CN102721425A - Method and apparatus for correcting course in navigation system - Google Patents
Method and apparatus for correcting course in navigation system Download PDFInfo
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- CN102721425A CN102721425A CN2012101629685A CN201210162968A CN102721425A CN 102721425 A CN102721425 A CN 102721425A CN 2012101629685 A CN2012101629685 A CN 2012101629685A CN 201210162968 A CN201210162968 A CN 201210162968A CN 102721425 A CN102721425 A CN 102721425A
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Abstract
The application provides a method and an apparatus for correcting a course in a navigation system, the navigation system comprising an inertial navigation system and an image acquisition device. The method comprises obtaining using time of the inertial navigation system and determining whether or not the using time of the inertial navigation system is greater than a preset threshold value; if the using time of the inertial navigation system is greater than a preset threshold value, starting the image acquisition device to shoot pictures containing a reference object; analyzing the pictures and obtaining information of a relative position of a pedestrian and the reference object; and correcting a current course angle in accordance with the information of the relative position. The application enables navigation precision of the inertial navigation system to meet requirements.
Description
Technical field
The application relates to navigational system, particularly relates to the method and apparatus of revising the course in a kind of navigational system.
Background technology
Pedestrian navigation system now is based on GPS (like GPS, G1obal Positioning System, GPS) mostly pedestrian's position is confirmed, the precision that the coupling digital map navigation can be promote.
The shortcoming of satellite navigation system is; When the pedestrian walked in the city, satellite-signal received blocking of buildings easily, and the interference of multipath; Can make it can not locate or influence bearing accuracy; In the time of particularly in some particular surroundingss, gps signal is when some zone, and it is unstable that gps satellite signal can become.Just need this moment to adopt inertial navigation set to remedy the deficiency of satellite navigation system.Inertial navigation set is to confirm through the integration to gyro when confirming pedestrian's course.The error in this mode course can become along with the accumulation of time greatly, therefore need revise the course through other means, to satisfy the requirement of pedestrian navigation bearing accuracy.
The problem that exists in the above prior art is, the magnetometer right and wrong usually aided inertial navigation equipment that is used for of usefulness are carried out the equipment that the course is revised, but are equipped with in the factory of heavy mechanical equipment at some, and magnetometer is interfered easily.
Therefore, a technical matters that needs those skilled in the art to solve at present is exactly, and the method for revising the course in a kind of navigational system is provided, and the navigation accuracy that makes inertial navigation set is in the scope that meets the demands.
Summary of the invention
The application's technical matters to be solved provides the method for revising the course in a kind of navigational system, and the navigation accuracy that makes inertial navigation set is in the scope that meets the demands.
The application also provides the device of revising the course in a kind of navigational system, in order to guarantee application and the realization of said method in reality.
In order to address the above problem, the application discloses a kind of method that navigational system is revised the course that is used for, and said navigational system comprises inertial navigation system and image acquisition equipment, and said method comprises:
Obtain the service time of inertial navigation system, and whether the service time of judging said inertial navigation system is greater than pre-set threshold value;
If then start image acquisition equipment and take the picture that comprises object of reference;
Resolve said picture, obtain pedestrian and object of reference relative position information;
According to said relative position information current course angle is revised.
Preferably, said pedestrian and object of reference relative position information are the angle of pedestrian course and object of reference, and said pedestrian course is consistent with the shooting direction of visual lines.
Preferably, the said step of current course angle being revised according to relative position information comprises:
By the angle of said pedestrian course and object of reference, and the trend of object of reference obtains the reference value of current course angle;
With the weighted mean value of the original value of said current course angle and reference value modified value as current course angle.
Preferably, the angle of said pedestrian course and object of reference has one or two, and when the angle of said pedestrian course and object of reference had two, the said step of current course angle being revised according to relative position information also comprised:
Remove and a bigger reference value of said original value difference.
Preferably, said navigational system also comprises GPS GPS, and said object of reference is the significant object of factory.
