CN107179080B - Positioning method and device of electronic equipment, electronic equipment and electronic positioning system - Google Patents
Positioning method and device of electronic equipment, electronic equipment and electronic positioning system Download PDFInfo
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- CN107179080B CN107179080B CN201710423867.1A CN201710423867A CN107179080B CN 107179080 B CN107179080 B CN 107179080B CN 201710423867 A CN201710423867 A CN 201710423867A CN 107179080 B CN107179080 B CN 107179080B
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Abstract
The invention discloses a positioning method and device of electronic equipment, the electronic equipment and an electronic positioning system. Wherein, the method comprises the following steps: calculating the estimated pose of the target electronic equipment at a second moment according to the pose information of the target electronic equipment at the first moment and the state increment of the target electronic equipment relative to the first moment at the second moment, wherein the first moment is positioned before the second moment; acquiring first detection data obtained by detecting the beacon, wherein the first detection data carries the relative position information of the beacon and the target electronic equipment; screening out first detection data meeting a first preset condition to obtain first target detection data; correcting the estimated pose of the beacon map and the target electronic equipment at the second moment according to the first target detection data; and taking the corrected pose as the pose of the target electronic equipment at the second moment. The invention solves the technical problem of low positioning accuracy of the electronic equipment in the prior art.
Description
Technical Field
The invention relates to the field of electronic equipment, in particular to a positioning method and device of electronic equipment, the electronic equipment and an electronic positioning system.
Background
In an unknown environment, the robot acquires information of self state and surrounding environment through a sensor (such as an encoder odometer, an inertial measurement unit, a monocular or stereo camera, a laser or ultrasonic distance measurement sensor and the like) arranged on the robot, estimates self pose in real time on line and constructs an environment map in an incremental manner.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a positioning method and device of electronic equipment, the electronic equipment and an electronic positioning system, and aims to at least solve the technical problem of low positioning accuracy of the electronic equipment in the prior art.
According to an aspect of the embodiments of the present invention, there is provided a positioning method of an electronic device, including: calculating an estimated pose of a target electronic device at a second moment according to pose information of the target electronic device at the first moment and a state increment of the target electronic device relative to the first moment at the second moment, wherein the first moment is before the second moment; acquiring first detection data obtained by detecting a beacon, wherein the first detection data carries relative position information of the beacon and the target electronic equipment; screening out first detection data meeting a first preset condition to obtain first target detection data; correcting the beacon map and the estimated pose of the target electronic equipment at the second moment according to the first target detection data; and taking the corrected pose as the pose of the target electronic equipment at the second moment.
Further, screening out the first detection data meeting the first preset condition comprises: judging whether the first detection data is detection data obtained by detecting a first beacon for the first time, wherein the first beacon is a beacon indicated by a beacon identifier carried by the first detection data; and if the first detection data is detection data obtained by primarily detecting the first beacon, determining that the first detection data meets the first preset condition.
Further, correcting the beacon map and the estimated pose of the target electronic device at the second time according to the first target detection data includes: drawing the first beacon in the beacon map according to the first target probe data.
Further, after determining whether the first probe data is probe data obtained by primarily probing the first beacon, the method further includes: if the first detection data is not detection data obtained by detecting the first beacon for the first time, calculating the reliability of the first detection data; comparing the reliability of the first detection data with a preset threshold value; and determining that the first detection data meets the first preset condition under the condition that the reliability of the first detection data is greater than or equal to the preset threshold.
Further, correcting the beacon map and the estimated pose of the target electronic device at the second time according to the first target detection data includes: updating a location of the first beacon in the beacon map according to the first target probe data.
Further, calculating the trustworthiness of the first probe data comprises: calculating the presumed observation data of the first beacon according to the estimated pose of the target electronic equipment at the second moment and the position of the first beacon in the beacon map; calculating a distance between a location indicated by the first probe data and a location indicated by the inferred observation data; and calculating the reliability of the first detection data according to the distance.
Further, after obtaining the first target detection data, the method further comprises: and calculating the motion trail of the target electronic equipment according to the first target detection data.
