CN107179080A - The localization method and device of electronic equipment, electronic equipment, electronic positioning system - Google Patents
The localization method and device of electronic equipment, electronic equipment, electronic positioning system Download PDFInfo
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- CN107179080A CN107179080A CN201710423867.1A CN201710423867A CN107179080A CN 107179080 A CN107179080 A CN 107179080A CN 201710423867 A CN201710423867 A CN 201710423867A CN 107179080 A CN107179080 A CN 107179080A
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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
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The invention discloses the localization method and device of a kind of electronic equipment, electronic equipment, electronic positioning system.Wherein, this method includes：Posture information and target electronic device according to target electronic device at the first moment calculate target electronic device relative to the state increment at the first moment at the second moment and estimate pose at the second moment, wherein, the first moment was located at before the second moment；Obtain and beacon is carried out to detect the first obtained detection data, wherein, the first detection data carries beacon and the relative position information of target electronic device；The first detection data for meeting the first preparatory condition is filtered out, first object detection data is obtained；Pose of estimating according to first object detection data to beacon map and target electronic device at the second moment is modified；Using pose after amendment as target electronic device the second moment pose.The present invention solves the low technical problem of electronic equipment positional accuracy in the prior art.
Description
Technical field
The present invention relates to electronic device field, localization method and device, electronics in particular to a kind of electronic equipment
Equipment, electronic positioning system.
Background technology
Simultaneous localization and mapping (SLAM) is that mobile robot (such as ground robot, aerial unmanned plane) is independently fixed
One of core technology of position navigation.In circumstances not known, sensor (such as encoder mileage that robot is equipped with by itself
Meter, Inertial Measurement Unit, monocular or three-dimensional camera, laser or ultrasonic range finder sensor etc.) obtain oneself state and surrounding ring
The information in border, estimates itself pose and increment type constructing environment map in real time online.Traditional sensors are deposited in terms of environment sensing
In many deficiencies, such as investigative range is limited, local feature loss of learning, characteristic information matching difficulty, causes positional accuracy
It is low.
For it is above-mentioned the problem of, effective solution is not yet proposed at present.
The content of the invention
The embodiments of the invention provide the localization method and device of a kind of electronic equipment, electronic equipment, electronic positioning system,
At least to solve the low technical problem of electronic equipment positional accuracy in the prior art.
One side according to embodiments of the present invention there is provided the localization method of a kind of electronic equipment, including：According to target
Electronic equipment the first moment posture information and the target electronic device at the second moment relative to first moment
State increment calculate the target electronic device and estimate pose at second moment, wherein, first moment is located at
Before second moment；Obtain and beacon is carried out to detect the first obtained detection data, wherein, first detection data is taken
With the relative position information of the beacon and the target electronic device；Filter out the first detection for meeting the first preparatory condition
Data, obtain first object detection data；Beacon map and the target electronic are set according to the first object detection data
The standby pose of estimating at second moment is modified；By pose after amendment as the target electronic device described second
The pose at moment.
Further, filtering out the first detection data of the first preparatory condition of satisfaction includes：Judge the first detection number
According to whether being detection data that the first beacon of first detection is obtained, wherein, first beacon is that first detection data is taken
The beacon that the beacon identity of band is indicated；If first detection data is to detect the detection number that first beacon is obtained for the first time
According to determining that first detection data meets first preparatory condition.
Further, according to the first object detection data to beacon map and the target electronic device described
The pose of estimating at two moment is modified, including：Institute is drawn in the beacon map according to the first object detection data
State the first beacon.
Further, judge first detection data whether be the obtained detection data of the first beacon of first detection it
Afterwards, methods described also includes：If first detection data is not to detect the detection data that first beacon is obtained for the first time,
Calculate the confidence level of first detection data；The confidence level of first detection data is compared with predetermined threshold value；
In the case that the confidence level of first detection data is more than or equal to the predetermined threshold value, determine that first detection data is met
First preparatory condition.
Further, according to the first object detection data to beacon map and the target electronic device described
The pose of estimating at two moment is modified, including：Institute is updated in the beacon map according to the first object detection data
State the position of the first beacon.
Further, calculating the confidence level of first detection data includes：According to the target electronic device described
The supposition that the position for estimating the first beacon described in pose and the beacon map at the second moment calculates first beacon is seen
Survey data；The position for calculating the first detection data instruction speculates the distance between position that observation data are indicated with described；
The confidence level of first detection data is calculated according to the distance.
Further, after first object detection data is obtained, methods described also includes：Visited according to the first object
Survey the movement locus that data calculate the target electronic device.
