CN111623775A

CN111623775A - Vehicle attitude measurement system, method, device, and storage medium

Info

Publication number: CN111623775A
Application number: CN202010414144.7A
Authority: CN
Inventors: 杨君; 习先强
Original assignee: Tianjin Spatiotemporal Measurement And Control Technology Co ltd
Current assignee: Tianjin Spatiotemporal Measurement And Control Technology Co ltd
Priority date: 2020-05-15
Filing date: 2020-05-15
Publication date: 2020-09-04
Anticipated expiration: 2040-05-15
Also published as: CN111623775B

Abstract

The application discloses a vehicle attitude measurement system, a method, a device and a storage medium. Wherein the vehicle attitude measurement system for measuring the attitude of the vehicle comprises: the first optical collimating device is used for measuring first angle deviation information between the first optical collimating device and the first measuring surface; the first attitude measurement device is connected with the first optical collimation device and used for measuring first measurement information related to the attitude of the first optical collimation device; the driving device is connected with the first optical collimating device and the first attitude measuring device and is used for driving the first optical collimating device and the first attitude measuring device to perform attitude transformation relative to the carrier; and a processor device communicatively connected with the first optical collimating device and the first attitude measuring device, and configured to determine first attitude information of the first measurement surface based on the first angular deviation information received from the first optical collimating device and the first measurement information received from the first attitude measuring device.

Description

Vehicle attitude measurement system, method, device, and storage medium

Technical Field

The present disclosure relates to the field of attitude measurement and navigation technologies, and in particular, to a system, a method, an apparatus, and a storage medium for measuring an attitude of a vehicle.

Background

Existing vehicles (e.g., hulls) typically use inertial navigation equipment to make vehicle attitude measurements and then derive navigation information for the vehicle to navigate. However, in the case of the inertial navigation apparatus measuring attitude information, if the magnitude of the attitude change of the vehicle is relatively small, the measurement result of the inertial navigation has a large error. The current vehicles (such as ship hulls) travel very smoothly during sailing without significant steering. Therefore, the inertial navigation device on the carrier does not move to a large extent, so that the attitude information of the carrier measured by the inertial navigation device has errors, the navigation information also has errors, and the wrong course is provided.

Aiming at the technical problems that the existing carrier (such as a ship body) in the prior art is very stable in running in the sailing process, large steering cannot be generated, and the inertial navigation equipment on the carrier cannot move to a large extent, so that the attitude information measured by the inertial navigation equipment has errors, and the navigation information also has errors, and wrong course is provided, an effective solution is not provided at present.

Disclosure of Invention

The embodiment of the disclosure provides a vehicle attitude measurement system, a method, a device and a storage medium, which at least solve the technical problems that in the prior art, the current vehicle (such as a ship body) runs very stably in the process of navigation, large steering cannot be generated, and inertial navigation equipment on the vehicle cannot move in a large range, so that the attitude information measured by the inertial navigation equipment has errors, and the navigation information also has errors, thereby providing wrong course.

According to an aspect of an embodiment of the present disclosure, there is provided a vehicle attitude measurement system including: the first optical collimating device is used for measuring first angle deviation information between the first optical collimating device and a first measuring surface, wherein the first angle deviation information is used for indicating angle deviation between an axis of the first optical collimating device and a normal of the first measuring surface, and the first measuring surface is arranged on the carrier; the first attitude measurement device is connected with the first optical collimation device and used for measuring first measurement information related to the attitude of the first optical collimation device; the driving device is connected with the first optical collimating device and the first attitude measuring device and is used for driving the first optical collimating device and the first attitude measuring device to perform attitude transformation relative to the carrier; and a processor device communicatively connected with the first optical collimating device and the first attitude measuring device, and configured to determine first attitude information of the first measurement surface according to the first angular deviation information received from the first optical collimating device and the first measurement information received from the first attitude measuring device.

According to another aspect of the embodiments of the present disclosure, there is also provided a vehicle attitude measurement method including: driving a first optical collimating device and a first attitude measuring device to perform attitude transformation by using a first driving device; acquiring first angle deviation information between a first optical collimating device and a first measuring surface, wherein the first angle deviation information is used for indicating the angle deviation between the axis of the first optical collimating device and the normal of the first measuring surface; acquiring first measurement information related to the attitude of a first optical collimating device; and determining first attitude information of the first measurement surface according to the first angular deviation information and the first measurement information.

According to another aspect of the embodiments of the present disclosure, there is also provided a storage medium including a stored program, wherein the method of any one of the above is performed by a processor when the program is executed.

According to another aspect of the embodiments of the present disclosure, there is also provided a vehicle attitude measurement apparatus including: a processor; and a memory coupled to the processor for providing instructions to the processor to process the following processing steps: driving a first optical collimating device and a first attitude measuring device to perform attitude transformation by using a first driving device; acquiring first angle deviation information between a first optical collimating device and a first measuring surface, wherein the first angle deviation information is used for indicating the angle deviation between the axis of the first optical collimating device and the normal of the first measuring surface; acquiring first measurement information related to the attitude of a first optical collimating device; and determining first attitude information of the first measurement surface according to the first angular deviation information and the first measurement information.