Further, before correcting the beacon map and the estimated pose of the target electronic device at the second time according to the first target detection data, the method further includes: acquiring second detection data obtained by detecting the surrounding environment; screening out second detection data meeting a second preset condition to obtain second target detection data; the correcting the beacon map and the estimated pose of the target electronic device at the second moment according to the first target detection data comprises: and correcting an environmental characteristic map, a beacon map and the estimated pose of the target electronic equipment at the second moment according to the first target detection data and the second target detection data.
According to another aspect of the embodiments of the present invention, there is also provided a positioning apparatus for an electronic device, including: the calculation unit is used for calculating the estimated pose of the target electronic equipment at a second moment according to the pose information of the target electronic equipment at the first moment and the state increment of the target electronic equipment relative to the first moment at the second moment, wherein the first moment is before the second moment; the device comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring first detection data obtained by detecting a beacon; the screening unit is used for screening out first detection data meeting a first preset condition to obtain first target detection data; the correcting unit is used for correcting the beacon map and the estimated pose of the target electronic equipment at the second moment according to the first target detection data; and the determining unit is used for taking the corrected pose as the pose of the target electronic equipment at the second moment.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including: the motor is provided with an anchor node and is used for changing the direction of the anchor node through the rotation of the motor; the antenna system comprises an anchor node, a first antenna and a second antenna, wherein the anchor node is at least provided with the first antenna and the second antenna, the first antenna and the second antenna meet a vertical polarization condition, and the distance between the first antenna and the second antenna is smaller than or equal to half wavelength of a target beam, wherein the target beam is transmitted by a beacon; a sensor for detecting a change in state of the target electronic device; a positioning device for an electronic device.
According to another aspect of the embodiments of the present invention, there is also provided an electronic positioning system, including: at least one beacon; an electronic device.
In the embodiment of the invention, the estimated pose of the target electronic equipment at the later moment is calculated according to the pose information of the target electronic equipment at the previous moment and the state increment of the target electronic equipment at the later moment relative to the previous moment, the relative positions of the beacon and the target electronic equipment are detected to obtain first detection data, the detection data with higher reliability are screened out from the first detection data to obtain first target detection data, the beacon map and the estimated pose of the target electronic equipment at the later moment are corrected according to the first target detection data, and the corrected pose is used as the pose of the target electronic equipment at the later moment. The fixed beacon is detected to obtain detection data, the beacon is fixed, the characteristics are obvious, the detection is easy, the target electronic equipment is positioned based on the relative position of the target electronic equipment and the beacon, and the pose of the target electronic equipment is continuously corrected according to the detection data with high reliability, so that the technical effect of improving the positioning accuracy of the electronic equipment is achieved, and the technical problem of low positioning accuracy of the electronic equipment in the prior art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a positioning method of an electronic device according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a TWR method according to an embodiment of the invention;
FIG. 3 is a schematic view of a robot according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a positioning method of an electronic device according to an embodiment of the invention;
fig. 5 is a schematic diagram of a positioning apparatus of an electronic device according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
First, technical terms related to the embodiments of the present invention are explained as follows:
UWB (Ultra-Wideband) is a carrier-free communication technology, data are transmitted by using nanosecond-subnanosecond non-sine wave narrow pulses, and in recent years, subnanosecond Ultra-narrow pulses are increasingly used for close-range accurate indoor positioning;
TWR (Two-way Ranging) is a method of Two-way Ranging. The two communication units estimate the signal flight time from the time difference between the mutually transmitted and received signals and calculate the distance between the communication units.
PDOA (phase Difference of arrival): a method for positioning by using phase difference. By measuring the phase difference of the signal arriving at multiple monitoring stations, the relative distance and angle of the signal source and the monitoring stations can be determined.
S L AM (Simultaneous L localization and Mapping) is one of the key technologies of autonomous positioning and navigation of a mobile robot, and the robot starts from an unknown place of an unknown environment, positions the position and the posture of the robot through repeatedly observed map features (such as image feature points) in the motion process, and builds a map incrementally according to the position of the robot, so that the aim of simultaneously positioning and building the map is fulfilled.
Example 1
In accordance with an embodiment of the present invention, there is provided an embodiment of a positioning method for an electronic device, it should be noted that the steps illustrated in the flowchart of the accompanying drawings may be executed in a computer system such as a set of computer-executable instructions, and that while a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be executed in an order different than that herein.
