CN106403941B - A kind of localization method and device - Google Patents
A kind of localization method and device Download PDFInfo
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- CN106403941B CN106403941B CN201610753403.2A CN201610753403A CN106403941B CN 106403941 B CN106403941 B CN 106403941B CN 201610753403 A CN201610753403 A CN 201610753403A CN 106403941 B CN106403941 B CN 106403941B
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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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Abstract
The present invention provides a kind of localization method and device, and the localization method is suitable for the environment that walking surface has network, comprising: obtains the layout information of the network；Inertial navigation is carried out to the positioning device walked on the walking surface, to obtain inertial navigation information；The walking surface image of the positioning device present position is obtained during inertial navigation, and judges whether to need to correct the inertial navigation information according to the walking surface image and the layout information；When needing to correct the inertial navigation information, processing is modified to obtain revised inertial navigation information, and the current location information of the positioning device and/or azimuth are extracted from the revised inertial navigation information；When not needing to correct the inertial navigation information, the current location information of the positioning device and/or azimuth are extracted from the inertial navigation information.The accuracy of the localization method and device is higher.
Description
Technical field
The present invention relates to field of locating technology more particularly to a kind of localization methods and device.
Background technique
Location technology is widely used, and in existing location technology, is had based on radio frequency identification (Radio Frequency
Identification, RFID) localization method, based on global positioning system (Global Positioning System,
GPS localization method), localization method based on WLAN (Wireless LAN, WLAN) etc..
In existing location technology, also there are passive location technology, such as inertial navigation technology.Passive location technology does not depend on
In positioning node, advantage of lower cost.
But there is accumulated error in inertial navigation technology, the accuracy of the location technology based on inertial navigation has
It is to be hoisted.
Summary of the invention
Present invention solves the technical problem that being the accuracy for promoting the localization method based on inertial navigation.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of localization method, being suitable for walking surface has grid
The environment of structure, the network include it is multiple mesh-structured, it is adjacent mesh-structured to be connected by grid lines, comprising: to obtain
Take the layout information of the network；Inertial navigation is carried out to the positioning device walked on the walking surface, to be used to
Property navigation information；The walking surface image of the positioning device present position is obtained during inertial navigation, and according to institute
It states walking surface image and the layout information judges whether to need to correct the inertial navigation information；When needing to correct the inertia
When navigation information, processing is modified to obtain revised inertial navigation information, and believe from the revised inertial navigation
The current location information of the positioning device and/or azimuth are extracted in breath；When not needing to correct the inertial navigation information,
The current location information of the positioning device and/or azimuth are extracted from the inertial navigation information.
Optionally, before carrying out the inertial navigation further include: obtain initialized location information, the initialized location
Mesh-structured position where when information is initialized according to the positioning device determines that the initialized location information is used as head
The secondary benchmark for carrying out inertial navigation.
Optionally, the initialized location information is the mesh-structured centre bit where when the positioning device initializes
Confidence breath.
Optionally, the layout information comprises at least one of the following: the multiple mesh-structured respective coverage area letter
Two terminal point informations of breath, each grid lines.
Optionally, described to judge whether that needing to correct the inertial navigation information includes: to sentence according to the walking surface image
Whether the positioning device of breaking is located on grid lines；When being located on grid lines, to the azimuth of the inertial navigation information and
Location information is modified；When being not located on grid lines, the position determined according to the inertial navigation information is further judged
The mesh-structured range whether confidence breath is currently located beyond the positioning device；When beyond the current mesh-structured model
When enclosing, the location information of the inertial navigation information is modified.
Optionally, it includes: to obtain from the layout information that the azimuth to the inertial navigation information, which is modified,
The normal direction information for forming the mesh-structured grid lines is taken, the network is surrounded by N grid lines, the N item
The normal direction angle of grid lines is followed successively by η1,η2……ηN, wherein N >=3；The positioning is obtained from the inertial navigation information
The current azimuth angle alpha of equipment；Calculate separately ηiThe numerical value of-α, if ηmThe method of grid lines in the numerical value of-α and the walking surface image
Line deflection β is the most approximate, then correcting the current azimuth of the positioning device is ηm- β, wherein i distinguishes value 1,2 ... in N
Each, m distinguishes each in N of value 1,2 ...；Wherein, the grid being located in the N grid lines comprising the positioning device
Line, on the basis of preset direction, the benchmark of the azimuth angle alpha is the default side at the normal direction angle of the N grid lines
To the normal direction angle beta of grid lines is on the basis of the direction of the walking surface image in the walking surface image.
Optionally, the location information to the inertial navigation information be modified include: when be located at grid lines on when,
The location information is determined according to projection of the inertial navigation anchor point on the grid lines；When being not located on grid lines, and it is super
Out when the current mesh-structured range, according in the current mesh-structured range with inertial navigation anchor point distance most
Close point determines the location information；Wherein, the inertial navigation anchor point is described fixed to be obtained according to inertial navigation information
The position of position equipment.
Optionally, the walking surface image is obtained by the camera being mounted in the positioning device.
Optionally, the color of the grid lines is different from the mesh-structured color.