In the embodiment of the disclosure, the first optical collimating device and the first attitude measuring device are driven by the first driving device to perform a relatively large attitude change with respect to the carrier, and then the attitude information of the first optical collimating device is measured by the first attitude measuring device under a large movement. First angular deviation information from the first measurement plane is then measured by the first optical collimating means. Finally, the processor device determines first attitude information of the first measurement surface, that is, attitude information of the carrier, based on the first angular deviation information received from the first optical collimating device and the first measurement information received from the first attitude measurement device, so as to navigate the carrier by the obtained first attitude information. Because the first measurement surface is fixedly arranged on the carrier, the attitude information of the first measurement surface is the attitude information of the carrier. And because the first attitude measurement device measures the attitude information under the condition of a relatively large change in attitude, the measured first measurement information is very accurate, so that the first attitude information of the first measurement surface determined according to the first angular deviation information and the first measurement information is very accurate. The attitude information of the carrier can be accurately determined, so that accurate navigation information can be obtained, and the technical effect of providing the correct course for the carrier is achieved. Furthermore, the second measurement plane can be measured with a second vehicle attitude measurement system, since the first measurement plane and the second measurement plane are perpendicular to each other. The pitch angle deviation measured by the second optical alignment device in the second vehicle measurement system can thus be used as roll angle deviation between the first measurement plane and the motion platform of the first drive. The technical problems that in the prior art, the existing carrier (such as a ship body) runs stably in the process of navigation, large steering cannot be generated, and the inertial navigation equipment on the carrier cannot move greatly, so that the attitude information measured by the inertial navigation equipment has errors, the navigation information also has errors, and wrong course is provided are solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure. In the drawings:

fig. 1 is a schematic diagram for implementing a vehicle attitude measurement system according to embodiment 1 of the present disclosure;

fig. 2 is a schematic diagram of euler angles between a carrier coordinate system and a geographic coordinate system when the optical collimating device according to embodiment 1 of the present application is facing a measurement plane S1;

FIG. 3A is a schematic diagram of simultaneous use of an optical collimating device and a second optical collimating device for attitude measurement of an object under test;

fig. 3B is a schematic euler angle diagram between the carrier coordinate system and the geographic coordinate system when the second optical collimating device according to the embodiment 1 is facing the second measuring plane S2;

FIG. 4A is a schematic cross-sectional view of an optical collimating device of the non-contact attitude measurement system shown in FIG. 1;

FIG. 4B is a schematic diagram of an optical system of an optical collimating apparatus according to an embodiment of the present application;

FIG. 5A is a schematic diagram of a detection image formed by the first reticle and the second reticle collectively projected onto an imaging plane according to an embodiment of the present application;

FIG. 5B is a further schematic diagram of the first reticle and the second reticle collectively projecting a detection image formed on the imaging plane according to an embodiment of the present application;

FIG. 6 is a schematic cross-sectional interior view of the attitude measurement device shown in FIG. 1;

fig. 7 is a schematic view of a vehicle attitude measurement method according to a second aspect of embodiment 1 of the present disclosure; and

fig. 8 is a schematic view of the vehicle attitude measurement device according to embodiment 2 of the present disclosure.

Detailed Description

In order to make those skilled in the art better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. It is to be understood that the described embodiments are merely exemplary of some, and not all, of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings 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 disclosure 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.

Further, terms referred to in the present specification are explained as follows:

geographic coordinate system (t system for short): origin at the centre of gravity, x, of the object to be measured_tThe axis pointing east, y_tAxis north, z_tThe axis points along the vertical to the sky, commonly referred to as the northeast coordinate system. There are also different methods for taking geographical coordinate systems, such as northwest, northeast, etc. The different orientation of the coordinate system only affects the different signs of the projection components of a certain vector in the coordinate system, and does not affect the explanation of the basic principle of the navigation of the tested object and the accuracy of the calculation result of the navigation parameters.

Vector coordinate system (b series for short): the carrier coordinate system is fixed on the measured object and its origin is at the gravity center, x, of the measured object_bWith axis pointing forward of the longitudinal axis of the object to be measured, y_bThe axis pointing to the right of the object to be measured, z_bAxis vertical Ox_by_bThe plane is upward.

Example 1

Fig. 1 is a schematic structural view of a vehicle attitude measurement system according to the first aspect of the embodiment of the present application. Referring to fig. 1, the vehicle attitude measurement system includes: a first optical collimating device 10, a first attitude measuring device 20, a processor device 30, and a first driving device 40, wherein the first optical collimating device 10 is configured to measure first angular deviation information from a first measuring plane S1, wherein the first angular deviation information is configured to indicate an angular deviation between an axis of the first optical collimating device 10 and a normal of a first measuring plane S1, and wherein the first measuring plane S1 is disposed on the carrier; a first attitude measuring device 20 connected to the first optical collimator 10 for measuring first measurement information related to an attitude of the first optical collimator 10; the driving device 40 is connected with the first optical collimating device 10 and the first attitude measuring device 20, and is used for driving the first optical collimating device 10 and the first attitude measuring device 20 to perform attitude transformation relative to the carrier; and a processor device 30 communicatively connected to the first optical collimating device 10 and the first attitude measuring device 20, and configured to determine first attitude information of the first measurement surface S1 based on the first angular deviation information received from the first optical collimating device 10 and the first measurement information received from the first attitude measuring device 20.

As described in the background, existing vehicles (e.g., hulls) typically use inertial navigation equipment to make vehicle attitude measurements and then derive navigation information for the vehicle to navigate. However, in the case of measuring attitude information by the inertial navigation device, if the amplitude of the attitude change of the carrier is relatively small, the measurement result of the inertial navigation has a large error. The current vehicles (such as ship hulls) travel very smoothly during sailing without significant steering. Therefore, the inertial navigation device on the vehicle does not move greatly, so that the attitude information of the vehicle measured by the inertial navigation device has an error, and the navigation information also has an error, thereby providing an incorrect heading.

In view of this, the vehicle attitude measurement system provided according to the present embodiment is placed on the vehicle (hull), and then first angular deviation information between the first optical collimator 10 and the measurement plane S1 is measured by the first optical collimator 10, wherein the first angular deviation information is used to indicate an angular deviation between the axis of the first optical collimator 10 and the normal line of the first measurement plane S1, and wherein the first measurement plane S1 is provided on the vehicle. So that the angular deviation from the measured first surface S1 is measured by the first optical collimating device 10.

