CN104251702A - Pedestrian navigation method based on relative pose measurement - Google Patents
Pedestrian navigation method based on relative pose measurement Download PDFInfo
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- CN104251702A CN104251702A CN201410477615.3A CN201410477615A CN104251702A CN 104251702 A CN104251702 A CN 104251702A CN 201410477615 A CN201410477615 A CN 201410477615A CN 104251702 A CN104251702 A CN 104251702A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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Abstract
The invention discloses a pedestrian navigation method based on relative pose measurement, and relates to the field of navigation and location. The method comprises the following steps: (1) respectively mounting three groups of relative pose measurement equipment at a left foot and a right foot of a pedestrian; (2) determining navigation coordinate systems; (3) utilizing electronic switches mounted at a left sole and a right sole to detect contact of the left foot and the right foot of the pedestrian with the ground respectively; (4) utilizing a multi-target ranging circuit and an optical camera to respectively measure the relative poses of the left foot coordinate system and the right foot coordinate system, further respectively measuring the relative pose when the left foot and the right foot are in contact with the group for two times, and utilizing 9-axis inertial measurement units on the left foot and the right foot to respectively measure the relative pose when the left foot and the right foot are in contact with the ground for two times; (5) fusing the data of the three groups of pose measurement, and continuously repeating the pose measurement process from the step (3) to the step (5); (6) determining the relative position and the relative pose, corresponding to the navigation coordinate system, of the left foot coordinate system and the right foot coordinate system respectively; (7) displaying the marching paths and the pose of the left foot and the right foot.
Description
Technical field
The invention belongs to technical field of navigation and positioning, relate to a kind of pedestrian navigation method measured based on relative pose.
Background technology
Pedestrian navigation provides the navigation informations such as reliable position, speed, attitude in real time for pedestrian, in a lot of activities in production of people, social activities and stress-relieving activity, have very urgent demand, research pedestrian navigation Method and Technology has extremely important academic significance and practical value.
Most pedestrian navigation product in the market, the main map match GPS of dependence locates.The motion feature of pedestrian has subjectivity and randomness, majority of case is all along walkway or boulevard walking, or is passing through dark woods, tunnel or turnover urban skyscraper district, or under indoor environment, gps signal is restricted, is difficult to the lasting navigator fix realizing pedestrian.And the positioning error of GPS is generally greater than 10 meters, do not reach the accuracy requirement of pedestrian navigation.
Rely on the pedestrian navigation method of inertial navigation, the real-time location navigation continued under although any environment can be realized, but the output of inertial navigation sensors system can only provide short-term position, speed, acceleration, attitude and angular speed accurately to estimate, measurement data comprises drift or offset error and noise, long-time use has deviation accumulation, loses the function of navigator fix.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of complete autonomous pedestrian navigation method measured based on relative pose, realize non-blind area, pedestrian indoor and outdoor, hi-Fix.The method is the novel navigation locating method of the one thought that relative pose in Spacecraft Rendezvous docking is measured is applied in pedestrian navigation system.
For achieving the above object, the invention provides following technical scheme:
The present invention discloses a kind of pedestrian navigation method measured based on relative pose, relates to navigator fix field.The method comprises the following steps: (1) installs 3 groups of relative pose measuring equipments respectively on the pin of pedestrian left and right; (2) navigational coordinate system is determined; (3) electronic switch being arranged on left and right pin sole is used to detect the contact on pedestrian left and right pin and ground; (4) multi-Goal Measure circuit and optical camera is used to measure relative pose between the pin coordinate system of left and right respectively, and then relative pose when measuring twice kiss the earth before and after the pin of left and right respectively; 9 axle Inertial Measurement Units on the pin of use left and right measure relative pose during twice kiss the earth before and after the pin of left and right respectively; (5) three groups of pose measurement results are carried out data fusion, pedestrian's walking process is exactly the pose measurement process constantly repeating step (3)-(5); (6) left and right pin coordinate system is determined respectively relative to relative position and the relative attitude of navigational coordinate system; (7) display of left and right pin travel track and attitude thereof.
