CN102721425B - Method and the device in course is revised in a kind of navigational system - Google Patents
Method and the device in course is revised in a kind of navigational system Download PDFInfo
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- CN102721425B CN102721425B CN201210162968.5A CN201210162968A CN102721425B CN 102721425 B CN102721425 B CN 102721425B CN 201210162968 A CN201210162968 A CN 201210162968A CN 102721425 B CN102721425 B CN 102721425B
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Abstract
This application provides a kind of method and apparatus for revising course in navigational system.Described navigational system comprises inertial navigation system and image acquisition equipment, and described method comprises: the service time obtaining inertial navigation system, and judges whether the service time of described inertial navigation system is greater than pre-set threshold value; If so, the picture that image acquisition equipment shooting comprises object of reference is then started; Resolve described picture, obtain pedestrian and object of reference relative position information; Revise current course angle according to described relative position information, the application can make the navigation accuracy of inertial navigation set in the scope met the demands.
Description
Technical field
The application relates to navigational system, particularly relates to the method and apparatus revising course in a kind of navigational system.
Background technology
Pedestrian navigation system is now determine the position of pedestrian based on GPS (Global Position System) (as GPS, G1obalPositioning System, GPS) mostly, the precision that coupling digital map navigation can be promote.
The shortcoming of satellite navigation system is, pedestrian is when walking in city, satellite-signal is easily subject to blocking of buildings, and the interference of multipath, it can be made can not to locate or affect positioning precision, time particularly in some particular surroundingss, gps signal is when some region, and gps satellite signal can become unstable.Now just need to adopt inertial navigation set to make up the deficiency of satellite navigation system.Inertial navigation set, when determining the course of pedestrian, is by determining the integration of gyro.The error in this mode course can become large along with the accumulation of time, therefore need to revise course by other means, to meet the requirement of pedestrian navigation positioning precision.
Above problems of the prior art are, the magnetometer right and wrong equipment carrying out navigational calibration for aided inertial navigation equipment usually, but are equipped with in the factory of heavy mechanical equipment at some, and magnetometer is easily interfered.
Therefore, the technical matters needing those skilled in the art to solve at present is exactly provide a kind of method revising course in navigational system, makes the navigation accuracy of inertial navigation set in the scope met the demands.
Summary of the invention
Technical problems to be solved in this application are to provide a kind of method revising course in navigational system, make the navigation accuracy of inertial navigation set in the scope met the demands.
Present invention also provides the device revising course in a kind of navigational system, in order to ensure said method application in practice and realization.
In order to solve the problem, this application discloses a kind of method for revising course in navigational system, described navigational system comprises inertial navigation system and image acquisition equipment, and described method comprises:
Obtain the service time of inertial navigation system, and judge whether the service time of described inertial navigation system is greater than pre-set threshold value;
If so, the picture that image acquisition equipment shooting comprises object of reference is then started;
Resolve described picture, obtain pedestrian and object of reference relative position information;
According to described relative position information, current course angle is revised.
Preferably, described pedestrian and object of reference relative position information are the angle of pedestrian course and object of reference, and described pedestrian course is consistent with shooting direction of visual lines.
Preferably, described foundation relative position information comprises the step that current course angle is revised:
By the angle of described pedestrian course and object of reference, and object of reference move towards the reference value obtaining current course angle;
Using the original value of described current course angle and the weighted mean value of the reference value modified value as current course angle.
Preferably, the angle of described pedestrian course and object of reference has one or two, when the angle of described pedestrian course and object of reference has two, describedly also to comprise the step that current course angle is revised according to relative position information:
Remove a reference value large with described original value difference comparsion.
Preferably, described navigational system also comprises GPS (Global Position System) GPS, and described object of reference is the significant object of factory.
Preferably, described method repeats, accumulation after the correction of described service time from last time;
After the shooting of startup image acquisition equipment comprises the picture of object of reference, described method also comprises:
Judge whether comprise object of reference in described picture, if not, then generate the information of again taking, and pictures taken again.
Present invention also provides a kind of device for revising course in navigational system, described navigational system comprises inertial navigation system and image acquisition equipment, and described device comprises:
Data acquisition module, for obtaining the service time of inertial navigation system, and the original value of pedestrian's current course angle of navigational system output, and judge whether the service time of described inertial navigation system is greater than pre-set threshold value, if so, then perform picture acquisition module;
Picture acquisition module, comprises the picture of object of reference for starting image acquisition equipment shooting;
Picture parsing module, for resolving described picture, obtains pedestrian and object of reference relative position information;
Correcting module, for revising current course angle according to described relative position information.