Preferably, said method repeats, accumulation after the correction of said service time since last time;
After the shooting of startup image acquisition equipment comprised the picture of object of reference, said method also comprised:
Judge whether comprise object of reference in the said picture, if not, then generate the information of taking again, and pictures taken again.
The application also provides a kind of device that navigational system is revised the course that is used for, and said navigational system comprises inertial navigation system and image acquisition equipment, and said device comprises:
Data acquisition module, the service time that is used to obtain inertial navigation system, and the original value of the current course angle of pedestrian of navigational system output, and whether the service time of judging said inertial navigation system is greater than pre-set threshold value, if then carry out the picture acquisition module;
The picture acquisition module is used to start image acquisition equipment and takes the picture that comprises object of reference;
The picture parsing module is used to resolve said picture, obtains pedestrian and object of reference relative position information;
Correcting module is used for according to said relative position information current course angle being revised.
Preferably, said pedestrian and object of reference relative position information are the angle of pedestrian course and object of reference, and said pedestrian course is consistent with the shooting direction of visual lines.
Preferably, said correcting module comprises:
Reference value generates submodule, be used for the angle by said pedestrian course and object of reference, and the trend of object of reference obtains the reference value of current course angle;
Modified value generates submodule, is used for the weighted mean value of the original value of said current course angle and the reference value modified value as current course angle.
Preferably, the angle of said pedestrian course and object of reference has one or two, and when the angle of said pedestrian course and object of reference had two, said correcting module also comprised:
Reference value is removed submodule, is used to remove a reference value bigger with said original value difference.
Preferably, said navigational system also comprises GPS GPS, and said object of reference is the significant object of factory.
Preferably, each module of said device repeats, accumulation after the correction of said service time since last time;
After said picture acquisition module, said device also comprises:
The picture judge module is used for judging whether said picture comprises object of reference, if not, then carries out information generation module and picture acquisition module, if then carry out the picture parsing module;
The information generation module is used to generate the information of taking again.
Compared with prior art, the application has the following advantages:
The application installs image acquisition equipment in navigational system; When inertial navigation system uses Preset Time; Shooting includes the picture of object of reference, according to the pedestrian of picture acquisition and the relative position information of object of reference, calculates pedestrian's course angle; And with this course angle that navigational system obtains is revised, the navigation accuracy that makes inertial navigation set is in the scope that meets the demands.The said method of the application is simple, even in the factory of plant equipment is housed, also can not be interfered.
Description of drawings
Fig. 1 is a process flow diagram of revising the method embodiment 1 in course in a kind of navigational system of the application;
Fig. 2 is a process flow diagram of revising the method embodiment 2 in course in a kind of navigational system of the application;
Fig. 3 is a structured flowchart of revising the device embodiment 1 in course in a kind of navigational system of the application;
Fig. 4 is a structured flowchart of revising the device embodiment 2 in course in a kind of navigational system of the application.
Embodiment
For above-mentioned purpose, the feature and advantage that make the application can be more obviously understandable, the application is done further detailed explanation below in conjunction with accompanying drawing and embodiment.
With reference to figure 1, show a kind of process flow diagram that is used for the method embodiment 1 in navigational system correction course of the application, said navigational system comprises inertial navigation system and image acquisition equipment, said method specifically can may further comprise the steps:
The error of inertial navigation system is along with the accumulation linear growth of time, therefore, when inertial navigation system arrives pre-set threshold value service time, need export the result to it and carry out error correction.Concrete, can, inertial navigation system pick up counting when bringing into use, and the arrival regular hour is just revised current course angle.
In concrete realization, said navigational system can also comprise GPS GPS.The course information of gps system input, the course information with inertial navigation system output merges through Kalman filtering algorithm, draws combination back course information, i.e. the original value of the current course angle of pedestrian of navigational system output.
In concrete realization, said method can repeat, and promptly after once revising, accumulates inertial navigation system service time, wait correction next time after revising since the last time.
The application revises the current course angle of pedestrian according to object of reference, and object of reference possesses the trend of oneself.In the environment of factory, said object of reference can be the significant object of factory, and the trend of all significant objects can be pre-stored in the server.