Further, described relative pose measurement refers to measures relative position before pedestrian left and right pin coordinate system and relative attitude, and relative position before and after the pin of pedestrian left and right during twice kiss the earth and relative attitude.
Further, describedly 3 groups of relative pose measuring equipments are installed respectively on the pin of pedestrian left and right refer to: right shoe is with place's installation 9 axle IMU Inertial Measurement Unit (3 axis accelerometers, 3 axle gyroscopes, 3 axle electronic compasss); At least 3 distance measuring signal Tx transmitter units are installed inside right crus of diaphragm; At least 3 optical characteristic point are installed inside right crus of diaphragm; Before and after at the bottom of right shoe, electronic switch module is installed respectively in 2 positions.Left shoe is with place's installation 9 axle IMU Inertial Measurement Unit (3 axis accelerometers, 3 axle gyroscopes, 3 axle electronic compasss); At least 3 distance measuring signal Rx receiving elements and distance measuring signal processing unit are installed inside left foot; Inside left foot, optical camera is installed; Before and after at the bottom of left shoe, electronic switch module is installed respectively in 2 positions.
Further, described navigational coordinate system refers to the inertial coordinates system of left foot before initial navigation.
Further, the contact of electronic switch detection pedestrian left and right pin and ground that described use is arranged on left and right pin sole refers to: before and after sole, electronic switch module is installed respectively in 2 positions, for detecting pedestrian, from heel kiss the earth, (after sole, switch closes, front switch is opened) to whole sole kiss the earth (former and later two switches of sole are all closed), arrive heel again and leave ground (switch opens after sole, front switch closes), shoes leave the process of ground (sole two switches are all opened) completely.When the equal kiss the earth of two pin, trigger the work of relative pose metering circuit.
Further, the relative pose that described use multi-Goal Measure circuit measuring goes out between the pin coordinate system of left and right refers to, measure the distance of to install inside right crus of diaphragm and to install inside at least 3 distance measuring signal Tx transmitter units and left foot between at least 3 distance measuring signal Rx receiving elements, according to spherical equation group, calculate the position coordinates of the arbitrary transmitter unit of right crus of diaphragm in left foot coordinate system, because transmitter unit coordinate in right crus of diaphragm coordinate system is known, thus the relative position calculated between right crus of diaphragm coordinate system and left foot coordinate system and relative attitude matrix.
Further, the multi-Goal Measure between described transmitter unit and receiving element, can adopt ultrasonic ranging or radio distance-measuring, respectively transmits and uses frequency division multiple access FDMA mode or time division multiple access (TDMA) TDMA mode mutually to distinguish.
Further, the relative pose that described use optical camera is measured between the pin coordinate system of left and right refers to, the optical camera be arranged on inside left foot carries out spark photograph to the optical characteristic point inside right crus of diaphragm, measure the position coordinates of these unique points in camera coordinates system and left foot coordinate system, because these optical characteristic point coordinate in right crus of diaphragm coordinate system is known, thus the relative position that can calculate between right crus of diaphragm coordinate system and left foot coordinate system and relative attitude matrix.
Further, relative pose when 9 axle Inertial Measurement Units on the pin of described use left and right measure twice kiss the earth before and after the pin of left and right respectively refers to, by 3 axle accelerations that Inertial Measurement Unit gathers, 3 axis angular rates, relative position when 3 axle magnetometer data use inertial navigation algorithms to calculate twice kiss the earth before and after the pin of left and right and relative attitude.
Beneficial effect of the present invention is: the relative pose in Spacecraft Rendezvous docking technique is measured thought and used in pedestrian navigation system by (1), achieve that pedestrian's indoor and outdoor is complete autonomous, non-blind area, hi-Fix; (2) attitude in the pin traveling process of left and right can be measured exactly, gait feature information can be extracted more accurately.