Further, the first attitude measurement device 20 (which may be an inertial navigation device, for example) is connected to the first optical alignment device 10, so that the motion states of the first attitude measurement device 20 and the first optical alignment device 10 are consistent, so that measurement information related to the attitude of the first optical alignment device 10 can be measured by the first attitude measurement device 20. Attitude information of the first optical collimator 10 may be further obtained through the first measurement information, where the attitude information includes an azimuth angle, a pitch angle, and a roll angle.

The driving device 40 is connected to the first optical collimating device 10 and the first attitude measuring device 20, and is configured to drive the first optical collimating device 10 and the first attitude measuring device 20 to perform attitude transformation with respect to the carrier. Therefore, the first attitude measurement device 20 can perform attitude measurement under large-amplitude movement, and the measurement result is more accurate.

Then, the processor device 30 is communicatively connected with the first optical collimating device 10 and the first attitude measuring device 20, and is configured to determine the first attitude information of the first measurement surface S1 based on the first angular deviation information received from the first optical collimating device 10 and the first measurement information received from the first attitude measuring device 20.

The first optical collimator 10 and the first attitude measuring device 20 are driven by the first driving device 40 to perform a relatively large attitude change with respect to the carrier, and the attitude information of the first optical collimator 10 is measured by the first attitude measuring device 20 under a large movement. First angular deviation information from the first measurement plane S1 is then measured by the first optical collimating device 10. Finally the processor means 30 determines the first attitude information of the first measuring surface S1 based on the first angular deviation information received from the first optical collimating means 10 and the first measurement information received from the first attitude measuring means 20. Since the first measurement plane S1 is fixedly provided on the carrier, the attitude information of the first measurement plane S1 is the attitude information of the carrier. Further, since the first posture measuring device 20 performs the measurement of the posture information in the case of a large posture change, the measured first measurement information is sufficiently accurate, and the first posture information of the first measurement surface S1 determined from the first angle deviation information and the first measurement information is sufficiently accurate. The attitude information of the carrier can be accurately determined, so that accurate navigation information can be obtained, and the technical effect of providing the correct course for the carrier is achieved. The technical problems that in the prior art, the existing carrier (such as a ship body) runs stably in the process of navigation, large steering cannot be generated, and the inertial navigation equipment on the carrier cannot move greatly, so that the attitude information measured by the inertial navigation equipment has errors, the navigation information also has errors, and wrong course is provided are solved.

Furthermore, for example, referring to fig. 2, the attitude information of the first optical collimator 10 may be, for example, a carrier coordinate system Ox of the first optical collimator 10_b1y_b1z_b1Relative to the geographic coordinate system Ox of the first optical collimating means 10_t1y_t1z_t1Euler angle (α)₁，β₁，θ₁) Which is used to indicate the azimuth, pitch and roll of the first optical collimating means 10 with respect to a geographical coordinate system.

The computing device 30 can therefore be adapted to the carrier coordinate system Ox of the measured object_b2y_b2z_b2With the carrier coordinate system Ox of the first optical collimating means 10_b1y_b1z_b1And a first measurement value related to the attitude of the first optical collimating means 10, determining the object to be measured relative to the secondA geographical coordinate system Ox of an optical collimating means_t1y_t1z_t1The first posture information of (1). For example, the carrier coordinate system Ox may be based on the first optical collimating means 10_b1y_b1z_b1Relative to a geographical coordinate system Ox_t1y_t1z_t1Azimuth angle, pitch angle and roll angle of the object to be measured and a carrier coordinate system Ox of the object to be measured_b2y_b2z_b2With the carrier coordinate system Ox of the first optical collimating means 10_b1y_b1z_b1Determining the geographical coordinate system Ox of the measured object relative to the first optical collimator_t1y_t1z_t1Azimuth angle and pitch angle.

When the first optical collimator 10 is used to detect the first measurement surface S1, the first optical collimator 10 is relatively close to the first measurement surface S1, for example, several centimeters or ten and several centimeters, so that the geographic coordinate systems of the first optical collimator 10 and the first measurement surface S1 may be regarded as having no angular deviation, that is, the angular deviation between the geographic coordinate systems of the first optical collimator 10 and the first measurement surface S1 may be ignored. Thus, the carrier coordinate system Ox of the measured object can be further determined_b2y_b2z_b2Azimuth and elevation angles with respect to its geographic coordinate system as the first attitude information.

Optionally, the system further comprises: a second optical collimator 50, a second attitude measuring device 60, and a second driving device 70, wherein the second optical collimator 50 is configured to measure second angular deviation information from a second measuring plane S2, wherein the second angular deviation information is configured to indicate an angular deviation between an axis of the second optical collimator 50 and a normal of a second measuring plane S2, and wherein the second measuring plane S2 is disposed on the carrier; a second attitude measuring device 60 connected to the second optical collimator 50 for measuring second measurement information related to the attitude of the second optical collimator 50; the second driving device 70 is connected with the second optical collimating device 50 and the second attitude measuring device 60, and is used for driving the second optical collimating device 50 and the second attitude measuring device 60 to perform attitude transformation relative to the carrier; and the processor device 30 is communicatively connected to the second optical collimating device 50 and the second attitude measuring device 60, and is configured to determine second attitude information of the second measurement surface S2 from the second angular deviation information received from the second optical collimating device 50 and the second measurement information received from the second attitude measuring device 60, and determine third attitude information of the carrier from the first attitude information and the second attitude information.

Specifically, referring to fig. 3A, referring to the principle of determining the first posture information of the first measurement plane S1 with respect to the first measurement plane S1 using the first measurement information and the first angular deviation information, the third posture information of the measured object with respect to the second measurement plane S2 can be determined from the second measurement information and the second angular deviation information. In particular, a carrier coordinate system Ox of the second optical collimator 50 in the direction of the second measuring surface S2 can be determined_b1y_b1z_b1Relative to Ox_t1y_t1z_t1Euler angle (α)₂，β₂，θ₂) As the azimuth, pitch and roll angles of the second optical collimating device 50 when facing the second measuring plane S2, refer to fig. 3B.