Optionally, it is described it is mesh-structured include: one of triangle, square, rectangle, trapezoidal and pentagon or appoint
It anticipates a variety of.
Optionally, the walking surface be ground, it is described it is mesh-structured be floor tile or floor, the grid lines be floor tile or ground
The seam of plate.
The embodiment of the present invention also provides a kind of positioning device, has the environment of network, the net suitable for walking surface
Lattice structure include it is multiple mesh-structured, it is adjacent mesh-structured to be connected by grid lines, comprising: layout information acquiring unit is fitted
In the layout information for obtaining the network；Inertial navigation unit, suitable for the positioning device walked on the walking surface
Inertial navigation is carried out, to obtain inertial navigation information；Walking surface image acquisition unit is suitable for during inertial navigation, obtains
The walking surface image of the positioning device present position；Judging unit is corrected, is suitable for according to the walking surface image and institute
Layout information is stated to judge whether to need to correct the inertial navigation information；First actual information unit needs to correct institute suitable for working as
When stating inertial navigation information, processing is modified to obtain revised inertial navigation information, and from the revised inertia
The current location information of the positioning device and/or azimuth are extracted in navigation information；Second actual information unit, being suitable for ought not
When needing to correct the inertial navigation information, the current location information of the positioning device is extracted from the inertial navigation information
The azimuth and/or.
Optionally, the positioning device further include: initialization information acquiring unit is suitable for obtaining initialized location information,
Mesh-structured position where when the initialized location information is initialized according to the positioning device is determining, the initialization
Location information is used as the benchmark for carrying out inertial navigation for the first time.
Optionally, the initialized location information is the mesh-structured centre bit where when the positioning device initializes
Confidence breath.
Optionally, the layout information comprises at least one of the following: the multiple mesh-structured respective coverage area letter
Two terminal point informations of breath, each grid lines.
Optionally, the amendment judging unit includes grid lines judging unit and mesh-structured judging unit, the grid
Line judging unit is suitable for judging whether the positioning device is located on grid lines according to the walking surface image；When positioned at grid lines
When upper, first actual information unit is modified the azimuth of the inertial navigation information and location information；When not
When on grid lines, the mesh-structured judging unit is suitable for the position for further judging to determine according to the inertial navigation information
The mesh-structured range whether confidence breath is currently located beyond the positioning device；When beyond the current mesh-structured model
When enclosing, first actual information unit is modified the location information of the inertial navigation information.
Optionally, first actual information unit includes azimuth amending unit, and the azimuth amending unit includes:
Normal direction information unit, suitable for obtaining the normal direction letter for forming the mesh-structured grid lines from the layout information
Breath, the network are surrounded by N grid lines, and the normal direction angle of the N grid lines is followed successively by η1,η2……ηN, wherein
N≥3；Present orientation angle unit, suitable for obtaining the current azimuth angle alpha of the positioning device from the inertial navigation information；It repairs
Positive computing unit, suitable for calculating separately ηiThe numerical value of-α, if ηmThe normal side of grid lines in the numerical value of-α and the walking surface image
The most approximate to angle beta, then correcting the current azimuth of the positioning device is ηm- β, wherein it is each in N that i distinguishes value 1,2 ...
A, m distinguishes each in N of value 1,2 ...；Wherein, the grid lines being located in the N grid lines comprising the positioning device,
The normal direction angle of the N grid lines is calculated according to the normal direction of preset direction and the N grid lines, institute
The benchmark for stating azimuth angle alpha is the preset direction, and the normal direction angle beta of grid lines is in the walking surface image with the walking surface
On the basis of the direction of image.
Optionally, first actual information unit includes location information amending unit, the location information amending unit
Suitable for determining that the position is believed according to point nearest apart from inertial navigation anchor point on the grid lines when being located on grid lines
Breath；When being not located on grid lines, and when beyond the current mesh-structured range, according in the current mesh range with it is used
Property navigator fix point determines the location information apart from nearest point；Wherein, the inertial navigation anchor point is to be led according to inertia
The position for the positioning device that boat information obtains.
Optionally, the walking surface image is obtained by the camera being mounted in the positioning device.
Optionally, the grid lines is straight line, and the color of the grid lines is different from the mesh-structured color.
Optionally, it is described it is mesh-structured include: one of triangle, square, rectangle, trapezoidal and pentagon or appoint
It anticipates a variety of.
Optionally, the walking surface be ground, it is described it is mesh-structured be floor tile or floor, the grid lines be floor tile or ground
The seam of plate.
Compared with prior art, the technical solution of the embodiment of the present invention has the advantages that
Inertial navigation information is modified by walking surface image and layout information, it can be to avoid the accumulation of inertial navigation
Error so as to promote the accuracy of inertial navigation, and then promotes the accuracy of localization method.Due to walking surface image and cloth
Office's information is based on grid environment, and grid environment includes multiple mesh, and the worst error of revised inertial navigation information is small
In the size of mesh, and the mesh size in grid environment is usually smaller, thus in the embodiment of the present invention localization method accuracy
High stability.