Preferably, described pedestrian and object of reference relative position information are the angle of pedestrian course and object of reference, and described pedestrian course is consistent with shooting direction of visual lines.
Preferably, described correcting module comprises:
Reference value generates submodule, for the angle by described pedestrian course and object of reference, and the reference value moving towards acquisition current course angle of object of reference;
Modified value generates submodule, for using the original value of described current course angle and the weighted mean value of the reference value modified value as current course angle.
Preferably, the angle of described pedestrian course and object of reference has one or two, and when the angle of described pedestrian course and object of reference has two, described correcting module also comprises:
Reference value removes submodule, for removing a reference value large with described original value difference comparsion.
Preferably, described navigational system also comprises GPS (Global Position System) GPS, and described object of reference is the significant object of factory.
Preferably, the modules of described device repeats, accumulation after the correction of described service time from last time;
After described picture acquisition module, described device also comprises:
Picture judge module, for judging whether comprise object of reference in described picture, if not, then performing information generation module and picture acquisition module, if so, then performing picture parsing module;
Information generation module, for generating the information of again taking.
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, the pedestrian obtained according to picture 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, make the navigation accuracy of inertial navigation set in the scope met the demands.Method described in the application is simple, even if also can not be interfered in the factory that plant equipment is housed.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the embodiment of the method 1 revising course in a kind of navigational system of the application;
Fig. 2 is the process flow diagram of the embodiment of the method 2 revising course in a kind of navigational system of the application;
Fig. 3 is the structured flowchart of the device embodiment 1 revising course in a kind of navigational system of the application;
Fig. 4 is the structured flowchart of the device embodiment 2 revising course in a kind of navigational system of the application.
Embodiment
For enabling above-mentioned purpose, the feature and advantage of the application more become apparent, below in conjunction with the drawings and specific embodiments, the application is described in further detail.
With reference to figure 1, show the process flow diagram of a kind of embodiment of the method 1 for revising course in navigational system of the application, described navigational system comprises inertial navigation system and image acquisition equipment, and described method specifically can comprise the following steps:
The service time of step 101, acquisition inertial navigation system, and the original value of pedestrian's current course angle of navigational system output, and judge whether the service time of described inertial navigation system is greater than pre-set threshold value, if so, then perform step 102.
The error of inertial navigation system, along with the accumulation linear increase of time, therefore, when inertial navigation system arrives pre-set threshold value service time, needs to carry out error correction to its Output rusults.Concrete, can start timing when inertial navigation system is brought into use, the arrival regular hour is just revised current course angle.
In concrete realization, described navigational system can also comprise GPS (Global Position System) GPS.The course information of gps system input, the course information exported with inertial navigation system, is merged by Kalman filtering algorithm, draws the rear course information of combination, i.e. the original value of pedestrian's current course angle of navigational system output.
In concrete realization, described method can repeat, and namely after once revising, accumulation inertial navigation system service time after revising, waits for correction next time from the last time.
Step 102, the shooting of startup image acquisition equipment comprise the picture of object of reference.
The application is according to object of reference to revise the current course angle of pedestrian, and object of reference possesses oneself trend.In the environment of factory, described object of reference can be the significant object of factory, and the trend of all significant objects can prestore in the server.
Conveniently pedestrian's pictures taken, in practice, can by image acquisition equipment, as camera is fixed on the cap of plant personnel.
Step 103, resolve described picture, obtain pedestrian and object of reference relative position information.
In the application, described 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 taken between sight line and object of reference trend, because described pedestrian course can be consistent with shooting direction of visual lines, therefore, can draw pedestrian course and object of reference move towards between angle.
In concrete realization, the angle that pedestrian course can become fix with shooting direction of visual lines, then according to the angle taking direction of visual lines and object of reference, and can take the angle in direction of visual lines and pedestrian course, obtain the angle between pedestrian course and object of reference.
Step 104, according to described relative position information, current course angle to be revised.