Then, the carrier coordinate system Ox of the second optical collimator 50 is determined as the second measurement surface S2_b1y_b1z_b1Relative to Ox_t1y_t1z_t1Euler angle (α)₂，β₂，θ₂) And second angular deviation information, determining second attitude information of the second measurement surface S2. For example, the pitch angle of the second measurement plane S2 is determined with respect to the case where the second optical collimator 50 is directed toward the second measurement plane S2. Further, since the second measurement plane S2 is perpendicular to the measurement plane S1, when the first optical collimator 10 is oriented to the first measurement plane S1 based on the elevation angle of the object to be measured determined with respect to the second measurement plane S2, the roll angle of the first measurement plane S1 with respect to the first optical collimator 10 can be determined as third attitude information of the vehicle, where the third attitude information includes azimuth, pitch, and roll angle information of the vehicle. Thereby combining the first position of the measured objectAnd the attitude information and the second attitude information can obtain complete attitude information of the carrier, namely azimuth angle, pitch angle and roll angle information of the carrier.

Optionally, the processor device 30 is further configured to determine third attitude information of the vehicle from the first attitude information.

Specifically, the roll angle of the first collimating device 10 derived from the first measurement information may be used as the roll angle of the first measurement plane S1. The first attitude information of the first measurement plane S1 can therefore be used as the third attitude information of the carrier.

Optionally, the processor device 30 is further configured to determine navigation information of the vehicle from the third attitude information. The vehicle can thus be navigated by measuring attitude information of the object to be measured fixed on the vehicle.

Optionally, the first driving device 40 comprises a fixed base 410, a driving module 420 connected with the fixed base 410, and a moving platform 430 connected with the driving module 420, wherein the fixed base 410 is used for connecting with the carrier; the driving module 420 is configured to generate a driving signal and drive the motion platform 430 to perform posture transformation; and a motion platform 430 for fixing the first optical alignment device 10 and the first attitude measurement device 20.

Specifically, referring to fig. 1, the first driving device 40 is fixed to the carrier by a fixing base 410, and one end of the object to be measured (for example, a plane mirror) may be fixed to the fixing base 410 and connected to the carrier, so that the first posture information of the first measurement surface S1 of the object to be measured is obtained as the third posture information of the carrier.

The driving module 420 is connected to the fixed base 410 at one end and the moving platform 430 at the other end, so that the driving signal generated by the driving module 430 drives the moving platform 430 to generate posture change.

The moving platform 430 is used to fix the first attitude measuring device 20 and the first optical alignment device 10, so that the movement of the first optical alignment device 10 and the first attitude measuring device 20 is consistent.

Further, the driving signal may be, for example, a white noise signal, so that the moving platform 430 may be driven to perform random attitude transformation, thereby being beneficial to reduce the systematic error of the vehicle attitude measurement system.

Optionally, the first optical collimating means 10 comprises: a light source 110; an image acquisition unit 120; a first reticle 130 disposed in front of the light source; a second partition plate 140 disposed in front of the image capturing unit 120; and an optical system for projecting the light source light emitted by the light source 110 and passing through the first reticle 130 onto the first measurement plane S1, and projecting the light source light reflected from the first measurement plane S1 onto the image pickup unit 120 via the second reticle 140, and acquiring the first angular deviation information, including acquiring a detection image acquired by the image pickup unit 120 as the first angular deviation information, wherein the detection image includes a first image of a first scribe line of the first reticle 130 and a second image of a second scribe line of the second reticle 140.

In particular, fig. 4A schematically shows a cross-sectional view of the first optical collimating device 10. Referring to fig. 4A, the first optical collimating device 10 includes: the image capturing device comprises a light source 110, an image capturing unit 120, a first reticle 130 arranged in front of the light source, a second reticle 140 arranged in front of the image capturing unit 120, and an optical system. Fig. 4B schematically shows a structural diagram of the optical system. Referring to fig. 4B, the optical system includes an objective lens 150, a prism 160, and an eyepiece lens 170, wherein the first reticle 130 and the second reticle 140 are located on a focal plane of the objective lens 150 and the eyepiece lens 170 through the prism 160 in a spectroscopic conjugate.

Further, as shown in fig. 4A and 4B, for example, a first measurement surface S1 (a first measurement surface S1 on a plane mirror) may be provided on the target object (vehicle). According to the optical path reversible imaging principle, the light source light emitted by the light source 110 passes through the first reticle 130 and then passes through the objective lens 150 to be irradiated as parallel light to the first measuring surface S1 disposed on the target object. Then, the image is reflected by the first measuring surface S1, passes through the objective lens 150 and the eyepiece 170 again, and is imaged on the image surface position of the objective lens 150. Since the second reticle 140 is located at the image plane position of the objective lens 150, the optical system projects the light source light reflected back from the target object as parallel light to the image pickup unit 120 via the second reticle 140. So that the image pickup unit 120 disposed on the imaging plane can pick up a detection image including a first image of the first scribe line of the first reticle 130 and a second image of the second scribe line of the second reticle 140, as shown in fig. 5A and 5B.

Specifically, referring to fig. 5A and 5B, when the second axis of the target object is not parallel to the axis of the first optical collimator 10, that is, the pitch difference angle and the azimuth difference angle between the two spatially coplanar straight lines are not zero, the images formed by the first reticle 130 and the second reticle 140 projected on the imaging plane together are as shown in fig. 5A or 5B. The centers of the crosses of the first image of the first reticle 130 and the second image of the second reticle 140 are separated by a certain distance and are not in the coincident position, which means that the axis of the first optical alignment device 10 is not parallel to the second axis of the target object, i.e. there is an angular deviation. The light source can adopt a 1550nm optical fiber light source (SFS) which is based on Amplified Spontaneous Emission (ASE) of an erbium-doped optical fiber, and has the advantages of good temperature stability, large output power, long service life and low polarization correlation. Further, the image capturing unit 120 is, for example, but not limited to, a trigger type CCD camera.