Detailed description of the invention
Fig. 1 is a kind of flow chart of localization method in the embodiment of the present invention；
Fig. 2 is a kind of process for the method for judging whether to need to correct the inertial navigation information in the embodiment of the present invention
Figure；
Fig. 3 is a kind of positional diagram of walking surface image and walking surface in the embodiment of the present invention；
Fig. 4 shows a kind of walking surface image in the embodiment of the present invention, walking surface and is modified to location information
Process；
Fig. 5 is the process for the method that the azimuth in the embodiment of the present invention in a kind of pair of inertial navigation information is modified
Figure；
Fig. 6 shows mesh-structured 33 in Fig. 3, and the walking surface image corresponding to region 31；
Fig. 7 is a kind of structural schematic diagram of positioning device in the embodiment of the present invention.
Specific embodiment
As stated in the background art, there is accumulated error in inertial navigation technology, the location technology based on inertial navigation
Accuracy have it is to be hoisted.
The embodiment of the present invention is suitable for the environment that walking surface has network, and network includes multiple mesh-structured；
Walking surface image is the image of the grid environment of positioning device present position, and layout information is mesh-structured layout letter
Breath；Inertial navigation information is modified by walking surface image and layout information, can to avoid the accumulated error of inertial navigation,
So as to promote the accuracy of inertial navigation, and then promote the accuracy of localization method.
Since walking surface image and layout information are based on grid environment, grid environment includes multiple mesh, after amendment
The worst error of inertial navigation information be less than the size of mesh, and the mesh size in grid environment is usually smaller, therefore this hair
The accuracy high stability in the error range of the size of mesh is stablized in the accuracy of localization method in bright embodiment.
In addition, due in the embodiment of the present invention walking surface image can be obtained by positioning device, it is only necessary to positioning device increase
Add camera, cost is relatively low.
It is understandable to enable above-mentioned purpose of the invention, feature and beneficial effect to become apparent, with reference to the accompanying drawing to this
The specific embodiment of invention is described in detail.
Fig. 1 is a kind of flow chart of localization method in the embodiment of the present invention, and localization method as shown in Figure 1 is suitable for walking
Face has an environment of network, the network include it is multiple mesh-structured, it is adjacent mesh-structured to pass through grid lines phase
It connects.
Wherein, walking surface can be the plane suitable for positioning device walking, such as can be ground, metope, glass surface etc.
Deng；Positioning device can be with positioning function while the equipment that has both other functions, such as can be sweeping robot, metope
Robot, glass-cleaning robot, supervisory-controlled robot are cleared up, or is also possible to other equipment for needing positioning function.
Mesh-structured to can be floor tile or floor when walking surface is ground, grid lines can be connecing for floor tile or floor
Seam；When walking surface is metope, mesh-structured to can be wall brick, grid lines can be wall brick seam or mesh-structured and net
What ruling was also possible to be formed on metope, the grid lines that is e.g. plotted on metope and its composition it is mesh-structured, or
It is the mesh-structured and grid lines carried by the decoration on metope；It is mesh-structured to can be glass when walking surface is glass surface
Glass block, grid lines can be the seam between different glass block.
In step s 11, the layout information of the network is obtained.
The layout information of network can be the information for all networks for including in the environment of the network,
Such as each mesh-structured and grid lines position, range, length etc..In specific implementation, the layout information of network can
Being obtained after traversing the environment with network by positioning device, it is also possible to directly acquire known letter
Breath.
In step s 12, inertial navigation is carried out to the positioning device walked on the walking surface, to obtain inertial navigation
Information.
Inertial navigation be it is a kind of measure acceleration using inertance element, in conjunction with the known position of testee, come true
Determine the mode of the new position of testee.It, can be using calculated new position as benchmark, in conjunction with measurement in inertial navigation
The position that the acceleration arrived carries out next step calculates.Since inertial navigation is passed through constantly on the basis of calculating the position obtained
The information such as speed, direction carry out the reckoning of new position, and therefore, inertial navigation can have accumulated error.
In embodiments of the present invention, inertial navigation information is to carry out inertia to positioning device by way of inertial navigation to lead
What boat obtained, may include location information and/or the azimuth of positioning device.Wherein, location information can be relative to default
The location information of coordinate system, is also possible to absolute location information；Azimuth can be grid azimuth and be also possible to preset
Azimuth on the basis of straight line.
In specific implementation, the benchmark for carrying out inertial navigation to positioning device can be the information that initialization obtains, can also
To be the information extracted from inertial navigation information.When benchmark is the information that initialization obtains, may be used also before step S12
To include: to obtain initialized location information, the net where when the initialized location information is initialized according to the positioning device
The position of pore structure determines.Wherein, the initialized location information is as the benchmark for carrying out inertial navigation after initialization for the first time.
One in the specific implementation, the initialized location information is mesh-structured where when the positioning device initializes
Center location information.
It is understood that initialize to positioning device to carry out according to actual needs, it can be primary or more
It is secondary that positioning device is initialized.When repeatedly being initialized to positioning device, corresponding initialized location is initialized every time
Information can be different.