Accompanying drawing explanation
In order to make object of the present invention, technical scheme and beneficial effect clearly, the invention provides following accompanying drawing and being described:
Fig. 1 is the pedestrian navigation Method And Principle figure measured based on relative pose
Fig. 2 is the pedestrian navigation device key diagram measured based on relative pose
Fig. 3 is the pedestrian navigation flow chart illustration measured based on relative pose
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
Fig. 1 is the pedestrian navigation Method And Principle figure measured based on relative pose state.As shown in the figure, the left foot and right crus of diaphragm of pedestrian 1 build left foot coordinate system O respectively
l-X
ly
lz
lwith right crus of diaphragm coordinate system O
r-X
ry
rz
r, record pedestrian's left foot coordinate system O of before pedestrian steps the first step 100
l(0)-X
l(0) Y
l(0) Z
l(0); When left foot is stably parked in ground, right crus of diaphragm steps the first step and lands rear 201, starts the 1st relative pose and measures, measure right crus of diaphragm coordinate system O
r(1)-X
r(1) Y
r(1) Z
r(1) relative to left foot coordinate system O
l(0)-X
l(0) Y
l(0) Z
l(0) relative position V (1) and relative attitude R (1), when then right crus of diaphragm is stably parked in ground, left foot steps the 1st step and lands after 101, starts a relative pose and measures, measure right crus of diaphragm coordinate system O
r(1)-X
r(1) Y
r(1) Z
r(1) relative to left foot coordinate system O
l(1)-X
l(1) Y
l(1) Z
l(1) relative position V (2) and relative attitude R (2).By that analogy, left foot is stably parked in ground, and right crus of diaphragm steps the i-th step and lands rear 203, measures right crus of diaphragm coordinate system O
r(i)-X
r(i) Y
r(i) Z
ri () is relative to left foot coordinate system O
l(i-1)-X
l(i-1) Y
l(i-1) Z
l(i-1) relative position V (2i-1) and relative attitude R (2i-1), when then right crus of diaphragm is stably parked in ground, left foot steps the i-th step and lands rear 104, measures right crus of diaphragm coordinate system O
r(i)-X
r(i) Y
r(i) Z
ri () is relative to left foot coordinate system O
l(i)-X
l(i) Y
l(i) Z
lthe relative position V (2i) of (i) and relative attitude R (2i).
1st time traveling process (stepping left foot after first stepping right crus of diaphragm) is:
I-th time traveling process (stepping left foot after first stepping right crus of diaphragm) is:
The i-th+1 time traveling process (stepping left foot after first stepping right crus of diaphragm) is:
By (formula 3) and (formula 4), known:
By (formula 4) and (formula 5), known:
(formula 7) indicates the relative pose relation between the left foot coordinate system of twice, front and back, accordingly, can obtain the position orientation relation between the i-th step left foot coordinate system and initial left foot coordinate system, as follows:
R
li () is the attitude matrix of the i-th step left foot coordinate system relative to initial left foot coordinate system, V
li () is the relative position of the i-th step left foot coordinate system relative to initial left foot coordinate system, i.e. the position coordinates of initial point in initial left foot coordinate system of the i-th step left foot coordinate system.
(formula 8) indicates the relative pose relation between the right crus of diaphragm coordinate system of twice, front and back, accordingly, can obtain the position orientation relation between the i-th step right crus of diaphragm coordinate system and initial left foot coordinate system, as follows:
R
ri () is the attitude matrix of the i-th step right crus of diaphragm coordinate system relative to initial left foot coordinate system, V
ri () is the relative position of the i-th step right crus of diaphragm coordinate system relative to initial left foot coordinate system, i.e. the position coordinates of initial point in initial left foot coordinate system of the i-th step right crus of diaphragm coordinate system.
By position coordinates V
l(i), i=1,2,3 ..., n couples together, and just obtains the travel track of pedestrian's left foot, equally by position coordinates V
r(i), i=1,2,3 ..., n couples together, and just obtains the travel track of pedestrian's right crus of diaphragm.R
l(i), i=1,2,3 ..., n is in traveling process, each step of left foot and attitude matrix during earth surface, R
r(i), i=1,2,3 ..., n is in traveling process, each step of right crus of diaphragm and attitude matrix during earth surface.
