path, if so, determining that the IMU has hardware faults, otherwise, determining that the IMU has no hardware faults; When the IMU is determined to have no hardware fault, judging whether the maximum deviation of the time difference between adjacent frames of the IMU is smaller than a set time threshold, if so, determining that the IMU has higher data acquisition stability and uniformity, otherwise, determining that the IMU is not available; when the IMU is determined to have higher stability and uniformity, judging whether the standard deviation of each axis in an accelerometer and a gyroscope of the IMU meets a set constraint condition, if so, determining that IMU data of the IMU has smaller noise interference, otherwise, determining that the IMU is unavailable; When the IMU data of the IMU is determined to have smaller noise interference, judging whether the total energy of the IMU data with the frequency signal larger than the set frequency band in the IMU is larger than the set percentage of the standard noise baseline, if so, determining that the IMU needs to be checked, installed rigidly or shock-absorbing, otherwise, determining that the shock absorption of the IMU is reliable.
  7. 7. The method of claim 6, wherein determining whether the standard deviation of each axis in the accelerometer and gyroscope of the IMU meets a set constraint comprises: judging whether the standard deviation of the z-axis in the gyroscope of the IMU is smaller than a first threshold value, if so, determining that the noise of the course angle of the IMU meets a first constraint condition, otherwise, determining that the IMU is not available; When the noise of the course angle of the IMU is determined to meet a first constraint condition, judging whether the z-axis standard deviation in an accelerometer of the IMU is smaller than a second threshold value, if so, determining that the noise of the gravity component of the IMU meets a second constraint condition, otherwise, determining that the IMU is not available; and when the noise of the gravity component of the IMU meets a second constraint condition, judging whether the x-axis standard deviation and the y-axis standard deviation in the gyroscope of the IMU are smaller than a third threshold value and whether the x-axis standard deviation and the y-axis standard deviation in the accelerometer are smaller than a fourth threshold value, if so, determining that the IMU data of the IMU have smaller noise interference, otherwise, determining that the IMU is not available.
  8. 8. An all-round performance evaluation device of an inertial measurement unit, comprising: The system comprises an acquisition module, a measurement module and a gyroscope module, wherein the acquisition module is used for acquiring test data of an Inertial Measurement Unit (IMU) to be evaluated, wherein the test data at least comprises a plurality of groups of IMU data and real-time dynamic differential RTK data in a motion process, and each group of IMU data comprises a time stamp, accelerometer data and gyroscope data; the static analysis module is used for carrying out static analysis on the IMU based on the plurality of groups of IMU data so as to respectively determine the time difference stability between adjacent frames of the IMU and the standard deviation of each axis in the accelerometer and the gyroscope of the IMU; The dynamic analysis module is used for dynamically analyzing the IMU based on the plurality of groups of IMU data and RTK data, so as to respectively perform spectrum analysis on the accelerometer and the gyroscope based on IMU data generated in the motion process to determine an spectrum result of the IMU in the motion process, and perform angle integration and track integration based on IMU data generated in the motion process around the splay to determine the angle and the track of the IMU in the motion process; And the evaluation module is used for carrying out omnibearing evaluation on the performance of the IMU by sequentially using different analysis results according to the evaluation priority orders set for the different analysis results.
  9. 9. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-7.
  10. 10. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-7.

Description

Omnidirectional performance evaluation method and related device for inertial measurement unit Technical Field The application relates to the technical field of intelligent driving, in particular to the technical fields of multidimensional performance analysis, sensor performance evaluation and the like, in particular to an omnibearing performance evaluation method and a related device of an inertial measurement unit. Background The Inertial Measurement Unit (IMU) comprises three single-axis accelerometers and three single-axis gyroscopes, wherein the accelerometers detect acceleration signals of the object in the carrier coordinate system in three independent axes, the gyroscopes detect angular velocity signals of the carrier relative to the navigation coordinate system, angular velocity and acceleration of the object in three-dimensional space are measured, and the gesture of the object is calculated according to the angular velocity and the acceleration signals. These sensor data are critical to achieving accurate control and positioning of devices and systems, and therefore IMUs are of major importance in the area of intelligent driving, auto-assisted driving. In the technical field of automatic driving, selecting an IMU with excellent performance is a premise and a foundation for providing reliable and stable sensor data in the development of automatic driving technology. Therefore, strict factory test verification of IMUs is extremely necessary. However, the existing IMU performance test mode is single, important performance evaluation factors are ignored, and the IMU cannot be accurately tested, so that unstable performance of the factory IMU is caused, abnormal conditions are frequently generated, and potential safety hazards are brought to automatic driving. Disclosure of Invention The application provides an omnibearing performance evaluation method and a related device of an inertial measurement unit, which are used for evaluating the performance of an IMU through omnibearing multiple angles, so that the comprehensiveness and accuracy of the test evaluation of the IMU are improved, and the control reliability and the running safety of an automatic driving vehicle are ensured. The technical scheme is as follows: In a first aspect, an omnidirectional performance assessment method of an inertial measurement unit is provided, including: Acquiring test data of an Inertial Measurement Unit (IMU) to be evaluated, wherein the test data at least comprises a plurality of groups of IMU data and real-time dynamic differential RTK data in a motion process, and each group of IMU data comprises a time stamp, accelerometer data and gyroscope data; performing static analysis on the IMU based on the plurality of groups of IMU data to respectively determine time difference stability between adjacent frames of the IMU and standard deviations of all axes in an accelerometer and a gyroscope of the IMU; Dynamically analyzing the IMU based on the plurality of groups of IMU data and RTK data to respectively determine an IMU frequency spectrum result in the motion process and an IMU angle and track in the motion process; And sequentially using different analysis results to carry out omnibearing evaluation on the performance of the IMU according to the evaluation priority orders set for the different analysis results. In one possible implementation, determining the time difference stability between adjacent frames of the IMU specifically includes: based on the time stamp carried by the test data, respectively calculating the time interval between each adjacent frame of IMU data in the test data; and taking the calculated time interval as the time difference stability between the adjacent frames of the IMU. In one possible implementation, determining standard deviations of axes in an accelerometer and a gyroscope of the IMU specifically includes: based on the accelerometer data in the test data, the standard deviation of each axis in the accelerometer of the IMU is determined by the following formula: Wherein j represents the axial direction of the accelerometer, and the values are x, y and z, n is the group number of the acquired IMU data, acc j_i is the value of the ith accelerometer data on the j axis, and mu acc_j is the data average value of the accelerometer on the j axis; Based on the gyroscope data in the test data, determining standard deviations of all axes in the gyroscope of the IMU through the following formula: Wherein j represents the axial direction of the gyroscope, the values are x, y and z, n is the total quantity of acquired IMU data, gyr j_i is the value of the ith gyroscope data on the j axis, and mu gyr_j is the data average value of the gyroscope on the j axis. In a possible implementation manner, determining a spectrum result of the IMU during the motion process specifically includes: based on the accelerometer data and the gyroscope data in the test data, adopting discrete Fourier transform to conv