Fig. 1 is a flowchart of a positioning method of an electronic device according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
step S102, calculating an estimated pose of the target electronic equipment at a second moment according to pose information of the target electronic equipment at the first moment and a state increment of the target electronic equipment relative to the first moment at the second moment, wherein the first moment is before the second moment.
Step S104, acquiring first detection data obtained by detecting the beacon, where the first detection data carries relative position information of the beacon and the target electronic device.
Step S106, screening out first detection data meeting a first preset condition to obtain first target detection data.
And S108, correcting the estimated poses of the beacon map and the target electronic equipment at the second moment according to the first target detection data.
And step S110, taking the corrected pose as the pose of the target electronic equipment at the second moment.
The target electronic device may be a robot.
The pose information of the target electronic device at a first time and the state increment of the target electronic device at a second time relative to the first time can be obtained by using a state estimation intra-class sensor, such as an inertial measurement unit, an encoder odometer and the like.
In a space environment, beacons are placed at intervals, and at least one beacon can be observed by the target electronic device in the moving process.
And detecting the beacon to obtain first detection data. The accuracy of the first probe data may be low, which may result in large errors due to the probing of the beacon. In order to filter out the first detection data with lower accuracy, the reliability of the first detection data can be calculated, and the first detection data with the reliability lower than a preset reliability threshold value is deleted without being adopted; and regarding the first detection data with the credibility being more than or equal to a preset credibility threshold as first target detection data.
And if the first target detection data is detection data obtained by detecting a certain beacon for the first time, drawing a beacon map according to the first target detection data.
If the first target probe data is not probe data obtained by first probing a beacon, the beacon map may be modified according to the first target probe data.
In the embodiment of the invention, the estimated pose of the target electronic equipment at the later moment is calculated according to the pose information of the target electronic equipment at the previous moment and the state increment of the target electronic equipment at the later moment relative to the previous moment, the relative positions of the beacon and the target electronic equipment are detected to obtain first detection data, the detection data with higher reliability are screened out from the first detection data to obtain first target detection data, the beacon map and the estimated pose of the target electronic equipment at the later moment are corrected according to the first target detection data, and the corrected pose is used as the pose of the target electronic equipment at the later moment. The fixed beacon is detected to obtain detection data, the beacon is fixed, the characteristics are obvious, the detection is easy, the target electronic equipment is positioned based on the relative position of the target electronic equipment and the beacon, and the pose of the target electronic equipment is continuously corrected according to the detection data with high reliability, so that the technical problem of low positioning accuracy of the electronic equipment in the prior art is solved, and the technical effect of improving the positioning accuracy of the electronic equipment is achieved.
The existing S L AM technology is mainly realized by information fusion of a state estimation type internal sensor (such as an encoder odometer and an inertia measurement unit) and an environment perception type external sensor (ranging or visual sensor), but the methods have various defects in the aspects of accuracy, stability and real-time performance, for example, tracking loss is caused by the loss of local environment characteristics, characteristic points or lines obtained by laser are difficult to correlate and match with known information in a map, the extraction and matching of visual characteristics are influenced by light rays, the error accumulation of the internal sensor is increased, the map storage capacity of a large scene is overlarge, the loop detection cannot meet the real-time requirement easily, the S L AM robustness is insufficient in a dynamic change environment, and the like.
The UWB is a radio frequency-based carrier-free communication technology, and relative position information of a UWB Anchor node (Anchor) and a UWB beacon (Tag) can be obtained through signal processing methods such as TWR and PDOA. The present invention may not be limited to the use of UWB technology, and other carrierless communication techniques that may be used to implement the present invention should also be protected.