Alternatively, the operation of the processor device 30 determining the first posture information of the first measurement surface S1 based on the first angular deviation information received from the first optical collimator 10 and the first measurement information received from the first posture measurement device 20 includes: the processor device 30 determines the azimuth angle deviation and the pitch angle deviation of the first measuring plane S1 and the first optical collimator 10 according to the positions of the first image and the second image; the processor device 30 determines fourth attitude information of the first optical collimator 10 according to the first measurement information, wherein the fourth attitude information includes an azimuth angle, a roll angle and a pitch angle of the first optical collimator 10; and determining the first attitude information according to the fourth attitude information, the azimuth angle deviation and the pitch angle deviation.

Specifically, referring to fig. 5A and 5B, the first and second images have positional deviations in both the horizontal direction and the vertical direction. The azimuth and pitch deviations of the first measuring surface S1 with respect to the first optical alignment device 10 can thus be determined from the positions of the first and second images.

Specifically, the attitude information of the first measurement plane is determined from the first image and the second image projected on the image pickup unit 120. The second image is used as a reference image, and the relative displacement (Δ x, Δ y) of the first image relative to the second image can be obtained. And the azimuth angle deviation k of the measured object relative to the first optical collimating device 10 can be obtained by the following formula_iAnd a pitch angle deviation phi_i。

k_i＝Δx/S_x

φ_i＝Δy/S_y

Wherein S_xIs a scale factor in the horizontal direction, S_yIs a scale factor in the vertical direction. And wherein S_xAnd S_yIn pixels/arcsec (height imaged per arcsec resolution/CCD size), these two parameters can be calibrated in advance.

Furthermore, as previously described, second attitude information of the first optical collimating device 10, i.e. the azimuth, pitch and roll angles of the first optical collimating device 10, may be determined based on the first measurement information.

Thereby exploiting the azimuth angle α of the first optical collimating device 10₁And pitch angle β₁And the above-mentioned azimuth angle deviation k_iAnd a pitch angle deviation phi_iThe azimuth angle and pitch angle of the measured object are determined as first attitude information, specifically, the azimuth angle α of the first optical collimating device 10 may be utilized₁And azimuthal deviation k_iTo determine the azimuth angle of the first measuring plane S1, and the pitch angle β using the first optical collimating device 10₁And pitch angle offset β₁And summing to determine the pitch angle of the measured object.

Therefore, in this way, the technical solution of the embodiment can utilize optical projection imaging and image processing technology to calculate the angular deviation between the first optical collimating device 10 and the first measuring surface S1, so as to not only ensure the accuracy of detection, but also calculate the angular deviation of the object to be measured with respect to the first optical collimating device 10 (i.e. the moving platform 430) in real time.

Alternatively, the first posture measurement device 20 includes

gyroscopes

210a, 210b, 210c and

accelerometers

220a, 220b, 220c, and the measurement information includes information measured by the

gyroscopes

210a, 210b, 210c and

accelerometers

220a, 220b, 220 c.

Further, the operation of the processor device 30 to determine fourth state information of the first optical collimating device 10 according to the first measurement information includes: and determining fourth attitude information by utilizing a strapdown inertial navigation algorithm according to the first measurement information.

Specifically, fig. 6 exemplarily shows a schematic internal cross-sectional view of the first attitude measurement device 20. Referring to fig. 6, the first posture measurement device 20 includes a first gyroscope 210a, a second gyroscope 210b, and a third gyroscope 210c that are disposed perpendicular to each other. And the first attitude measurement device 20 further includes a first accelerometer 220a, a second accelerometer 220b, and a third accelerometer 220 c. Angular motion information of the first optical collimating device 10 is measured through the

gyroscopes

210a, 210b, and 210c, and linear velocity information of the first optical collimating device 10 is measured through the

accelerometers

220a, 220b, and 220c, so that the orientation relation of the carrier coordinate system of the first optical collimating device 10 with respect to the geographic coordinate system, that is, the fourth attitude information of the first optical collimating device 10, can be calculated according to the strapdown inertial navigation algorithm. For specific details of the strapdown inertial navigation algorithm, reference may be made to related prior art, and detailed description is not repeated in this specification.

In addition, although in the present embodiment, the strapdown inertial navigation algorithm is described as an example. However, the first measurement information is not limited to this, and for example, the first measurement information may be information on the azimuth angle, the pitch angle, and the roll angle of the first optical collimator 10 measured by the first attitude measuring device 20. It is thus possible to determine the first attitude information of the vehicle directly using the first measurement information without having to calculate the third attitude information any more.

Further, since the accuracy of the

gyroscopes

210a, 210b, 210c directly affects the accuracy of the measured fourth attitude information of the first optical collimating device 10, ultimately the accuracy of the determined attitude of the vehicle. In order to ensure the precision, a high-precision fiber-optic gyroscope can be adopted. Or selecting a gyroscope with the accuracy of 1%, wherein the gyroscope with the accuracy can ensure that the course keeps 0.01 degree per hour and meets the requirement of measurement accuracy.

Further, the

accelerometers

220a, 220b, 220c may be quartz flexure accelerometers, which are mechanically pendulum force balanced servo accelerometers. When the pendulum is sensed to input acceleration, it will generate an inertial moment about the flexible pivot, under which moment the pendulum makes an angular movement about the flexible pivot, generating an angular displacement. The differential capacitance sensor converts the displacement into capacitance variation and transmits the capacitance variation to the analog amplifier, and the analog amplifier converts the capacitance variation into a current signal and transmits the current signal to the torquer to generate a restoring torque. When the restoring moment is balanced with the moment of inertia of the pendulum, the current value to the torquer can be used to measure the magnitude of the input acceleration.