Fig. 2 is the pedestrian navigation device key diagram measured based on relative pose.Guider is formed with the measuring equipment in right shoe 4 by being arranged on left shoe 3.9 axle IMU Inertial Measurement Units 40 (3 axis accelerometers, 3 axle gyroscopes, 3 axle electronic compasss) are installed at right crus of diaphragm 4 heel place, determine right crus of diaphragm inertial navigation coordinate system O
rx
ry
rz
r; At least 3 distance measuring signal Tx transmitter units 421,422,423 are installed inside right crus of diaphragm; At least 3 optical characteristic point 431,432 are installed, 433 inside right crus of diaphragm; Before and after at the bottom of right shoe, 2 positions install electronic switch module 410 and 411 respectively, and for detecting right crus of diaphragm from heel kiss the earth to whole sole kiss the earth, then leave ground to heel, shoes leave the process on ground completely.9 axle IMU Inertial Measurement Units 30 (3 axis accelerometers, 3 axle gyroscopes, 3 axle electronic compasss) are installed at left foot 1 heel place, determine left foot inertial navigation coordinate system O
lx
ly
lz
l; At least 3 distance measuring signal Rx receiving elements 321 are installed inside left foot, 322,323, Received signal strength is sent to distance measuring signal processing unit 33, calculates the arbitrary Tx transmitter unit of right crus of diaphragm apart from 3 receiving elements 321,322, distance between 323, the position coordinates of arbitrary Tx transmitter unit in left foot coordinate system can be obtained, in right crus of diaphragm coordinate system, when coordinate, calculate right crus of diaphragm coordinate system O at known transmitter unit
rx
ry
rz
rwith left foot coordinate system O
lx
ly
lz
lbetween relative position V and relative attitude matrix R; Optical camera 32 being installed inside left foot, for measuring the position coordinates of optical characteristic point in camera coordinates system and left foot coordinate system inside right crus of diaphragm, in right crus of diaphragm coordinate system, when coordinate, calculating right crus of diaphragm coordinate system O in known optical unique point
rx
ry
rz
rwith left foot coordinate system O
lx
ly
lz
lbetween relative position V and relative attitude matrix R; Before and after at the bottom of left shoe, 2 positions install electronic switch module 310 and 311 respectively, and for detecting left foot from heel kiss the earth to whole sole kiss the earth, then leave ground to heel, shoes leave the process on ground completely.
Fig. 3 is the pedestrian navigation flow chart illustration based on multi-Goal Measure.
Step 50: pedestrian left and right pin is installed respectively autonomous navigation device as shown in Figure 2.
Step 51: start navigation, determine navigational coordinate system.
Be navigational coordinate system to start the left foot coordinate before navigating, later every walking is walked to regard one-period process as.
Step 52: left and right pin electronic switch state-detection gait.
Former and later two electronic switch closes at the bottom of left shoe, after at the bottom of right shoe, electronic switch first closes, before closed after electronic switch, show that pedestrian's left foot supports ground, right crus of diaphragm advanced in years lands; Similarly, former and later two electronic switch closes at the bottom of right shoe, after at the bottom of left shoe, electronic switch first closes, before closed after electronic switch, show that pedestrian's right crus of diaphragm supports ground, left foot advanced in years lands.When the equal kiss the earth of both feet, start relative pose measuring process 53, have three kinds of relative pose measuring methods: step 531, step 532, step 533.
Step 531: the relative pose based on multi-Goal Measure is measured, and comprises step 5311, step 5312, step 5313, step 5314.
Step 5311: when the equal kiss the earth of left and right pin, starts multi-Goal Measure circuit, measures each range finding unique point of right crus of diaphragm (Tx transmitter module) and left foot more than 3 distances of finding range between receiving element Rx;
Step 5312: calculate the coordinate of right crus of diaphragm range finding unique point in left foot coordinate system.
Step 5313: determine the phase position between right crus of diaphragm coordinate system and left foot coordinate system and relative attitude.
Step 5314: relative position and the relative attitude of determining twice kiss the earth before and after the pin coordinate system of left and right.
Step 532: the relative pose based on optical imagery is measured, and comprises step 5321, step 5322, step 5323, step 5324.