Further, according to the first object detection data to beacon map and the target electronic device described
Second moment was estimated before pose is modified, and methods described also includes：Obtain and detect obtain the to surrounding environment
Two detection datas；The second detection data for meeting the second preparatory condition is filtered out, the second target acquisition data are obtained；According to described
Estimate pose of the first object detection data to beacon map and the target electronic device at second moment is modified
Including：According to the first object detection data, the second target acquisition data to environmental characteristic map, beacon map and institute
The pose of estimating that target electronic device is stated at second moment is modified.
Another aspect according to embodiments of the present invention, additionally provides the positioner of a kind of electronic equipment, including：Calculate single
Member, for according to target electronic device the first moment posture information and the target electronic device in the second moment phase
Calculate the target electronic device for the state increment at first moment and estimate pose at second moment, wherein,
First moment was located at before second moment；Acquiring unit, carries out detecting the obtain first spy for obtaining to beacon
Survey data；Screening unit, the first detection data of the first preparatory condition is met for filtering out, and obtains first object detection number
According to；Amending unit, for according to the first object detection data to beacon map and the target electronic device described
The pose of estimating at two moment is modified；Determining unit, for will amendment after pose as the target electronic device described
The pose at the second moment.
Another aspect according to embodiments of the present invention, additionally provides a kind of electronic equipment, including：On motor, the motor
Anchor node is provided with, the motor is used to make the direction of the anchor node change by the rotation of itself；Anchor node, it is described
At least provided with first antenna and the second antenna on anchor node, the first antenna and second antenna meet vertical polarization bar
Part, also, the distance between the first antenna and second antenna are less than or equal to the half-wavelength of object beam, wherein, institute
State the wave beam that object beam is beacon emissions；Sensor, the state change for detecting the target electronic device；Electronic equipment
Positioner.
Another aspect according to embodiments of the present invention, additionally provides a kind of electronic positioning system, including：At least one letter
Mark；Electronic equipment.
In embodiments of the present invention, posture information, the target electronic device according to target electronic device in previous moment exist
Later moment in time calculates target electronic device with respect to the state increment of previous moment and estimates pose in later moment in time, to beacon and mesh
Mark electronic equipment relative position detected, obtain the first detection data, filtered out from the first detection data confidence level compared with
High detection data, obtains first object detection data, and beacon map and target electronic are set according to first object detection data
The standby pose of estimating in later moment in time is modified, using pose after amendment as target electronic device later moment in time pose.
Fixed beacon is detected, detection data is obtained, because beacon is fixed, feature is obvious, it is easy to detect, based on target
The relative position of electronic equipment and beacon carries out the positioning of target electronic device, and constantly according to detection data with a high credibility
The pose of target electronic device is modified, the technique effect for improving electronic equipment positional accuracy has been reached, and then solve
Electronic equipment positional accuracy low technical problem in the prior art.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the present invention, this hair
Bright schematic description and description is used to explain the present invention, does not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the flow chart of the localization method of a kind of electronic equipment according to embodiments of the present invention；
Fig. 2 is the schematic diagram of TWR methods according to embodiments of the present invention；
Fig. 3 is a kind of schematic diagram of robot according to embodiments of the present invention；
Fig. 4 is the schematic diagram of the localization method of a kind of electronic equipment according to embodiments of the present invention；
Fig. 5 is the schematic diagram of the positioner of a kind of electronic equipment according to embodiments of the present invention.
Embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, should all belong to the model that the present invention is protected
Enclose.
It should be noted that term " first " in description and claims of this specification and above-mentioned accompanying drawing, "
Two " etc. be for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so using
Data can exchange in the appropriate case, so as to embodiments of the invention described herein can with except illustrating herein or
Order beyond those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
Lid is non-exclusive to be included, for example, the process, method, system, product or the equipment that contain series of steps or unit are not necessarily limited to
Those steps or unit clearly listed, but may include not list clearly or for these processes, method, product
Or the intrinsic other steps of equipment or unit.
Description below is made to the technical term involved by the embodiment of the present invention first：
UWB (Ultra-Wideband) is a kind of no-load communication techniques, utilizes the non-sinusoidal waveform of nanosecond to subnanosecond level
Burst pulse transmits data, and its subnanosecond level Ultra-short pulses that start with more and more in recent years are determined to do closely precision indoor
Position；
TWR (Two-way Ranging) is a kind of method of bidirectional ranging.Two communication units are according to mutually sending and connect
The time difference of the collection of letters number calculates the signal flight time, and calculates the distance between communication unit.