The distance d of the UWB beacon relative to the robot can be obtained by the TWR method. Each ranging requires 3 communications:
a, a Tag end sends out a Poll data packet, and when the Poll data packet is sent out, the Tag records a time stamp tt1 sent out;
after waiting for receiving and receiving the Poll data packet, the Anchor records a time stamp ta1 at the receiving time, sends a Response packet and records a time stamp ta2 for sending the Response;
the Tag end waits for receiving, records a timestamp tt2 of the receiving time after receiving a Response packet, calculates a timestamp tt3 of a Final packet to be sent, and sends the Final packet when the Tag end clock reaches tt3, wherein the Final packet comprises 3 pieces of timestamp information (tt1, tt2 and tt 3);
and after the Final data packet is received by the d.Anchor end, recording a receiving time stamp ta 3. At this time, the Anchor has recorded 3 timestamps ta1, ta2 and ta3, and by reading the content of the Final package, three timestamps tt1, tt2 and tt3 at the Tag end can be obtained;
e. since the Anchor end and the Tag end are not time synchronized, the respective time difference needs to be calculated, as shown in FIG. 2, wherein:
Tround1＝tt2-tt1；
Treply1＝ta2–ta1；
Tround2＝ta3–ta2；
Treply2＝tt3–tt2；
the distance d and the included angle theta of the UWB beacon relative to the robot can be obtained by a PDOA method. Based on PDOA positioning, an Anchor node (Anchor) provided with two antennas needs to be installed at a robot end, the distance between the two Anchor antennas is smaller than the half wavelength of communication, meanwhile, a beacon (Tag) needs to be installed at other positions, and the relative distance d and the angle theta of the two nodes are calculated by detecting the phase difference of signals sent by the Tag. According to the method, the relative distance and the angle between the two nodes can be acquired with high precision without arranging a plurality of anchor nodes indoors. The PDOA-based method has high angular positioning accuracy, and if the anchors of two antennas are considered as one node, it is equivalent to the relative positioning that can realize "point-to-point" (although the anchors end is actually two nodes, since the antennas can be installed closer and the two nodes can be arranged on the same PCB, the approach can be approximated as one node).
The processing method is different between probe data obtained by first detecting a certain beacon and probe data obtained by not first detecting the beacon.
If the first detection data is detection data obtained by detecting a first beacon for the first time, wherein the first beacon is a beacon indicated by a beacon identifier carried by the first detection data; and if the first detection data is the detection data obtained by detecting the first beacon for the first time, determining that the first detection data meets a first preset condition. In this case, the first beacon is drawn in the beacon map according to the first target probe data.
That is, if the probe data is the initial probe data obtained by detecting a beacon (i.e., this beacon has never been detected before), the beacon map is drawn using the probe data, i.e., the beacon is drawn in the beacon map.
If the first detection data are not the detection data obtained by detecting the first beacon for the first time, calculating the reliability of the first detection data; comparing the reliability of the first detection data with a preset threshold; and under the condition that the reliability of the first detection data is greater than or equal to a preset threshold value, determining that the first detection data meets a first preset condition.
If the probe data is not the initial probe data, i.e. the beacon has been detected before, the confidence level of the probe data needs to be calculated, and if the confidence level is low, the probe data is discarded; if the confidence level is high, the beacon map is updated with the probe data, i.e. the position of the first beacon is updated in the beacon map according to the first target probe data.
Under the condition that a certain beacon is not detected for the first time to obtain detection data, the reliability of the detection data is calculated to judge whether a beacon map is updated by using the detection data, if the reliability of the detection data is low, the error of the detection process for obtaining the detection data is large, and the detection data is abandoned; if the reliability of the detection data is high, the detection process error of the detection data is small, the beacon map is updated according to the detection data, whether the beacon map is updated according to the detection data is determined according to the reliability of the detection data, the beacon map is updated by adopting the detection data with high reliability, the influence of the detection error can be reduced to the minimum, and the beacon map with higher accuracy can be obtained.
The above-mentioned process of calculating the reliability of the first probe data includes: calculating the presumed observation data of the first beacon according to the estimated pose of the target electronic equipment at the second moment and the position of the first beacon in the beacon map; calculating a distance between the location indicated by the first probe data and the location indicated by the inferred observed data; the confidence level of the first probe data is calculated from the distance.
If the distance between the position indicated by the first detection data and the position indicated by the presumed observation data is close, for example, smaller than or equal to a preset distance, the reliability of the first detection data is high, and the first detection data is taken as the first target detection data. If the distance between the position indicated by the first detection data and the position indicated by the presumed observation data is far, for example, greater than a preset distance, the confidence level of the first detection data is low, which indicates that the detection error is large, and the first detection data is discarded.