Pedestrian's pictures taken in reality, can be fixed on image acquisition equipment on the staff's of factory the cap like camera for ease.
Among the application; Said pedestrian and object of reference relative position information can be the angle of pedestrian course and object of reference; Resolve picture and can know the angle of taking between sight line and the object of reference trend; Because said pedestrian course can be consistent with the shooting direction of visual lines, therefore, can draw the angle between pedestrian course and the object of reference trend.
In concrete realization, the pedestrian course can with take the angle that direction of visual lines becomes fix, then can be, and the angle in shooting direction of visual lines and pedestrian course according to the angle of taking direction of visual lines and object of reference, the angle between acquisition pedestrian course and the object of reference.
In a kind of preferred embodiment of the application, said step 104 can comprise:
Substep S11, by the angle of said pedestrian course and object of reference, and the trend of object of reference obtains the reference value of current course angle;
Substep S12, with the weighted mean value of the original value of said current course angle and reference value modified value as current course angle.
According to the angle between pedestrian course and the object of reference, and the trend of object of reference, can know the reference value of the travel direction that the pedestrian is current, i.e. the reference value of current course angle.
In concrete realization, because the trend of object of reference has only a value, for example, 30 degree angles, east by south; In pictures taken, the angle of pedestrian course and object of reference has two, and one is the angle with the object of reference forward; One is the angle reverse with object of reference, and these two angles also possibly equate, therefore; The angle of said pedestrian course and object of reference has one or two, and when the angle of said pedestrian course and object of reference had two, said step 104 can also comprise:
The reference value that substep S13, removal and said original value difference are bigger.
For example, the trend of certain factory mark property object is 45 degree, when inertial navigation system service time surpasses 15min; Start camera and take a pictures; But the angle of resolving picture knowing and doing people course and object of reference is 0 degree and 180 degree, reference value 45 degree or 225 degree of course angle that hence one can see that, and the original value of the current course angle of pedestrian of inertial navigation system output this moment is 30 degree; Therefore, can give up 225 degree bigger with the original value difference.It is 43 degree that reference value and original value are carried out the modified value that weighted mean can obtain course angle.
With reference to figure 2, show a kind of process flow diagram that is used for the method embodiment 2 in navigational system correction course of the application, said navigational system comprises inertial navigation system and image acquisition equipment, said method specifically can may further comprise the steps:
The information that step 204, generation are taken again.
In concrete realization, may there be the angle of shooting less than object of reference in the pedestrian when walking; For example, in factory, object of reference is east-west; The pedestrian is walked by north back to object of reference southward, with the object of reference angle be 90 degree, just do not have object of reference in the picture that photographs this moment.Perhaps, during pedestrian's pictures taken, camera faces the sun, can't photograph object of reference equally in the picture.
Therefore, need to judge whether comprise object of reference in the picture after the shooting, if do not have; Then need take again, can generate the information of taking again, the prompting pedestrian can't photograph object of reference here; The pedestrian can be according to this information deflection course a little, and obtains picture again.
In sum; The application installs image acquisition equipment in navigational system, when inertial navigation system uses Preset Time, take the picture that includes object of reference; According to the pedestrian of picture acquisition and the relative position information of object of reference; Calculate pedestrian's course angle, and with this course angle that navigational system obtains is revised, the navigation accuracy that makes inertial navigation set is in the scope that meets the demands.The said method of the application is simple, even in the factory of plant equipment is housed, also can not be interfered.
For method embodiment, for simple description, so it all is expressed as a series of combination of actions; But those skilled in the art should know; The application does not receive the restriction of described sequence of movement, because according to the application, some step can adopt other orders or carry out simultaneously.Secondly, those skilled in the art also should know, the embodiment described in the instructions all belongs to preferred embodiment, and related action and module might not be that the application is necessary.