Further, in a second aspect of the present embodiment, on the basis of the vehicle attitude measurement system described in fig. 1, there is provided a vehicle attitude measurement method that can be executed by the processor device 30 and the first drive device 40 in fig. 1, and as shown with reference to fig. 7, the method includes:

s702: driving the first optical collimating device 10 and the attitude measuring device 20 into attitude transformation by using the first driving device 40;

s704: acquiring first angular deviation information between the first optical collimating device 10 and the first measuring surface S1, wherein the first angular deviation information is used for indicating an angular deviation between an axis of the first optical collimating device 10 and a normal of the first measuring surface S1;

s706: acquiring first measurement information related to the attitude of the first optical collimator 10 from the first attitude measurement apparatus 20; and

s708: and determining first attitude information of the first measurement surface according to the first angle deviation information and the first measurement information.

Specifically, referring to fig. 1, the first optical collimator 10 and the first attitude measurement device 20 are driven by the first driving device 40 to perform attitude transformation (S702). The first driving device 40 is connected to the first optical alignment device 10 and the first attitude measurement device 20, and is configured to drive the first optical alignment device 10 and the first attitude measurement device 20 to move relative to the carrier. Therefore, the first attitude measurement device 20 can perform attitude measurement under large-amplitude movement, and the measurement result is more accurate.

Further, the processor device 30 obtains first angular deviation information between the first optical collimating device 10 and the first measuring surface S1, wherein the first angular deviation information is used for indicating an angular deviation between the axis of the first optical collimating device 10 and the normal of the first measuring surface S1 (S704). First angular deviation information from the first measurement plane S1 is measured by the first optical collimating device 10. Wherein the first measuring surface may be, for example, the mirror surface of a flat mirror fixed at one end to the carrier by means of the drive device 40. So that the angular deviation from the first measurement plane S2 is measured by the first optical collimating device 10.

Further, the processor device 30 may acquire first measurement information related to the attitude of the first optical collimating device 10 from the first attitude measurement device 20 (S706). The first attitude measuring device 20 (which may be an inertial navigation device, for example) is connected to the first optical alignment device 10 via the first driving device 40, so that the states of motion of the first attitude measuring device 20 and the first optical alignment device 10 are consistent, so that first measurement information related to the attitude of the first optical alignment device 10 can be measured by the first attitude measuring device 20. The attitude information of the first optical collimator 10 may thus be derived from the first measurement information, wherein the attitude information of the first optical collimator 10 includes an azimuth angle, a pitch angle, and a roll angle.

Further, the processor device 30 determines the first posture information of the first measuring surface S1 based on the first angular deviation information and the first measurement information (S708). The processor device 30 is communicatively connected to the first optical collimating device 10 and the first attitude measuring device 20, so that the processor device 30 can determine the first attitude information of the first measuring surface S1 based on the first angular deviation information received from the first optical collimating device 10 and the first measurement information received from the first attitude measuring device 20.

As described in the background, current vehicles (e.g., hulls) travel very smoothly during travel without significant steering. Therefore, the inertial navigation device on the vehicle does not move to a large extent, and therefore the navigation information measured by the inertial navigation device has errors, so that an incorrect heading is provided.

The first optical collimator 10 and the first attitude measurement device 20 are thus driven by the driving device 40 to make a relatively large attitude change with respect to the carrier, and the attitude information of the first optical collimator 10 is measured by the first attitude measurement device 20 under a large movement. First angular deviation information from the first measurement surface S1 is then measured by the first optical collimating device 10. Finally, the processor device 30 determines the first attitude information of the first measurement surface S1, that is, the attitude information of the carrier, based on the first angular deviation information received from the first optical collimator device 10 and the first measurement information received from the first attitude measurement device 20, so that the carrier is navigated by the obtained first attitude information. Since the first measurement plane S1 is fixedly provided on the carrier, the attitude information of the first measurement plane S1 is the attitude information of the carrier. Further, since the first posture measuring device 20 performs the measurement of the posture information in the case of a large posture change, the measured first measurement information is sufficiently accurate, and the first posture information of the first measurement surface S1 determined from the first angular deviation information and the first measurement information is sufficiently accurate. The attitude information of the carrier can be accurately determined, so that accurate navigation information can be obtained, and the technical effect of providing the correct course for the carrier is achieved. The technical problems that in the prior art, the current carrier (such as a ship body) runs stably in the process of sailing, large steering cannot be generated, and the inertial navigation equipment on the carrier cannot move to a large extent, so that the attitude information measured by the inertial navigation equipment has errors, the navigation information also has errors, and wrong course is provided are solved.

Optionally, the method further comprises: the second optical collimating device 50 and the second attitude measuring device 60 are driven by the second driving device 70 to perform attitude transformation; acquiring second angular deviation information between the second optical collimating device 50 and the second measuring surface S2 from the second attitude measuring device 60, wherein the second angular deviation information is used to indicate an angular deviation between an axis of the second optical collimating device 50 and a normal of the second measuring surface S2; obtaining second measurement information related to the pose of the second optical collimating device 50; determining second attitude information of the second measurement surface S2 according to the second angular deviation information and the second measurement information; and determining third attitude information of the vehicle from the first attitude information and the second attitude information.

Optionally, the method further comprises: third attitude information of the vehicle is determined based on the first attitude information.

Optionally, the method further comprises: navigation information of the vehicle is determined based on the third attitude information.

Optionally, the first optical collimating means 10 comprises: a light source 110; an image acquisition unit 120; a first reticle 130 disposed in front of the light source; a second partition plate 140 disposed in front of the image capturing unit 120; and an optical system for projecting the light source light emitted by the light source 110 and passing through the first reticle 130 onto the measurement plane S1 and projecting the light source light reflected from the measurement plane S1 onto the image pickup unit 120 via the second reticle 140, and acquiring the first angular deviation information, including acquiring a detection image acquired by the image pickup unit 120 as the first angular deviation information, wherein the detection image includes a first image of a first scribe line of the first reticle 130 and a second image of a second scribe line of the second reticle 140.