In step s 13, the walking surface image of the positioning device present position is obtained during inertial navigation.
In specific implementation, walking surface image is the image of the grid environment of positioning device present position, obtains institute
The walking surface image of stating positioning device present position can be to be obtained by the camera that is loaded into positioning device.It is preferred that
Ground, by being appropriately arranged with the installation site and shooting direction of camera, the center that can use walking surface image is come directly
Or the position of positioning device is characterized indirectly.For example, the position of the geometric center of walking surface image can be several with positioning device
The position at what center is overlapped.
In step S14, judge whether to need to correct the inertia according to the walking surface image and the layout information
Navigation information.If desired the inertial navigation information is corrected, S15 is thened follow the steps, it is no to then follow the steps S16.
It, can be when needed to the location information of positioning device and/or side by comparison walking surface image and layout information
Parallactic angle is modified, if can according to need setting to the Rule of judgment that location information and/or azimuth are modified.
For example, with reference to Fig. 2, one in the specific implementation, judging whether to correct the inertial navigation information as follows:
After step S13 (referring to Fig. 1), step S21 is executed.
Step S21 judges whether the positioning device is located on grid lines according to the walking surface image；If positioning device
On grid lines, S22 is thened follow the steps, it is no to then follow the steps S23；
Step S22, azimuth and location information to the inertial navigation information are modified；
Step S23, further judges whether the location information determined according to the inertial navigation information exceeds the positioning
Current mesh-structured range where equipment；
Step S24, when beyond the current mesh-structured range, to the location information of the inertial navigation information into
Row amendment.
In specific implementation, grid lines can be straight line, and the color of grid lines and the mesh-structured color can not
Together.It is mesh-structured to can be the figure being made of straight line, it may include one or more mesh-structured in network.In a tool
During body is realized, mesh-structured may include: one of triangle, square, rectangle, trapezoidal and pentagon or any more
Kind.
Fig. 3 is a kind of positional diagram of walking surface image and walking surface in the embodiment of the present invention, below in conjunction with Fig. 3
Fig. 2 is further described.
When the center of walking surface image is located on grid lines, it is possible to determine that the positioning device is located on grid lines.Example
Such as when walking surface image is region 31, the center P1 in region 31 is located on grid lines, can determine that positioning device is located at this time
On grid lines, step S22 is executed, azimuth and location information to the inertial navigation information are modified.
When the center of walking surface image is not located on grid lines, it is possible to determine that the positioning device is not located at grid lines
On.For example, the center P2 in region 32 is not located on grid lines, then it is described fixed to can be determined that when walking surface image is region 32
Position equipment is not located on grid lines, executes step S23.
In specific implementation, when judging whether the center of walking surface image is located on grid lines, it can use straight-line detection
Mode judged that, when there is straight line Jing Guo picture centre, judgement walking surface picture centre is located on grid lines.
If the location information determined through the inertial navigation information indicate positioning device not it is current it is mesh-structured in,
Beyond the mesh-structured range that positioning device is currently located, then illustrate that the location information in the navigation information needs to correct,
Step S24 can be executed at this time.
In specific implementation, positioning device be currently located it is mesh-structured equally can according to walking image center sentence
Break, such as when walking surface image is region 32, the mesh-structured network of triangle where P2 point that positioning device is currently located
Pore structure.
In an embodiment of the present invention, can accurately be sentenced according to walking surface image and previous inertial navigation information
Break current mesh range.
In a not limiting example, it is known that initialized location information, and positioning device is judged according to walking surface image
Have passed past initialized location information direction it is mesh-structured in grid lines, can be with by inertial navigation information and walking surface image
The specific grid lines that positioning device is crossed is determined, so as to know the current mesh range of positioning device.Worked as with what is newly determined
On the basis of preceding mesh range, the subsequent current mesh range of reckoning positioning equipment can continue to.
For example, it is assumed that mesh-structured 33 range is the current mesh range being directed toward in initialized location information, either
The current mesh range determined during subsequent navigation, the direction of travel of positioning device are that the direction A (can pass through inertial navigation
Information acquisition).Walking surface image be region 31 after, if positioning device continues the grid lines where travelling over P1 to the direction A,
Current mesh scope change where positioning device is the range such as mesh-structured 34.It should be noted that for the ease of distinguishing,
In Fig. 3, mesh-structured 33 and mesh-structured 34 have used different filling modes, however, those skilled in the art should understand that, Fig. 3
In in addition to mesh-structured 33 and 34, it is multiple mesh-structured to further comprise other.
With continued reference to Fig. 1, in step S15, it is revised to obtain that processing is modified to the inertial navigation information
Inertial navigation information, and extract from the revised inertial navigation information the current location information of the positioning device and/
Or azimuth.
In step s 16, the current location information of the positioning device and/or side are extracted from the inertial navigation information
Parallactic angle.
As previously mentioned, inertial navigation can have accumulated error, it can be according to the walking surface image in the embodiment of the present invention
Judge whether to need to correct inertial navigation information with the layout information.