With reference to figure 3, show a kind of structured flowchart that is used for the device embodiment 1 in navigational system correction course of the application, said navigational system comprises inertial navigation system and image acquisition equipment, said device specifically can comprise with lower module:
Data acquisition module 301, the service time that is used to obtain inertial navigation system, and the original value of the current course angle of pedestrian of navigational system output, and whether the service time of judging said inertial navigation system is greater than pre-set threshold value, if then execution module 302;
Picture acquisition module 302 is used to start image acquisition equipment and takes the picture that comprises object of reference;
Picture parsing module 303 is used to resolve said picture, obtains pedestrian and object of reference relative position information;
Correcting module 304 is used for according to said relative position information current course angle being revised.
In a kind of preferred embodiment of the application, said pedestrian and object of reference relative position information can be the angle of pedestrian course and object of reference, and said pedestrian course can be consistent with the shooting direction of visual lines.
In a kind of preferred embodiment of the application, said correcting module can comprise:
Reference value generates submodule, be used for the angle by said pedestrian course and object of reference, and the trend of object of reference obtains the reference value of current course angle;
Modified value generates submodule, is used for the weighted mean value of the original value of said current course angle and the reference value modified value as current course angle.
In a kind of preferred embodiment of the application, the angle of said pedestrian course and object of reference can have one or two, and when the angle of said pedestrian course and object of reference had two, said correcting module can also comprise:
Reference value is removed submodule, is used to remove a reference value bigger with said original value difference.
In a kind of preferred embodiment of the application, said navigational system can also comprise GPS GPS, and said object of reference can be the significant object of factory.
In a kind of preferred embodiment of the application, each module of said device can repeat, accumulation after can revising since the last time said service time.
With reference to figure 4, show a kind of structured flowchart that is used for the device embodiment 2 in navigational system correction course of the application, said navigational system comprises inertial navigation system and image acquisition equipment, said device specifically can comprise with lower module:
Data acquisition module 401, the service time that is used to obtain inertial navigation system, and the original value of the current course angle of pedestrian of navigational system output, and whether the service time of judging said inertial navigation system is greater than pre-set threshold value, if then execution module 402;
Picture acquisition module 402 is used to start image acquisition equipment and takes the picture that comprises object of reference;
Picture judge module 403 is used for judging whether said picture comprises object of reference, and if not, then execution module 404 and module 402 are if then execution module 405;
Information generation module 404 is used to generate the information of taking again;
Picture parsing module 405 is used to resolve said picture, obtains pedestrian and object of reference relative position information;
Correcting module 406 is used for according to said relative position information current course angle being revised.
Because said device embodiment is basically corresponding to aforementioned method embodiment illustrated in figures 1 and 2, so not detailed part in the description of present embodiment can just not given unnecessary details at this referring to the related description in the previous embodiment.
The application can be used in numerous general or special purpose computingasystem environment or the configuration.For example: personal computer, server computer, handheld device or portable set, plate equipment, multicomputer system, the system based on microprocessor, set top box, programmable consumer-elcetronics devices, network PC, small-size computer, mainframe computer, comprise DCE of above any system or equipment or the like.
The application can describe in the general context of the computer executable instructions of being carried out by computing machine, for example program module.Usually, program module comprises the routine carrying out particular task or realize particular abstract, program, object, assembly, data structure or the like.Also can in DCE, put into practice the application, in these DCEs, by through communication network connected teleprocessing equipment execute the task.In DCE, program module can be arranged in this locality and the remote computer storage medium that comprises memory device.
At last; Also need to prove; In this article, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby makes and comprise that process, method, article or the equipment of a series of key elements not only comprise those key elements; But also comprise other key elements of clearly not listing, or also be included as this process, method, article or equipment intrinsic key element.Under the situation that do not having much more more restrictions, the key element that " comprising ... " limits by statement, and be not precluded within process, method, article or the equipment that comprises said key element and also have other identical element.
More than to revising the method in course in a kind of navigational system that the application provided; And; The device of revising the course in a kind of navigational system has carried out detailed introduction; Used concrete example among this paper the application's principle and embodiment are set forth, the explanation of above embodiment just is used to help to understand the application's method and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to the application's thought, the part that on embodiment and range of application, all can change, in sum, this description should not be construed as the restriction to the application.