In a preferred embodiment of the present application, described step 104 can comprise:
Sub-step S11, angle by described pedestrian course and object of reference, and object of reference move towards the reference value obtaining current course angle;
Sub-step S12, using the original value of described current course angle and the weighted mean value of the reference value modified value as current course angle.
According to the angle between pedestrian course and object of reference, and the trend of object of reference, the reference value of the travel direction that pedestrian is current can be known, i.e. the reference value of current course angle.
In concrete realization, the trend due to object of reference only has a value, such as, angle, 30 degree, east by south, in pictures taken, the angle of pedestrian course and object of reference has two, and one is the angle with object of reference forward, one is the angle reverse with object of reference, these two angles also may be equal, and therefore, the angle of described pedestrian course and object of reference has one or two, when the angle of described pedestrian course and object of reference has two, described step 104 can also comprise:
The reference value that sub-step S13, removal and described original value difference comparsion are large.
Such as, the trend of certain factory mark object is 45 degree, when inertial navigation system service time more than 15min time, start camera and take a pictures, the angle of resolving the known pedestrian course of picture and object of reference is 0 degree and 180 degree, it can thus be appreciated that the reference value 45 degree of course angle or 225 degree, the original value of pedestrian's current course angle of now inertial navigation system output is 30 degree, therefore, 225 degree larger with original value difference can be given up.Being weighted the modified value that on average can obtain course angle with reference to value and original value is 43 degree.
With reference to figure 2, show the process flow diagram of a kind of embodiment of the method 2 for revising course in navigational system of the application, described navigational system comprises inertial navigation system and image acquisition equipment, and described method specifically can comprise the following steps:
The service time of step 201, acquisition inertial navigation system, and the original value of pedestrian's current course angle of navigational system output, and judge whether the service time of described inertial navigation system is greater than pre-set threshold value, if so, then perform step 202;
Step 202, the shooting of startup image acquisition equipment comprise the picture of object of reference;
Step 203, judge whether comprise object of reference in described picture, if not, then perform step 204 and 202, if so, then perform step 205.
The information that step 204, generation are taken again.
In concrete realization, when walking, may there is the angle of shooting less than object of reference in pedestrian, such as, in the factory, object of reference is east-west, pedestrian facing away from object of reference and is walked southward by north, is 90 degree with object of reference angle, does not just have object of reference in the picture now photographed.Or during pedestrian's pictures taken, camera faces the sun, in picture, object of reference cannot be photographed equally.
Therefore, need after shooting to judge whether comprise object of reference in picture, if do not have, then need to re-start shooting, can generate the information of again taking, prompting pedestrian cannot photograph object of reference herein, pedestrian can deflect course a little according to this information, and again obtains picture.
Step 205, resolve described picture, obtain pedestrian and object of reference relative position information;
Step 206, according to described relative position information, current course angle to be revised.
In sum, the application installs image acquisition equipment in navigational system, when inertial navigation system uses Preset Time, shooting includes the picture of object of reference, the pedestrian obtained according to picture 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, make the navigation accuracy of inertial navigation set in the scope met the demands.Method described in the application is simple, even if also can not be interfered in the factory that plant equipment is housed.
For embodiment of the method, in order to simple description, therefore it is all expressed as a series of combination of actions, but those skilled in the art should know, the application is not by 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 instructions all belongs to preferred embodiment, and involved action and module might not be that the application is necessary.
With reference to figure 3, show the structured flowchart of a kind of device embodiment 1 for revising course in navigational system of the application, described navigational system comprises inertial navigation system and image acquisition equipment, and described device specifically can comprise with lower module:
Data acquisition module 301, for obtaining the service time of inertial navigation system, and the original value of pedestrian's current course angle that navigational system exports, and judges whether the service time of described inertial navigation system is greater than pre-set threshold value, if so, then execution module 302;
Picture acquisition module 302, comprises the picture of object of reference for starting image acquisition equipment shooting;
Picture parsing module 303, for resolving described picture, obtains pedestrian and object of reference relative position information;
Correcting module 304, for revising current course angle according to described relative position information.
In a preferred embodiment of the present application, described pedestrian and object of reference relative position information can be the angle of pedestrian course and object of reference, and described pedestrian course can be consistent with shooting direction of visual lines.