Step 5321: when the equal kiss the earth of left and right pin, the optical camera on left foot carries out spark photograph to right crus of diaphragm;
Step 5322: calculate the coordinate of right crus of diaphragm optical characteristic point in left foot coordinate system.
Step 5323: determine the phase position between right crus of diaphragm coordinate system and left foot coordinate system and relative attitude.
Step 5324: relative position and the relative attitude of determining twice kiss the earth before and after the pin coordinate system of left and right.
Step 533: the relative pose based on inertia measurement is measured, and comprises step 531, step 532, step 533.
Step 5331: inertial navigation unit carries out data acquisition in real time;
Step 5332: relative position and the relative attitude of determining twice kiss the earth before and after the pin coordinate system of left and right.
Step 54: Data Fusion.
By step 531, step 532, the relative position that step 533 three kinds of relative pose measuring methods are measured and relative attitude data carry out data fusion, are then for further processing, get back to step 52, repeat walking process next time.
Step 55: determine left and right pin coordinate system respectively relative to relative position and the relative attitude of navigational coordinate system.
The left and right pin coordinate system relative position obtained after data fusion and relative attitude are converted to left and right pin coordinate system relative to the relative position of initial navigation coordinate system and relative attitude.
Step 56: the display of left and right pin travel track and attitude thereof.
Pedestrian often steps a step, in navigational coordinate system, all draws position and the attitude of pedestrian left and right pin, so just achieve the real-time navigation of pedestrian.
What finally illustrate is, above preferred embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although by above preferred embodiment to invention has been detailed description, but those skilled in the art are to be understood that, various change can be made to it in the form and details, and not depart from claims of the present invention limited range.
Claims (9)
1., based on the pedestrian navigation method that relative pose is measured, it is characterized in that: (1) installs 3 groups of relative pose measuring equipments respectively on the pin of pedestrian left and right; (2) navigational coordinate system is determined; (3) electronic switch being arranged on left and right pin sole is used to detect the contact on pedestrian left and right pin and ground; (4) multi-Goal Measure circuit and optical camera is used to measure relative pose between the pin coordinate system of left and right respectively, and then relative pose when measuring twice kiss the earth before and after the pin of left and right respectively; 9 axle Inertial Measurement Units on the pin of use left and right measure relative pose during twice kiss the earth before and after the pin of left and right respectively; (5) three groups of pose measurement results are carried out data fusion, constantly repeat the pose measurement process of step (3)-(5); (6) left and right pin coordinate system is determined respectively relative to relative position and the relative attitude of navigational coordinate system; (7) display of left and right pin travel track and attitude thereof.
2. the pedestrian navigation method measured based on relative pose according to claim 1, is characterized in that: described relative pose measurement refers to, when the equal kiss the earth of left and right pin, measures the relative position between the pin coordinate system of pedestrian left and right and relative attitude; Relative position between right crus of diaphragm coordinate system before and after relative position between left foot coordinate system when measuring 2 kiss the earths before and after pedestrian's left foot and relative attitude and pedestrian's right crus of diaphragm during 2 kiss the earths and relative attitude.
3. the pedestrian navigation method measured based on relative pose according to claim 1, is characterized in that: described relative pose measuring equipment is arranged on the pin of pedestrian left and right; Right shoe is with place's installation 9 axle IMU Inertial Measurement Unit, and install at least 3 distance measuring signal Tx transmitter units inside right crus of diaphragm, install at least 3 optical characteristic point inside right crus of diaphragm, before and after at the bottom of right shoe, electronic switch module is installed respectively in 2 positions; Left shoe is with place's installation 9 axle IMU Inertial Measurement Unit, and install at least 3 distance measuring signal Rx receiving elements and distance measuring signal processing unit inside left foot, install optical camera inside left foot, before and after at the bottom of left shoe, electronic switch module is installed respectively in 2 positions.
4. the pedestrian navigation method based on multi-Goal Measure according to claim 1, is characterized in that: described navigational coordinate system refers to the inertial coordinates system of left foot before initial navigation.