Alternatively, the operation of determining the first posture information of the first measurement plane S1 based on the first angular deviation information and the first measurement information includes: determining the azimuth angle deviation and the pitch angle deviation of the first measuring surface S1 and the first optical collimating device 10 according to the positions of the first image and the second image; determining fourth attitude information of the first optical collimating device 10 according to the first measurement information, wherein the fourth attitude information includes an azimuth angle, a roll angle and a pitch angle of the first optical collimating device 10; and determining the first attitude information according to the fourth attitude information and the azimuth angle deviation and the pitch angle deviation.

Optionally, the operation of acquiring first measurement information related to the attitude of the first optical collimator 10 from the first attitude measurement device 20 includes: first measurement information is acquired from a first attitude measurement device 20 connected to the first optical alignment device 10, wherein the first attitude measurement device 20 comprises

gyroscopes

210a, 210b, 210c and

accelerometers

220a, 220b, 220c, and the first measurement information comprises information measured by the

gyroscopes

210a, 210b, 210c and

accelerometers

220a, 220b, 220 c.

Optionally, the operation of determining fourth attitude information of the first optical collimator 10 according to the first measurement information includes: and determining fourth attitude information by utilizing a strapdown inertial navigation algorithm according to the first measurement information.

Since the vehicle attitude measurement method according to the second aspect has the same technical effect as the vehicle attitude measurement system according to the first aspect, detailed description thereof is omitted.

Further, according to a third aspect of the present embodiment, there is provided a storage medium. The storage medium comprises a stored program, wherein the method of any of the above is performed by a processor when the program is run.

Thus, according to the embodiment of the present application, the first optical collimating device 10 and the first attitude measuring device 20 are driven by the first driving device 40 to make a relatively large attitude change with respect to the carrier, and the attitude information of the first optical collimating device 10 is measured by the first attitude measuring device 20 under a large movement. First angular deviation information from the first measurement surface S1 is then measured by the first optical collimating device 10. Finally, the processor device 30 determines the first attitude information of the first measurement surface S1, i.e., the attitude information of the carrier, based on the first angular deviation information received from the first optical collimator device 10 and the first measurement information received from the first attitude measurement device 20, so as to navigate the carrier by the obtained first attitude information. Since the first measurement plane S1 is fixedly provided on the carrier, the attitude information of the first measurement plane S1 is the attitude information of the carrier. Since the first posture measuring device 20 measures the posture information with a large change in posture, the measured first measurement information is sufficiently accurate, and the first posture information of the first measurement surface S1 determined from the first angular deviation information and the first measurement information is sufficiently accurate. The attitude information of the carrier can be accurately determined, so that accurate navigation information can be obtained, and the technical effect of providing the correct heading for the carrier is achieved. Further, the attitude measurement of the second measurement plane S2 can be performed by the second vehicle attitude measurement system because the first measurement plane S1 and the second measurement plane S2 are perpendicular to each other. The pitch angle deviation measured by the second optical alignment device 50 in the second vehicle measurement system can be used as the roll angle deviation between the first measurement plane S1 and the movable platform 430 of the first driving device 40. The technical problems that in the prior art, the existing carrier (such as a ship body) runs stably in the sailing process, large steering cannot be generated, and the inertial navigation equipment on the carrier does not move greatly, so that the attitude information measured by the inertial navigation equipment has errors, the navigation information also has errors, and wrong course providing is caused are solved.

It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.

Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.

Example 2

Fig. 8 shows a vehicle attitude measurement apparatus 800 according to the present embodiment, the apparatus 800 corresponding to the method according to the second aspect of embodiment 1. Referring to fig. 8, the apparatus 800 includes: a processor 810; and a memory 820 coupled to the processor 810 for providing instructions to the processor 810 to process the following process steps: driving the first optical collimating device 10 and the first attitude measuring device 20 by the first driving device 40 to perform attitude transformation; acquiring first angular deviation information between the first optical collimating device 10 and the first measuring surface S1, wherein the first angular deviation information is used for indicating an angular deviation between an axis of the first optical collimating device 10 and a normal of the first measuring surface S1; acquiring first measurement information related to the attitude of the first optical collimator 10 from the first attitude measurement apparatus 20; and determining first posture information of the first measurement surface S1 based on the first angular deviation information and the first measurement information.

Alternatively, the operation of acquiring the first measurement information related to the attitude of the first optical collimator 10 from the first attitude measurement apparatus 20 includes: first measurement information is acquired from a first attitude measurement device 20 connected to the first optical alignment device 10, wherein the first attitude measurement device 20 comprises

gyroscopes

210a, 210b, 210c and

accelerometers

gyroscopes

210a, 210b, 210c and

accelerometers

220a, 220b, 220 c.

The first optical collimator 10 and the first attitude measuring device 20 are driven by the first driving device 40 to perform a relatively large attitude change with respect to the carrier, and the attitude information of the first optical collimator 10 is measured by the first attitude measuring device 20 under a large movement. First angular deviation information from the first measurement plane S1 is then measured by the first optical collimating device 10. Finally, the processor device 30 determines the first attitude information of the first measurement surface S1, that is, the attitude information of the carrier, based on the first angular deviation information received from the first optical collimator device 10 and the first measurement information received from the first attitude measurement device 20, so that the carrier is navigated by the obtained first attitude information. Since the first measurement surface S1 is fixedly provided on the carrier, the attitude information of the first measurement surface S1 is the attitude information of the carrier. Further, since the first posture measuring device 20 performs the measurement of the posture information in the case of a large posture change, the measured first measurement information is sufficiently accurate, and the first posture information of the first measurement surface S1 determined from the first angular deviation information and the first measurement information is sufficiently accurate. The attitude information of the carrier can be accurately determined, so that accurate navigation information can be obtained, and the technical effect of providing the correct course for the carrier is achieved. Further, the attitude measurement of the second measurement plane S2 can be performed by the second vehicle attitude measurement system because the first measurement plane S1 and the second measurement plane S2 are perpendicular to each other. The pitch angle deviation measured by the second optical alignment device 50 in the second vehicle measurement system can be used as the roll angle deviation between the first measurement plane S1 and the movable platform 430 of the first driving device 40. The technical problems that in the prior art, the existing carrier (such as a ship body) runs stably in the process of navigation, large steering cannot be generated, and the inertial navigation equipment on the carrier cannot move greatly, so that the attitude information measured by the inertial navigation equipment has errors, the navigation information also has errors, and the wrong course is provided are solved.