In a preferred embodiment of the present application, described correcting module can comprise:
Reference value generates submodule, for the angle by described pedestrian course and object of reference, and the reference value moving towards acquisition current course angle of object of reference;
Modified value generates submodule, for using the original value of described current course angle and the weighted mean value of the reference value modified value as current course angle.
In a preferred embodiment of the present application, the angle of described pedestrian course and object of reference can have one or two, and when the angle of described pedestrian course and object of reference has two, described correcting module can also comprise:
Reference value removes submodule, for removing a reference value large with described original value difference comparsion.
In a preferred embodiment of the present application, described navigational system can also comprise GPS (Global Position System) GPS, and described object of reference can be the significant object of factory.
In a preferred embodiment of the present application, the modules of described device can repeat, accumulation after can revising from the last time described service time.
With reference to figure 4, show the structured flowchart of a kind of device embodiment 2 for revising course in navigational system of the application, described navigational system comprises inertial navigation system and image acquisition equipment, and described device specifically can comprise with lower module:
Data acquisition module 401, for obtaining the service time of inertial navigation system, and the original value of pedestrian's current course angle that navigational system exports, and judges whether the service time of described inertial navigation system is greater than pre-set threshold value, if so, then execution module 402;
Picture acquisition module 402, comprises the picture of object of reference for starting image acquisition equipment shooting;
Picture judge module 403, for judging whether comprise object of reference in described picture, if not, then execution module 404 and module 402, if so, then execution module 405;
Information generation module 404, for generating the information of again taking;
Picture parsing module 405, for resolving described picture, obtains pedestrian and object of reference relative position information;
Correcting module 406, for revising current course angle according to described relative position information.
Because described device embodiment is substantially corresponding to the embodiment of the method shown in earlier figures 1 and Fig. 2, therefore not detailed part in the description of the present embodiment, see the related description in previous embodiment, just can not repeat at this.
The application can be used in numerous general or special purpose computing system environment or configuration.Such as: personal computer, server computer, handheld device or portable set, laptop device, multicomputer system, system, set top box, programmable consumer-elcetronics devices, network PC, small-size computer, mainframe computer, the distributed computing environment comprising above any system or equipment etc. based on microprocessor.
The application can describe in the general context of computer executable instructions, such as program module.Usually, program module comprises the routine, program, object, assembly, data structure etc. that perform particular task or realize particular abstract data type.Also can put into practice the application in a distributed computing environment, in these distributed computing environment, be executed the task by the remote processing devices be connected by communication network.In a distributed computing environment, program module can be arranged in the local and remote computer-readable storage medium comprising memory device.
Finally, also it should be noted that, in this article, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, " comprising one ... " key element of limiting by statement, and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
The method in course is revised in a kind of navigational system above the application provided, and, the device revising course in a kind of navigational system is described in detail, apply specific case herein to set forth the principle of the application and embodiment, the explanation of above embodiment is just for helping method and the core concept thereof of understanding the application; Meanwhile, for one of ordinary skill in the art, according to the thought of the application, all will change in specific embodiments and applications, in sum, this description should not be construed as the restriction to the application.
Claims (8)
1. for revising the method in course in navigational system, it is characterized in that, described navigational system comprises inertial navigation system and image acquisition equipment, and described method comprises:
Obtain the service time of inertial navigation system, and judge whether the service time of described inertial navigation system is greater than pre-set threshold value;
If so, the picture that image acquisition equipment shooting comprises object of reference is then started;
Resolve described picture, obtain pedestrian and object of reference relative position information, described pedestrian and object of reference relative position information are the angle of pedestrian course and object of reference, and described pedestrian course is consistent with shooting direction of visual lines, and described object of reference is the significant object of factory;
According to described relative position information, current course angle is revised, comprises further:
By the angle of described pedestrian course and object of reference, and object of reference move towards the reference value obtaining current course angle;
Using the original value of described current course angle and the weighted mean value of the reference value modified value as current course angle.
2. the method for claim 1, it is characterized in that, the angle of described pedestrian course and object of reference has one or two, when the angle of described pedestrian course and object of reference has two, describedly also to comprise the step that current course angle is revised according to relative position information:
Remove a reference value large with described original value difference comparsion.
3. the method for claim 1, is characterized in that, described navigational system also comprises GPS (Global Position System) GPS.