Claims (12)
1. one kind is used for the method that navigational system is revised the course, it is characterized in that said navigational system comprises inertial navigation system and image acquisition equipment, and said method comprises:
Obtain the service time of inertial navigation system, and whether the service time of judging said inertial navigation system is greater than pre-set threshold value;
If then start image acquisition equipment and take the picture that comprises object of reference;
Resolve said picture, obtain pedestrian and object of reference relative position information;
According to said relative position information current course angle is revised.
2. the method for claim 1 is characterized in that, said pedestrian and object of reference relative position information are the angle of pedestrian course and object of reference, and said pedestrian course is consistent with the shooting direction of visual lines.
3. method as claimed in claim 2 is characterized in that, the said step of current course angle being revised according to relative position information comprises:
By the angle of said pedestrian course and object of reference, and the trend of object of reference obtains the reference value of current course angle;
With the weighted mean value of the original value of said current course angle and reference value modified value as current course angle.
4. method as claimed in claim 3; It is characterized in that; The angle of said pedestrian course and object of reference has one or two, and when the angle of said pedestrian course and object of reference had two, the said step of current course angle being revised according to relative position information also comprised:
Remove and a bigger reference value of said original value difference.
5. the method for claim 1 is characterized in that, said navigational system also comprises GPS GPS, and said object of reference is the significant object of factory.
6. the method for claim 1 is characterized in that, said method repeats, accumulation after the correction of said service time since last time;
After the shooting of startup image acquisition equipment comprised the picture of object of reference, said method also comprised:
Judge whether comprise object of reference in the said picture, if not, then generate the information of taking again, and pictures taken again.
7. one kind is used for the device that navigational system is revised the course, it is characterized in that said navigational system comprises inertial navigation system and image acquisition equipment, and said device comprises:
Data acquisition module, the service time that is used to obtain inertial navigation system, and the original value of the current course angle of pedestrian of navigational system output, and whether the service time of judging said inertial navigation system is greater than pre-set threshold value, if then carry out the picture acquisition module;
The picture acquisition module is used to start image acquisition equipment and takes the picture that comprises object of reference;
The picture parsing module is used to resolve said picture, obtains pedestrian and object of reference relative position information;
Correcting module is used for according to said relative position information current course angle being revised.
8. device as claimed in claim 7 is characterized in that, said pedestrian and object of reference relative position information are the angle of pedestrian course and object of reference, and said pedestrian course is consistent with the shooting direction of visual lines.
9. device as claimed in claim 8 is characterized in that, said correcting module comprises:
Reference value generates submodule, be used for the angle by said pedestrian course and object of reference, and the trend of object of reference obtains the reference value of current course angle;
Modified value generates submodule, is used for the weighted mean value of the original value of said current course angle and the reference value modified value as current course angle.
10. device as claimed in claim 9 is characterized in that the angle of said pedestrian course and object of reference has one or two, and when the angle of said pedestrian course and object of reference had two, said correcting module also comprised:
Reference value is removed submodule, is used to remove a reference value bigger with said original value difference.
11. device as claimed in claim 7 is characterized in that, said navigational system also comprises GPS GPS, and said object of reference is the significant object of factory.
12. device as claimed in claim 7 is characterized in that, each module of said device repeats, accumulation after the correction of said service time since last time;
After said picture acquisition module, said device also comprises:
The picture judge module is used for judging whether said picture comprises object of reference, if not, then carries out information generation module and picture acquisition module, if then carry out the picture parsing module;
The information generation module is used to generate the information of taking again.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210162968.5A CN102721425B (en) | 2012-05-23 | 2012-05-23 | Method and the device in course is revised in a kind of navigational system |
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| CN201210162968.5A CN102721425B (en) | 2012-05-23 | 2012-05-23 | Method and the device in course is revised in a kind of navigational system |
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| CN102721425B CN102721425B (en) | 2015-09-02 |
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| CN109827595A (en) * | 2019-03-22 | 2019-05-31 | 京东方科技集团股份有限公司 | Indoor inertial navigator direction calibration method, indoor navigation device and electronic equipment |
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| CN102721425B (en) | 2015-09-02 |
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