When needing to be modified inertial navigation information, inertial navigation information can be written over, the information of rewriting
Be revised inertial navigation information, to the rewriting of inertial navigation information can according to walking surface image and layout information into
Row.The current location information of positioning device can be extracted from revised inertial navigation information according to modified particular content
And/or azimuth, to drop reduction accumulated error.
When not needing to be modified inertial navigation information, the positioning device can be extracted from inertial navigation information
Current location information and/or azimuth, the benchmark as subsequent inertial navigation.By thus according to walking image information and layout
After information judgement, determines without being modified to inertial navigation information, therefore the error range of inertial navigation can be guaranteed current
Within mesh-structured coverage area, so as to reduce the error of inertial navigation.
Amendment to inertial navigation information may include to location information and/or azimuthal amendment, in specific implementation,
Amendment can carry out in many ways.The amendment of inertial navigation information can be according to walking surface image and the layout information
It carries out.
It in specific implementation, can be according to inertial navigation anchor point in the grid when positioning device is located at grid lines
Projection on line determines the location information, when being not located on grid lines, and when beyond the current mesh-structured range, root
The location information is determined apart from nearest point with inertial navigation anchor point according in the current mesh-structured range；Wherein,
The inertial navigation anchor point is the position of the positioning device obtained according to inertial navigation information.
For example, with reference to Fig. 4, when positioning device is located at current mesh-structured 33, and walking surface image is region 31, inertia is led
Boat anchor point is P11, can regard point P11 as revised location information in the projection P 12 of grid lines where point P1 at this time.It is fixed
The inertial navigation anchor point of position equipment is also possible to point P1, this time point P1 is still P1 in the projection of grid lines.
When the walking surface image of positioning device is region 41, if inertial navigation anchor point is P31, inertia can be determined
Navigator fix point has exceeded current mesh-structured range, at this time in current mesh-structured range with inertial navigation anchor point P31
It is point P32 apart from nearest point, the location information in inertial navigation information is modified according to point P32.
It in specific implementation, may include mesh-structured normal direction information in layout information, direction information can be with
It is the information directly stored, the information that can also be determined by two terminal point informations of each grid lines.It can in inertial navigation information
To include the current azimuth of positioning device, current azimuth can be the direction of positioning device.The center of walking surface image
When for grid lines, also in available walking surface image grid lines normal direction.It is repaired to azimuthal in inertial navigation information
It just can be true according to the discovery direction of grid lines in normal direction information mesh-structured in above-mentioned layout information, walking surface image
It is fixed.
Referring to Fig. 5, in an embodiment of the present invention, can as follows to the azimuth in inertial navigation information into
Row amendment:
Step S51 obtains the normal direction information for forming the mesh-structured grid lines, institute from the layout information
It states network to be surrounded by N grid lines, the normal direction angle of the N grid lines is followed successively by η1,η2……ηN, wherein N >=3；
Step S52 obtains the current azimuth angle alpha of the positioning device from the inertial navigation information；
Step S53, calculates separately ηiThe numerical value of-α, if ηmThe normal of grid lines in the numerical value of-α and the walking surface image
Deflection β is the most approximate, then correcting the current azimuth of the positioning device is ηm- β, wherein it is every in N that i distinguishes value 1,2 ...
One, m distinguishes each in N of value 1,2 ....
Wherein, the grid lines being located in the N grid lines comprising the positioning device, the normal of the N grid lines
Deflection is calculated according to the normal direction of preset direction and the N grid lines, and the benchmark of the azimuth angle alpha is institute
Preset direction is stated, the normal direction angle beta of grid lines is on the basis of the direction of the walking surface image in the walking surface image.
Mentioned in step S51 it is mesh-structured in comprising the grid lines where the positioning device, it is only necessary in the mesh
The grid lines where the positioning device is specific is determined in structure, the azimuth of positioning device can be modified.Therefore step
It is current mesh-structured where at the time of mesh-structured in S51 can be before positioning device is located at the grid lines.
For example, with reference to Fig. 3, positioning device is advanced to the direction A, and the current azimuth of positioning device is the direction A and default side
To angle.For positioning device before crossing over the grid lines where P1 point, currently mesh-structured is mesh-structured 33, needs to obtain
Normal direction information be mesh-structured 33 each grid lines normal direction information.
It is illustrated to be clearer, Fig. 6 shows mesh-structured 33 in Fig. 3, and corresponding to the walking in region 31
Face image, is further described below in conjunction with Fig. 6.
Mesh-structured 33 normal direction angle is successively are as follows: η1,η2,η3,η4.Normal direction angle, that is, normal direction and default side
To the angle in the direction B.Normal direction angle can be positive or be negative, if the direction B reaches normal direction and the direction B inverse time clockwise
The symbol that needle reaches normal direction can be different.Normal direction angle can also only be positive value, need to keep calculating normal direction at this time
It is same when angle to be calculated in a manner of clockwise or counterclockwise.
The current azimuth of the positioning device obtained in the inertial navigation information is α, method in walking surface image
Line deflection is β.In the walking surface image normal direction angle beta of grid lines by the walking surface image direction on the basis of,
The direction of image can be determined that camera positive direction can be with mobile device just by the camera positive direction for being loaded into positioning device
Face direction of travel is identical namely figure in the direction A.