Optionally, after obtaining the first target detection data, a motion trajectory of the target electronic device is calculated according to the first target detection data. The poses of the target electronic equipment at the first moment and the second moment are obtained in one detection, and the poses of the target electronic equipment at a plurality of moments are obtained in a plurality of detections, so that the motion trail of the target electronic equipment can be calculated according to the poses of the target electronic equipment at the plurality of moments.
In addition to drawing beacon maps, the solution may also draw environmental feature maps. Before the estimated pose of the beacon map and the target electronic equipment at the second moment is corrected according to the first target detection data, second detection data obtained by detecting the surrounding environment are obtained; and screening out second detection data meeting a second preset condition to obtain second target detection data. And correcting the environmental characteristic map, the beacon map and the estimated pose of the target electronic equipment at the second moment according to the first target detection data and the second target detection data.
By means of the beacons, the robot can obtain accurate, stable and distinguishable feature information in real time, the feature information extraction and matching process is simplified, and therefore the purpose of improving the S L AM system is achieved.
The electronic positioning system provided by the embodiment of the invention is an S L AM system by means of UWB, a UWB receiver is arranged at a robot end, a small number of UWB emission sources are arranged in the environment, and stable and considerable characteristic information is provided for the robot.
The invention accurately distinguishes UWB emission sources deployed in the environment in advance through TWR, PDOA and other signal processing methods, and obtains the relative position information (distance d and included angle theta) of the robot and the UWB emission sources.
Example 2
And (3) selectively equipping a state estimation and environment perception sensor at the robot end: the robot can obtain the state change u from the t-1 moment to the t moment through a state estimation type sensor such as an inertia measurement unit, an encoder odometer and the like at the t momentt(ii) a Or obtaining environmental observation information z at time t by environment sensing external sensors such as monocular camera, stereo camera, laser radar, millimeter wave radar, and ultrasonic radart。
The method is characterized in that UWB (ultra wide band) transmitter beacons (tags) are arranged at intervals in a space environment to ensure that a robot can observe at least one beacon in the walking process, two antennas (or more than two antennas) are arranged on an Anchor node (Anchor) of the UWB arranged at the robot end, the two antennas meet a vertical line polarization condition, the distance between the feed points of the two antennas does not exceed a half wavelength (for example, the half wavelength is 23.1mm by adopting 6.5GHz communication frequency, and the distance between the feed points of the two antennas cannot exceed the half wavelength), as shown in figure 3, the Anchor is arranged on a motor, the motor can drive the Anchor antenna to rotate, the Anchor antenna is aligned to a Tag in the working environment of the robot in real time, and the robot obtains observation information y of the UWB beacons through the communication equipment at the moment tt。
Observation of UWB beacons may be representedIs yt：
Wherein the observation information is obtained by TWR
Distance d of the UWB beacon relative to the robot; observation information obtained by PDOA
The distance d and the included angle theta of the beacon relative to the robot.
As shown in fig. 4, during the movement process of the robot, the movement locus x of the robot is obtained by fusing the data acquired by the sensor assembled by the robot and the observation data of the UWB beacon0,x1,…xtCarrying out online estimation and constructing an environment feature map mzAnd UWB beacon map my. Because the UWB beacon is fixed in position and distinguishable in characteristics, the UWB map myCan play an important role in the problems of relocation of the robot, adaptation to dynamic environments and the like.
Example 3
An S L AM system that fuses robot state estimation data (such as encoder odometer, inertial measurement unit, visual odometer, visual inertial odometer) and UWB beacon observation information.
The method comprises the following specific steps:
1. robot pose x0Initialization: if the UWB map is not constructed, initializing the pose of the robot by using any value; if UWB map has been constructed, according to map myAnd UWB observation information y0And calculating an initial pose.
2. Acquiring state estimation sensor data u in the motion process of the robott(e.g., encoder odometer, visual inertial odometer, etc. increments from time t-1 to time t), updating robot pose assumptions according to the robot motion model
3. Obtaining UWB observation data
For example: obtaining the distance d of the UWB beacon relative to the robot through the TWR; the distance d and the included angle theta of the UWB beacon relative to the robot are obtained through the PDOA. By sequence number determination of beacons
Whether it is the first observation of the beacon k by the robot.