5. the pedestrian navigation method based on multi-Goal Measure according to claim 1, it is characterized in that: the electronic switch of left and right pin sole is for detecting the contact situation on pedestrian left and right pin and ground, after sole, switch closes, and when front switch is opened, represents that pedestrian's heel starts kiss the earth; When former and later two switches of sole are all closed, represent whole sole kiss the earth, switch opens after sole, when front switch closes, represent that heel starts to leave ground; When sole two switches are all opened, represent that shoes leave ground completely; When the equal kiss the earth of two pin, trigger the work of relative pose metering circuit.
6. the pedestrian navigation method based on multi-Goal Measure according to claim 1, it is characterized in that: the relative pose that described use multi-Goal Measure circuit measuring goes out between the pin coordinate system of left and right refers to, measure the distance between at least 3 distance measuring signal Rx receiving elements installing inside at least 3 the distance measuring signal Tx transmitter units and left foot installed inside right crus of diaphragm, according to spherical equation group, calculate the position coordinates of the arbitrary transmitter unit of right crus of diaphragm in left foot coordinate system, because transmitter unit coordinate in right crus of diaphragm coordinate system is known, thus the relative position calculated between right crus of diaphragm coordinate system and left foot coordinate system and relative attitude matrix.
7. multi-Goal Measure method according to claim 6, it is characterized in that: the multi-Goal Measure between transmitter unit and receiving element, ultrasonic ranging or radio distance-measuring can be adopted, transmit and use frequency division multiple access FDMA mode or time division multiple access (TDMA) TDMA mode mutually to distinguish.
8. the pedestrian navigation method based on multi-Goal Measure according to claim 1, it is characterized in that: the relative pose that described use optical camera is measured between the pin coordinate system of left and right refers to, the optical camera be arranged on inside left foot carries out spark photograph to the optical characteristic point inside right crus of diaphragm, measure the position coordinates of these unique points in camera coordinates system and left foot coordinate system, because these optical characteristic point coordinate in right crus of diaphragm coordinate system is known, thus the relative position that can calculate between right crus of diaphragm coordinate system and left foot coordinate system and relative attitude matrix.
9. the pedestrian navigation method based on multi-Goal Measure according to claim 1, it is characterized in that: relative pose when 9 axle Inertial Measurement Units on the pin of described use left and right measure twice kiss the earth before and after the pin of left and right respectively refers to, by 3 axle accelerations that Inertial Measurement Unit gathers, 3 axis angular rates, relative position when 3 axle magnetometer data use inertial navigation algorithms to calculate twice kiss the earth before and after the pin of left and right and relative attitude.
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| CN104698434A (en) * | 2015-01-16 | 2015-06-10 | 梁二 | Ultra-wideband based indoor emergent positioning method |
| CN104567862A (en) * | 2015-01-19 | 2015-04-29 | 华侨大学 | Two-feet-positioning-based motion trail acquisition method |
| CN106153067A (en) * | 2015-03-30 | 2016-11-23 | 联想(北京)有限公司 | A kind of electronic equipment, distance-finding method and Operation Processing Unit |
| CN105699974A (en) * | 2016-01-20 | 2016-06-22 | 沈弼龙 | Intelligent positioning method, intelligent positioning device, and intelligent positioning system |
| CN105699974B (en) * | 2016-01-20 | 2018-04-17 | 沈弼龙 | Intelligent locating method, intelligent positioner and intelligent positioning system |
| CN106199507A (en) * | 2016-06-15 | 2016-12-07 | 北京工业大学 | Rigid space pose based on one way frequency modulation Electromagnetic Continuous ripple directly measures system |
| CN105973264A (en) * | 2016-07-21 | 2016-09-28 | 触景无限科技（北京）有限公司 | Intelligent blind guiding system |
| CN109164830A (en) * | 2018-08-03 | 2019-01-08 | 深圳市迅驰智能电子科技有限公司 | A kind of automatic follower method of balance car and balance car |
| CN111256683A (en) * | 2018-12-03 | 2020-06-09 | 北京科加触控技术有限公司 | Positioning method and device |
| CN111323048A (en) * | 2020-02-28 | 2020-06-23 | 上海航天控制技术研究所 | Performance test method and system for single relative attitude measurement machine |
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