As can be seen that in the ideal case, when inertial navigation information zero deflection, the orientation extracted from inertial navigation information
Angle α should be equal to the angle in the direction A and the direction B, at this point, η in Fig. 61The numerical value of-α should be equal to β.Therefore η can be calculated separatelyiThe number of-α
Value, in the normal direction angle beta η the most approximate for wherein choosing grid lines in result and walking surface imagem- α, corrective are current
Azimuth be ηm-β.Revised orientation corner connection can be considered as azimuth ideally, and error is minimum.
It should be noted that, although the range of walking surface image is less than mesh knot in above-mentioned Fig. 3, embodiment shown in Fig. 4
The range of structure, it should be appreciated to those skilled in the art that the range of walking surface image can also be greater than or equal to it is mesh-structured
Range.
In embodiments of the present invention, inertial navigation information is modified by walking surface image and layout information, it can be with
The accumulated error of inertial navigation is avoided, so as to promote the accuracy of inertial navigation, and then promotes the accuracy of localization method.
Since walking surface image and layout information are based on grid environment, grid environment includes multiple mesh, and revised inertia is led
The worst error for information of navigating is less than the size of mesh, and the mesh size in grid environment is usually smaller, therefore the embodiment of the present invention
The accuracy high stability of middle localization method.
The embodiment of the present invention also provides a kind of positioning device, and structural schematic diagram may refer to Fig. 7.
Positioning device as shown in Figure 7 can be located at positioning device, have the environment of network, institute suitable for walking surface
State network include it is multiple mesh-structured, it is adjacent it is mesh-structured connected by grid lines, may include:
Layout information acquiring unit 71, suitable for obtaining the layout information of the network；
Inertial navigation unit 72, suitable for carrying out inertial navigation to the positioning device walked on the walking surface, to obtain
Inertial navigation information；
Walking surface image acquisition unit 73 is suitable for during inertial navigation, obtains the positioning device and be currently located position
The walking surface image set；
Judging unit 74 is corrected, suitable for judging whether to need to correct institute according to the walking surface image and the layout information
State inertial navigation information；
First actual information unit 75, suitable for when needing to correct the inertial navigation information, being modified processing to obtain
To revised inertial navigation information, and the current position of the positioning device is extracted from the revised inertial navigation information
Confidence breath and/or azimuth；
Second actual information unit 76, suitable for when not needing to correct the inertial navigation information, from the inertial navigation
The current location information of the positioning device and/or azimuth are extracted in information.
In specific implementation, positioning device can also include initialization information acquiring unit 77, be suitable for obtaining initialization bit
Confidence breath, the mesh-structured position where when the initialized location information is initialized according to the positioning device is determining, institute
It states initialized location information and is used as the benchmark for carrying out inertial navigation for the first time.
Wherein, the initialized location information can be the mesh-structured center where when the positioning device initializes
Location information.
In specific implementation, the layout information comprises at least one of the following: the multiple mesh-structured respective covering
Range information, two terminal point informations of each grid lines.
In specific implementation, the amendment judging unit 74 may include grid lines judging unit (not shown) and mesh knot
Structure judging unit (not shown), the grid lines judging unit are suitable for judging that the positioning device is according to the walking surface image
It is no to be located on grid lines；
When being located on grid lines, azimuth and position of first actual information unit 75 to the inertial navigation information
Confidence breath is modified；
When being not located on grid lines, the mesh-structured judging unit is suitable for further judging according to the inertial navigation
Whether the location information that information determines exceeds the mesh-structured range that the positioning device is currently located；
When beyond the current mesh-structured range, first actual information unit 75 believes the inertial navigation
The location information of breath is modified.
In specific implementation, first actual information unit 75 may include azimuth amending unit (not shown), institute
Stating azimuth amending unit may include:
Normal direction information unit (not shown) obtains from the layout information and forms the mesh-structured grid lines
Normal direction information, the network surrounds by N grid lines, and the normal direction angle of the N grid lines is followed successively by η1,
η2……ηN, wherein N >=3；
Present orientation angle unit (not shown), it is current suitable for obtaining the positioning device from the inertial navigation information
Azimuth angle alpha；
Corrected Calculation unit (not shown), calculates separately ηiThe numerical value of-α, if ηmIn the numerical value of-α and the walking surface image
The normal direction angle beta of grid lines is the most approximate, then correcting the current azimuth of the positioning device is ηm- β, wherein i takes respectively
Each in N of value 1,2 ..., m distinguish each in N of value 1,2 ...；
Wherein, the grid lines being located in the N grid lines comprising the positioning device, the normal of the N grid lines
Deflection is calculated according to the normal direction of preset direction and the N grid lines, and the benchmark of the azimuth angle alpha is institute
Preset direction is stated, the normal direction angle beta of grid lines is on the basis of the direction of the walking surface image in the walking surface image.