4. the method for claim 1, is characterized in that, described method repeats, accumulation after the correction of described service time from last time;
After the shooting of startup image acquisition equipment comprises the picture of object of reference, described method also comprises:
Judge whether comprise object of reference in described picture, if not, then generate the information of again taking, and pictures taken again, if so, then perform and resolve described picture, obtain the step of pedestrian and object of reference relative position information.
5. for revising the device in course in navigational system, it is characterized in that, described navigational system comprises inertial navigation system and image acquisition equipment, and described device comprises:
Data acquisition module, for obtaining the service time of inertial navigation system, and the original value of pedestrian's current course angle of navigational system output, and judge whether the service time of described inertial navigation system is greater than pre-set threshold value, if so, then perform picture acquisition module;
Picture acquisition module, comprises the picture of object of reference for starting image acquisition equipment shooting;
Picture parsing module, for resolving described picture, obtain pedestrian and object of reference relative position information, described pedestrian and object of reference relative position information are the angle of pedestrian course and object of reference, described pedestrian course is consistent with shooting direction of visual lines, and described object of reference is the significant object of factory;
Correcting module, for revising current course angle according to described relative position information,
Further, described correcting module comprises:
Reference value generates submodule, for the angle by described pedestrian course and object of reference, and the reference value moving towards acquisition current course angle of object of reference;
Modified value generates submodule, for using the original value of described current course angle and the weighted mean value of the reference value modified value as current course angle.
6. device as claimed in claim 5, it is characterized in that, the angle of described pedestrian course and object of reference has one or two, and when the angle of described pedestrian course and object of reference has two, described correcting module also comprises:
Reference value removes submodule, for removing a reference value large with described original value difference comparsion.
7. device as claimed in claim 5, it is characterized in that, described navigational system also comprises GPS (Global Position System) GPS.
8. device as claimed in claim 5, it is characterized in that, the modules of described device repeats, accumulation after the correction of described service time from last time;
After described picture acquisition module, described device also comprises:
Picture judge module, for judging whether comprise object of reference in described picture, if not, then performing information generation module and picture acquisition module, if so, then performing picture parsing module;
Information generation module, for generating the information of again taking.
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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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| CN105806337B (en) * | 2014-12-30 | 2019-07-19 | Tcl集团股份有限公司 | A kind of localization method and Indoor Robot applied to Indoor Robot |
| CN105806331A (en) * | 2014-12-30 | 2016-07-27 | Tcl集团股份有限公司 | Positioning method for indoor robot and indoor robot |
| CN105674984B (en) * | 2016-01-18 | 2019-09-27 | 上海交通大学 | A method of acquisition for mobile terminal pedestrian advancing direction is used without constraint |
| CN109827595B (en) * | 2019-03-22 | 2020-12-01 | 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 |
| CN111664861B (en) * | 2020-06-02 | 2023-02-28 | 阿波罗智联(北京)科技有限公司 | Navigation prompting method, device, equipment and readable storage medium |
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| CN101484777A (en) * | 2005-12-15 | 2009-07-15 | 天宝导航有限公司 | Managed traverse system and method to acquire accurate survey data in absence of precise GPS data |
| CN102109358A (en) * | 2010-12-17 | 2011-06-29 | 北京航空航天大学 | Position correction method of laser gyro inertial navigation system for boat |
| TW201144760A (en) * | 2010-01-18 | 2011-12-16 | Qualcomm Inc | Using object to align and calibrate inertial navigation system |
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| US7606665B2 (en) * | 2003-08-29 | 2009-10-20 | Honeywell International Inc. | System and method for employing an aided-alignment mode to align an inertial reference system |
| US8694051B2 (en) * | 2010-05-07 | 2014-04-08 | Qualcomm Incorporated | Orientation sensor calibration |
| US8843290B2 (en) * | 2010-07-22 | 2014-09-23 | Qualcomm Incorporated | Apparatus and methods for calibrating dynamic parameters of a vehicle navigation system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101484777A (en) * | 2005-12-15 | 2009-07-15 | 天宝导航有限公司 | Managed traverse system and method to acquire accurate survey data in absence of precise GPS data |
| TW201144760A (en) * | 2010-01-18 | 2011-12-16 | Qualcomm Inc | Using object to align and calibrate inertial navigation system |
| CN102109358A (en) * | 2010-12-17 | 2011-06-29 | 北京航空航天大学 | Position correction method of laser gyro inertial navigation system for boat |
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