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 application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be 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 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 network 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, a network device, or the like) 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

1. A vehicle attitude measurement system for measuring an attitude of a vehicle, comprising: a first optical collimating means (10), a first attitude measuring means (20), a processor means (30) and a first drive means (40), wherein

-the first optical collimating device (10) for measuring first angular deviation information from a first measuring plane (S1), wherein the first angular deviation information is indicative of an angular deviation between an axis of the first optical collimating device (10) and a normal of the first measuring plane (S1), and wherein the first measuring plane (S1) is arranged on the carrier;

the first attitude measurement device (20) is connected with the first optical collimation device (10) and is used for measuring first measurement information related to the attitude of the first optical collimation device (10);

the driving device (40) is connected with the first optical collimating device (10) and the first attitude measuring device (20) and is used for driving the first optical collimating device (10) and the first attitude measuring device (20) to perform attitude transformation relative to the carrier; and

the processor device (30) is communicatively connected with the first optical collimating device (10) and the first attitude measuring device (20), and is configured to determine first attitude information of the first measuring surface (S1) based on the first angular deviation information received from the first optical collimating device (10) and the first measurement information received from the first attitude measuring device (20).

2. The system of claim 1, further comprising: a second optical collimating device (50), a second attitude measuring device (60), and a second driving device (70), wherein

-the second optical collimating device (50) for measuring second angular deviation information from a second measuring plane (S2), wherein the second angular deviation information is indicative of an angular deviation between an axis of the second optical collimating device (50) and a normal of the second measuring plane (S2), and wherein the second measuring plane (S2) is arranged on the carrier;

the second attitude measurement device (60) is connected with the second optical alignment device (50) and is used for measuring second measurement information related to the attitude of the second optical alignment device (50);

the second driving device (70) is connected with the second optical alignment device (50) and the second attitude measurement device (60) and is used for driving the second optical alignment device (50) and the second attitude measurement device (60) to carry out attitude transformation relative to the carrier; and

the processor device (30) is communicatively connected to the second optical collimating device (50) and the second attitude measuring device (60), and is configured to determine second attitude information of the second measurement surface (S2) based on the second angular deviation information received from the second optical collimating device (50) and the second measurement information received from the second attitude measuring device (60), and determine third attitude information of the carrier based on the first attitude information and the second attitude information.

3. The system of claim 1, wherein the processor device (30) is further configured to determine third pose information of the vehicle based on the first pose information.

4. A system as claimed in claim 2 or 3, wherein the processor device (30) is further configured for determining navigation information of the vehicle from the third attitude information.

5. The system of claim 1, wherein the first drive device (40) comprises a stationary base (410), a drive module (420) coupled to the stationary base (410), and a motion platform (430) coupled to the drive module (420), wherein

The fixed base (410) is used for connecting with the carrier;

the driving module (420) is used for generating a driving signal and driving the motion platform (430) to carry out posture transformation; and

the moving platform (430) is used for fixing the first optical alignment device (10) and the first attitude measurement device (20).

6. The system according to claim 1, wherein the first optical collimating means (10) comprises: a light source (110); an image acquisition unit (120); a first reticle (130) disposed in front of the light source; a second reticle (140) disposed in front of the image acquisition unit (120); and an optical system, wherein

The optical system is used for projecting light source light emitted by the light source (110) and passing through the first reticle (130) onto the measurement plane (S1), and projecting the light source light reflected from the measurement plane (S1) via the second reticle (140) onto the image acquisition unit (120), and

the operation of acquiring the first angular deviation information includes acquiring, as the first angular deviation information, a detection image acquired by the image acquisition unit (120), wherein the detection image includes a first image of a first scribe line of the first reticle (130) and a second image of a second scribe line of the second reticle (140).

7. The system of claim 6, wherein the processor means (30) determines first attitude information of the first measurement surface (S1) based on the first angular deviation information received from the first optical collimating means (10) and the first measurement information received from the first attitude measurement means (20), including:

-said processor means (30) determining an azimuthal deviation and a pitch deviation of said first measuring plane (S1) from said first optical alignment means (10) based on the position of said first image and said second image;

-said processor means (30) determining fourth attitude information of said first optical collimating means (10) based on said first measurement information, wherein said fourth attitude information comprises azimuth, roll and pitch angles of said first optical collimating means (10); and

and determining the first attitude information according to the fourth attitude information, the azimuth angle deviation and the pitch angle deviation.

8. The system of claim 7, wherein the first attitude measurement device (20) includes a gyroscope (210a, 210b, 210c) and an accelerometer (220a, 220b, 220c), and

the first measurement information includes information measured by the gyroscopes (210a, 210b, 210c) and the accelerometers (220a, 220b, 220 c)).

9. A vehicle attitude measurement method for measuring an attitude of a vehicle, comprising

Driving a first optical collimation device (10) and a first attitude measurement device (20) by a first driving device (40) to carry out attitude transformation;

acquiring first angular deviation information between the first optical collimating device (10) and a first measuring surface (S1), wherein the first angular deviation information is indicative of an angular deviation between an axis of the first optical collimating device (10) and a normal of the first measuring surface (S1);

-acquiring first measurement information relating to the attitude of the first optical collimating means (10) from the first attitude measuring means (20); and

determining first attitude information of the first measurement surface (S1) based on the first angular deviation information and the first measurement information.

10. A storage medium comprising a stored program, wherein the method of claim 9 is performed by a processor when the program is run.