4. If the beacon is the first observation, the observation information is passed
Initializing the location of the beacon
And add it to the map; if the beacon is not initially observed, the observation information is checked
Reliability (e.g. in terms of robot pose)
And beacon location in a map
Estimating observation quantity of beacon k
Calculating actual observation information
And a speculative value
Is a distance of
If it is
Less than threshold ξdConsider the observation information
Trusted, otherwise untrusted).
5. All trusted UWB beacon observations as valid observation information
Correcting robot pose and UWB beacon map through Bayesian state estimation methods (such as extended Kalman filtering, particle filtering, nonlinear optimization and the like)
6. And (5) repeating the steps 2 to 5, and estimating the motion track of the robot and the UWB beacon map on line.
In the above steps, the robot estimates the pose x at time ttCan be expanded to a pair motion track xt-i,xt-j,…,xtWhere i, j ≧ 0.
The electronic positioning system provided by the embodiment of the invention is an S L AM system by means of UWB, a UWB receiver is arranged at a robot end, a small number of UWB emission sources are arranged in the environment, and stable and considerable characteristic information is provided for the robot.
The invention accurately distinguishes UWB emission sources deployed in the environment in advance through TWR, PDOA and other signal processing methods, and obtains the relative position information (distance d and included angle theta) of the robot and the UWB emission sources.
Example 4
An S L AM system that fuses robot state estimation data (e.g., encoder odometer, inertial measurement unit, visual odometer, visual inertial odometer), environmental perception data (e.g., laser point clouds, visual feature points), and UWB beacon observation information.
The method comprises the following specific steps:
1. robot pose x0Initialization: if the map is not constructed, initializing the pose of the robot by using any value; if a map has been constructed, according to UWB map myEnvironment characteristic map mzUWB observation information y0And context awareness data z0And calculating an initial pose.
2. Acquiring state estimation sensor data u in the motion process of the robott(e.g., encoder odometer, inertial measurement unit, etc. increments from time t-1 to time t), updating robot pose assumptions according to the robot motion model
3. Obtaining UWB observation data
For example: obtaining the distance d of the UWB beacon relative to the robot through a TWR signal processing mode; and obtaining the distance d and the included angle theta of the UWB beacon relative to the robot through a signal processing mode of the PDOA. By sequence number determination of beacons
Whether or not it isInitial observation of beacon k by the robot.
4. Obtaining environmental characteristic observation data
And with the environment map mzThe known features in the image are subjected to correlation matching (for example, the features are matched according to the similarity degree of the visual feature point descriptions), and the extracted features are judged
Whether it is the first observation.
5. If the above-mentioned observation information
Or
Initializing the space position of the observation information for the first observation through the observation information, and adding a corresponding map; if not, checking the observation information
And
the reliability of (2).
6. All credible observations are taken as valid observation information
Correcting the pose x of the robot by a Bayesian state estimation method (such as extended Kalman filtering, particle filtering, nonlinear optimization and the like)tEnvironment characteristic map mzAnd UWB map my
7. And (6) repeating the steps 2 to 6, and estimating the motion track of the robot, the environment characteristic map and the UWB beacon map on line.
In the above steps, the robot estimates the pose x at time ttCan be expanded to a pair motion track xt-i,xt-j,…,xtWhere i, j ≧ 0. In addition, if the robot is not equipped with a state estimation sensor, in the above steps, 2 can be skipped, and the motion trail of the robot can be estimated directly by observing information.
By means of the UWB beacons, the robot can obtain accurate, stable and distinguishable feature information in real time, the process of extracting and matching the feature information is simplified, and therefore the purpose of improving the S L AM system is achieved.
In an unknown environment, the robot acquires information of self state and surrounding environment through a sensor (such as an encoder odometer, an inertial measurement unit, a monocular or stereo camera, a laser or ultrasonic distance measurement sensor and the like) arranged on the robot, estimates self pose in real time on line and constructs an environment map in an incremental manner.
The electronic positioning system provided by the embodiment of the invention is an S L AM system by means of UWB, a UWB receiver is arranged at a robot end, a small number of UWB emission sources are arranged in the environment, and stable and considerable characteristic information is provided for the robot.
The invention accurately distinguishes UWB emission sources deployed in the environment in advance through TWR, PDOA and other signal processing methods, and obtains the relative position information (distance d and included angle theta) of the robot and the UWB emission sources.