In specific implementation, first actual information unit 75 may include location information amending unit (not shown),
The location information amending unit be suitable for when be located at grid lines on when, according on the grid lines apart from inertial navigation anchor point most
Close point determines the location information；When being not located on grid lines, and when beyond the current mesh-structured range, according to institute
It states in current mesh range and determines the location information apart from nearest point with inertial navigation anchor point；
Wherein, the inertial navigation anchor point is the position of the positioning device obtained according to inertial navigation information.
In specific implementation, walking surface image can be obtained by the camera being mounted in the positioning device.
In specific implementation, the grid lines can be straight line, the color of the grid lines and the mesh-structured face
Color is different.
In specific implementation, it is described it is mesh-structured may include: triangle, square, rectangle, in trapezoidal and pentagon
One kind or any a variety of.
In specific implementation, the walking surface be ground, it is described it is mesh-structured be floor tile or floor, the grid lines be ground
The seam on brick or floor.
The specific implementation of positioning device and beneficial effect may refer to determine in the embodiment of the present invention in the embodiment of the present invention
Position method, details are not described herein.
Although present disclosure is as above, present invention is not limited to this.Anyone skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the range of restriction.
Claims (16)
1. a kind of localization method has the environment of network suitable for walking surface, the network includes multiple mesh knots
Structure is adjacent mesh-structured to be connected by grid lines characterized by comprising
Obtain the layout information of the network；
Inertial navigation is carried out to the positioning device walked on the walking surface, to obtain inertial navigation information；
The walking surface image of the positioning device present position is obtained during inertial navigation, and according to the walking surface
Image and the layout information judge whether to need to correct the inertial navigation information；
When needing to correct the inertial navigation information, processing is modified to obtain revised inertial navigation information, and from
The current location information of the positioning device and/or azimuth are extracted in the revised inertial navigation information；
When not needing to correct the inertial navigation information, it is current that the positioning device is extracted from the inertial navigation information
Location information and/or azimuth；
It is described to judge whether that needing to correct the inertial navigation information includes:
Judge whether the positioning device is located on grid lines according to the walking surface image；
When being located on grid lines, azimuth and location information to the inertial navigation information are modified；
When being not located on grid lines, further judge whether the location information determined according to the inertial navigation information exceeds institute
State the current mesh-structured range where positioning device；
When beyond the current mesh-structured range, the location information of the inertial navigation information is modified；
The azimuth to the inertial navigation information, which is modified, includes:
Obtain the normal direction information for forming the mesh-structured grid lines from the layout information, the network by
N grid lines surrounds, and the normal direction angle of the N grid lines is followed successively by η1,η2……ηN, wherein N >=3；
The current azimuth angle alpha of the positioning device is obtained from the inertial navigation information；
Calculate separately ηiThe numerical value of-α, if ηmThe numerical value of-α is the closest with the normal direction angle beta of grid lines in the walking surface image
Seemingly, then correcting the current azimuth of the positioning device is ηm- β, wherein i distinguishes each in N of value 1,2 ..., and m takes respectively
Each in N of value 1,2 ...；
Wherein, the grid lines being located in the N grid lines comprising the positioning device, the normal direction of the N grid lines
Angle is calculated according to the normal direction of preset direction and the N grid lines, and the benchmark of the azimuth angle alpha is described pre-
Set direction, the normal direction angle beta of grid lines is on the basis of the direction of the walking surface image in the walking surface image；
The location information to the inertial navigation information, which is modified, includes:
When being located on grid lines, the location information is determined according to projection of the inertial navigation anchor point on the grid lines；
When being not located on grid lines, and when beyond the current mesh-structured range, according to the current mesh-structured model
The location information is determined apart from nearest point with inertial navigation anchor point in enclosing；
Wherein, the inertial navigation anchor point is the position of the positioning device obtained according to inertial navigation information.
2. localization method as described in claim 1, which is characterized in that before carrying out the inertial navigation further include: obtain
Initialized location information, the mesh-structured position where when the initialized location information is initialized according to the positioning device
It determines, the initialized location information is used as the benchmark for carrying out inertial navigation for the first time.
3. localization method as claimed in claim 2, which is characterized in that at the beginning of the initialized location information is the positioning device
Mesh-structured center location information where when beginningization.
4. localization method as described in claim 1, which is characterized in that the layout information comprises at least one of the following: described
Multiple mesh-structured respective coverage area information, two terminal point informations of each grid lines.
5. localization method as described in claim 1, which is characterized in that the walking surface image is set by being mounted on the positioning
Standby upper camera obtains.
6. localization method as described in claim 1, which is characterized in that the grid lines is straight line, the color of the grid lines
It is different from the mesh-structured color.
7. localization method as described in claim 1, which is characterized in that it is described it is mesh-structured include: triangle, square, length
One of rectangular, trapezoidal and pentagon is any a variety of.
8. such as localization method of any of claims 1-7, which is characterized in that the walking surface is ground, the net
Pore structure is floor tile or floor, and the grid lines is the seam on floor tile or floor.
