Method, apparatus and computer storage medium for improving performance of relative position sensor

Patent metadata

Field	Value
Publication number	US-2018180445-A1
Application number	US-201615325832-A
Country	US
Kind code	A1
Filing date	Oct 8, 2016
Priority date	Jul 19, 2016
Publication date	Jun 28, 2018
Grant date	—

Abstract

The disclosure discloses a method, apparatus and a computer storage medium for improving performance of a relative position sensor, applied to a measurement apparatus. The measurement apparatus is configured to measure a relative position between a measured object and the measurement apparatus. A relative position sensor and a first auxiliary sensor are disposed on the measurement apparatus. A second auxiliary sensor is disposed on the measured object. The method includes the steps as follows. First measurement data measured by a relative position sensor is acquired, and second measurement data measured by a first auxiliary sensor and a second auxiliary sensor is acquired. An Extended Kalman Filter (EKF) is constructed on the basis of the first measurement data and the second measurement data. The first measurement data is corrected by using the EKF. The disclosure achieves the technical effect of increasing the accuracy of measurement data of a relative position sensor so as to improve dynamic performance of the relative position sensor.

First claim

What is claimed is:

1 . A method for improving performance of a relative position sensor, the method being applied to a measurement apparatus configured to measure a relative position between a measured object and the measurement apparatus, the relative position sensor and a first auxiliary sensor being disposed on the measurement apparatus, and a second auxiliary sensor being disposed on the measured object, the method comprising:
acquiring first measurement data measured by the relative position sensor, and acquiring second measurement data measured by the first auxiliary sensor and the second auxiliary sensor; constructing an Extended Kalman Filter (EKF) on the basis of the first measurement data and the second measurement data; and correcting the first measurement data by using the EKF.

2 . The method for improving performance of a relative position sensor according to claim 1 , wherein the first measurement data comprises:
a relative angle s m a between the measurement apparatus and the measured object, and a relative distance s m ρ between the measurement apparatus and the measured object.

3 . The method for improving performance of a relative position sensor according to claim 2 , wherein the second measurement data comprises:
a component a t _ m x of an acceleration of the measured object in an X axis, and a component a t _ m y of the acceleration of the measured object in a Y axis; a forward speed ν s _ m ν of the measurement apparatus, and a rotation speed ν s _ m ω of the measurement apparatus; and an angle θ s between a positive direction of the measurement apparatus and the Earth's magnetic north pole, and an angle θ t between a positive direction of the measured object and the Earth's magnetic north pole.

4 . The method for improving performance of a relative position sensor according to claim 3 , wherein before the EKF is constructed on the basis of the first measurement data and the second measurement data, the method further comprises:
mathematically modelling a system consisting of the measurement apparatus and the measured object to obtain a mathematical model:

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Assignees

• Ninebot Beijing Tech Co Ltd

Inventors

• Dong Shiqian
• Ren Guanjiao

Classifications

• G01C25/00 Primary

  Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass (testing, calibrating or compensating compasses G01C17/38) · CPC title

• G01C25/005 Primary

  initial alignment, calibration or starting-up of inertial devices · CPC title

• G06F17/13

  Differential equations (using digital differential analysers G06F7/64) · CPC title

• G01C21/1654 Primary

  with electromagnetic compass · CPC title