Example 5
According to the embodiment of the invention, the invention further provides a positioning device of the electronic equipment. The positioning device of the electronic device may execute the positioning method of the electronic device, and the positioning method of the electronic device may also be implemented by the positioning device of the electronic device.
Fig. 5 is a positioning apparatus of an electronic device according to an embodiment of the present invention. As shown in fig. 5, the apparatus includes: the device comprises a calculation unit 10, an acquisition unit 20, a screening unit 30, a correction unit 40 and a determination unit 50.
And the calculating unit 10 is configured to calculate an estimated pose of the target electronic device at a second time according to the pose information of the target electronic device at the first time and a state increment of the target electronic device at the second time relative to the first time, where the first time is before the second time.
An obtaining unit 20 is configured to obtain first probe data obtained by probing a beacon.
The screening unit 30 is configured to screen out first detection data that meets a first preset condition, so as to obtain first target detection data.
And the correcting unit 40 is used for correcting the estimated poses of the beacon map and the target electronic equipment at the second moment according to the first target detection data.
And the determining unit 50 is used for taking the corrected pose as the pose of the target electronic equipment at the second moment.
Example 6
According to the embodiment of the invention, the electronic equipment is further provided. The electronic device includes: motor, anchor node, sensor, the positioner of above-mentioned electronic equipment.
The motor is provided with an anchor node, and the motor is used for changing the direction of the anchor node through the rotation of the motor.
The anchor node is at least provided with a first antenna and a second antenna, the first antenna and the second antenna meet a vertical polarization condition, and the distance between the first antenna and the second antenna is smaller than or equal to half wavelength of a target beam, wherein the target beam is a beam transmitted by a beacon.
And the sensor is used for detecting the state change of the target electronic equipment.
And (3) selectively equipping a state estimation and environment perception sensor at the robot end: the robot can obtain the state change u from the t-1 moment to the t moment through a state estimation type sensor such as an inertia measurement unit, an encoder odometer and the like at the t momentt(ii) a Or obtaining environmental observation information z at time t by environment sensing external sensors such as monocular camera, stereo camera, laser radar, millimeter wave radar, and ultrasonic radart。
The UWB communication equipment is configured in an S L AM system, a UWB transmitter beacon (Tag) is arranged at intervals in a space environment to ensure that a robot can observe at least one beacon in the walking process, an Anchor node (Anchor) of the UWB is arranged at the end of the robot, two antennas (a first antenna and a second antenna) are arranged on the Anchor, the two antennas meet the condition of vertical linear polarization, the distance between the feed points of the two antennas does not exceed a half wavelength (for example, the half wavelength is 23.1mm by adopting 6.5GHz communication frequency, and the distance between the feed points of the two antennas cannot exceed the value), as shown in a UWB (ultra wide band) diagram 3, the Anchor is arranged on a motor, the motor can drive the Anchor antenna to rotate to be aligned to a Tag in the working environment of the robot in real time, and the robot obtains observation information y of the beacon through the communication equipment at the moment tt。
Observations of a UWB beacon may be denoted as yt：
Wherein the observation information is obtained by TWR
Distance d of the UWB beacon relative to the robot; observation information obtained by PDOA
The distance d and the included angle theta of the beacon relative to the robot.
In the moving process of the robot, the motion track x of the robot is measured by fusing the data acquired by the sensor assembled by the robot and the observation data of the UWB beacon0,x1,…xtCarrying out online estimation and constructing an environment feature map mzAnd UWB beacon map my. Because the UWB beacon is fixed in position and distinguishable in characteristics, the UWB map myCan play an important role in the problems of relocation of the robot, adaptation to dynamic environments and the like.
Example 7
According to the embodiment of the invention, the invention further provides an electronic positioning system. The electronic positioning system includes: at least one beacon; and the electronic device described above.
The electronic positioning system provided by the embodiment of the invention is an S L AM system by means of UWB, a UWB receiver is arranged at a robot end, a small number of UWB emission sources are arranged in the environment, and stable and considerable characteristic information is provided for the robot.