9. a kind of positioning device has the environment of network suitable for walking surface, the network includes multiple mesh knots
Structure is adjacent mesh-structured to be connected by grid lines characterized by comprising
Layout information acquiring unit, suitable for obtaining the layout information of the network；
Inertial navigation unit is led suitable for carrying out inertial navigation to the positioning device walked on the walking surface with obtaining inertia
Boat information；
Walking surface image acquisition unit is suitable for during inertial navigation, obtains the row of the positioning device present position
Walk face image；
Judging unit is corrected, suitable for judging whether to need to correct the inertia according to the walking surface image and the layout information
Navigation information；
First actual information unit, suitable for when needing to correct the inertial navigation information, being modified processing to be corrected
Inertial navigation information afterwards, and the current location information of the positioning device is extracted from the revised inertial navigation information
The azimuth and/or；
Second actual information unit, suitable for when not needing to correct the inertial navigation information, from the inertial navigation information
Extract the current location information of the positioning device and/or azimuth；
The amendment judging unit includes grid lines judging unit and mesh-structured judging unit, and the grid lines judging unit is suitable
In judging whether the positioning device is located on grid lines according to the walking surface image；
When being located on grid lines, azimuth and location information of first actual information unit to the inertial navigation information
It is modified；
When being not located on grid lines, the mesh-structured judging unit is suitable for further judging according to the inertial navigation information
Whether determining location information exceeds the current mesh-structured range where the positioning device；
When beyond the current mesh-structured range, position of first actual information unit to the inertial navigation information
Confidence breath is modified；
First actual information unit includes azimuth amending unit, and the azimuth amending unit includes:
Normal direction information unit, suitable for obtaining the normal side for forming the mesh-structured grid lines from the layout information
To information, the network is surrounded by N grid lines, and the normal direction angle of the N grid lines is followed successively by η1,η2……ηN,
Wherein N >=3；
Present orientation angle unit, suitable for obtaining the current azimuth angle alpha of the positioning device from the inertial navigation information；
Corrected Calculation unit, suitable for calculating separately ηiThe numerical value of-α, if ηmGrid lines in the numerical value of-α and the walking surface image
Normal direction angle beta is the most approximate, then correcting the current azimuth of the positioning device is ηm- β, wherein i distinguishes value 1,2 ... N
In each, m distinguish each in N of value 1,2 ...；
Wherein, the grid lines being located in the N grid lines comprising the positioning device, the normal direction of the N grid lines
Angle is calculated according to the normal direction of preset direction and the N grid lines, and the benchmark of the azimuth angle alpha is described pre-
Set direction, the normal direction angle beta of grid lines is on the basis of the direction of the walking surface image in the walking surface image；
First actual information unit includes location information amending unit, and the location information amending unit is suitable for when positioned at net
When on ruling, the location information is determined according to point nearest apart from inertial navigation anchor point on the grid lines；When being not located at
On grid lines, and when beyond the current mesh-structured range, positioned according in the current mesh range with inertial navigation
Point determines the location information apart from nearest point；
Wherein, the inertial navigation anchor point is the position of the positioning device obtained according to inertial navigation information.
10. positioning device as claimed in claim 9, which is characterized in that further include: initialization information acquiring unit, suitable for obtaining
Take initialized location information, the mesh-structured position where when the initialized location information is initialized according to the positioning device
Determination is set, the initialized location information is used as the benchmark for carrying out inertial navigation for the first time.
11. positioning device as claimed in claim 10, which is characterized in that the initialized location information is the positioning device
Mesh-structured center location information where when initialization.
12. positioning device as claimed in claim 9, which is characterized in that the layout information comprises at least one of the following: described
Multiple mesh-structured respective coverage area information, two terminal point informations of each grid lines.
13. positioning device as claimed in claim 9, which is characterized in that the walking surface image is by being mounted on the positioning
Camera in equipment obtains.
14. positioning device as claimed in claim 9, which is characterized in that the grid lines is straight line, the color of the grid lines
It is different from the mesh-structured color.
15. positioning device as claimed in claim 9, which is characterized in that it is described it is mesh-structured include: triangle, square, length
One of rectangular, trapezoidal and pentagon is any a variety of.
16. such as the described in any item positioning devices of claim 9-15, which is characterized in that the walking surface is ground, the net
Pore structure is floor tile or floor, and the grid lines is the seam on floor tile or floor.
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| CN109323691B (en) * | 2017-07-31 | 2022-08-09 | 华为技术有限公司 | Positioning system and positioning method |
| CN107770366B (en) * | 2017-08-31 | 2019-02-22 | 珠海格力电器股份有限公司 | A kind of method, apparatus, storage medium and equipment for finding equipment |
| CN107664266A (en) * | 2017-09-26 | 2018-02-06 | 哈尔滨航士科技发展有限公司 | A kind of pipe detection positioner and localization method |
| WO2019223720A1 (en) * | 2018-05-22 | 2019-11-28 | 苏州宝时得电动工具有限公司 | Automatic working system, and control method for self-moving device |
| CN110349207B (en) * | 2019-07-10 | 2022-08-05 | 国网四川省电力公司电力科学研究院 | Visual positioning method in complex environment |
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