The invention accurately distinguishes UWB emission sources deployed in the environment in advance through TWR, PDOA and other signal processing methods, and obtains the relative position information (distance d and included angle theta) of the robot and the UWB emission sources.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present invention, it should be understood that the disclosed technical contents can be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (11)
1. A method for locating an electronic device, comprising:
calculating an estimated pose of a target electronic device at a second moment according to pose information of the target electronic device at the first moment and a state increment of the target electronic device relative to the first moment at the second moment, wherein the first moment is before the second moment;
acquiring first detection data obtained by detecting a beacon, wherein the first detection data carries relative position information of the beacon and the target electronic equipment;
screening out first detection data meeting a first preset condition to obtain first target detection data;
correcting the beacon map and the estimated pose of the target electronic equipment at the second moment according to the first target detection data;
and taking the corrected pose as the pose of the target electronic equipment at the second moment.
2. The method of claim 1, wherein screening out the first probe data that satisfies a first preset condition comprises:
judging whether the first detection data is detection data obtained by detecting a first beacon for the first time, wherein the first beacon is a beacon indicated by a beacon identifier carried by the first detection data;
and if the first detection data is detection data obtained by primarily detecting the first beacon, determining that the first detection data meets the first preset condition.
3. The method of claim 2, wherein modifying the beacon map and the estimated pose of the target electronic device at the second time based on the first target detection data comprises:
drawing the first beacon in the beacon map according to the first target probe data.
4. The method of claim 2, wherein after determining whether the first probe data is probe data obtained by initially probing a first beacon, the method further comprises:
if the first detection data is not detection data obtained by detecting the first beacon for the first time, calculating the reliability of the first detection data;
comparing the reliability of the first detection data with a preset threshold value;
and determining that the first detection data meets the first preset condition under the condition that the reliability of the first detection data is greater than or equal to the preset threshold.
5. The method of claim 4, wherein revising the beacon map and the estimated pose of the target electronic device at the second time based on the first target detection data comprises:
updating a location of the first beacon in the beacon map according to the first target probe data.
6. The method of claim 4, wherein calculating the trustworthiness of the first probe data comprises:
calculating the presumed observation data of the first beacon according to the estimated pose of the target electronic equipment at the second moment and the position of the first beacon in the beacon map;
calculating a distance between a location indicated by the first probe data and a location indicated by the inferred observation data;
and calculating the reliability of the first detection data according to the distance.
7. The method of claim 1, wherein after obtaining the first target detection data, the method further comprises:
and calculating the motion trail of the target electronic equipment according to the first target detection data.
8. The method of claim 1, wherein prior to revising the beacon map and the estimated pose of the target electronic device at the second time instant as a function of the first target detection data, the method further comprises:
acquiring second detection data obtained by detecting the surrounding environment;
screening out second detection data meeting a second preset condition to obtain second target detection data;
the correcting the beacon map and the estimated pose of the target electronic device at the second moment according to the first target detection data comprises:
and correcting an environmental characteristic map, a beacon map and the estimated pose of the target electronic equipment at the second moment according to the first target detection data and the second target detection data.
9. A positioning apparatus for an electronic device, comprising:
the calculation unit is used for calculating the estimated pose of the target electronic equipment at a second moment according to the pose information of the target electronic equipment at the first moment and the state increment of the target electronic equipment relative to the first moment at the second moment, wherein the first moment is before the second moment;
the device comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring first detection data obtained by detecting a beacon;
the screening unit is used for screening out first detection data meeting a first preset condition to obtain first target detection data;
the correcting unit is used for correcting the beacon map and the estimated pose of the target electronic equipment at the second moment according to the first target detection data;
and the determining unit is used for taking the corrected pose as the pose of the target electronic equipment at the second moment.
10. An electronic device, comprising:
the motor is provided with an anchor node and is used for changing the direction of the anchor node through the rotation of the motor;
the antenna system comprises an anchor node, a first antenna and a second antenna, wherein the anchor node is at least provided with the first antenna and the second antenna, the first antenna and the second antenna meet a vertical polarization condition, and the distance between the first antenna and the second antenna is smaller than or equal to half wavelength of a target beam, wherein the target beam is transmitted by a beacon;
a sensor for detecting a change in state of the electronic device;
a positioning device for an electronic apparatus as claimed in claim 9.
11. An electronic positioning system, comprising:
at least one beacon;
the electronic device of claim 10.
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