PDOA(Phase Difference of Arrival)：A kind of method positioned using phase difference.By surveying
Measure the phase difference that signal reaches multiple monitoring stations, it may be determined that signal source and the relative distance and angle of monitoring station.
SLAM (Simultaneous Localization and Mapping, synchronous superposition) is mobile
One of key technology of robot autonomous localization navigation：Robot is from the unknown place of circumstances not known, in motion process
Map feature (such as image characteristic point) the positioning self-position and posture arrived by repeated measures, while being increased according to self-position
The structure map of amount formula, so as to reach while the purpose of positioning and map structuring.Robot is while explore zone of ignorance, while building
Vertical cartographic information, is matched, estimation of the realization to self-position posture, together by instant observation information with characteristic information in map
When increment type constructing environment map.
Embodiment 1
According to embodiments of the present invention there is provided the embodiment of the localization method of a kind of electronic equipment, it is necessary to explanation,
The step of flow of accompanying drawing is illustrated can perform in the computer system of such as one group computer executable instructions, also,
, in some cases, can be shown to be performed different from order herein although showing logical order in flow charts
The step of going out or describe.
Fig. 1 is the flow chart of the localization method of a kind of electronic equipment according to embodiments of the present invention, as shown in figure 1, the party
Method comprises the following steps：
Step S102, according to target electronic device the first moment posture information and target electronic device second
Moment calculates target electronic device relative to the state increment at the first moment and estimates pose at the second moment, wherein, when first
Carve before being located at for the second moment.
Step S104, obtains and beacon is carried out to detect the first obtained detection data, wherein, the first detection data is carried
The relative position information of beacon and target electronic device.
Step S106, filters out the first detection data for meeting the first preparatory condition, obtains first object detection data.
Step S108, is estimated according to first object detection data to beacon map and target electronic device at the second moment
Pose is modified.
Step S110, using pose after amendment as target electronic device the second moment pose.
Target electronic device can be robot.
Class inner sensor can be estimated with use state, such as Inertial Measurement Unit, encoder odometer obtain target electronic
Equipment the first moment posture information and target electronic device in state increment of second moment relative to the first moment.
In space environment, a beacon is placed at interval of a segment distance, it is ensured that target electronic device is in motion process
At least one beacon can be observed.
Beacon is detected, the first detection data is obtained.Due to the process detected to beacon may produce compared with
Big error, i.e. the degree of accuracy of the first detection data is possible to relatively low.In order to filter out the first detection number that the degree of accuracy is relatively low
According to, the confidence level of the first detection data can be calculated, the first detection data for confidence level less than default believability threshold, no
Use is given, is deleted；It is more than or equal to the first detection data of default believability threshold for confidence level, as the first mesh
Mark detection data.
If first object detection data is that some beacon is carried out to detect obtained detection data for the first time, then root
Beacon map is drawn according to the first object detection data.
If first object detection data is not that some beacon is carried out to detect obtained detection data for the first time, then
Can be according to the first object detection data amendment beacon map.
In embodiments of the present invention, posture information, the target electronic device according to target electronic device in previous moment exist
Later moment in time calculates target electronic device with respect to the state increment of previous moment and estimates pose in later moment in time, to beacon and mesh
Mark electronic equipment relative position detected, obtain the first detection data, filtered out from the first detection data confidence level compared with
High detection data, obtains first object detection data, and beacon map and target electronic are set according to first object detection data
The standby pose of estimating in later moment in time is modified, using pose after amendment as target electronic device later moment in time pose.
Fixed beacon is detected, detection data is obtained, because beacon is fixed, feature is obvious, it is easy to detect, based on target
The relative position of electronic equipment and beacon carries out the positioning of target electronic device, and constantly according to detection data with a high credibility
The pose of target electronic device is modified, the low technical problem of electronic equipment positional accuracy in the prior art is solved,
The technique effect for improving electronic equipment positional accuracy is reached.
Existing SLAM technologies mainly pass through state estimation class inner sensor (such as encoder odometer, inertia measurement list
Member) realized with the mode of environment sensing class outer sensor (ranging or vision sensor) information fusion.But these methods are accurate
Property, there is many deficiencies in terms of stability, real-time.Such as local environment feature missing causes pursuing missing；What laser was obtained
Characteristic point or line are difficult to associate matching with the Given information in map；The extraction and matching of visual signature are influenceed by light；It is interior to pass
Sensor error accumulation increases；The map amount of storage of large scene is excessive, winding detection is difficult to meet real-time demand；Dynamic change
In environment, SLAM robustness deficiencies etc..
UWB is a kind of no-load communication techniques based on radio frequency, and UWB can be obtained by signal processing modes such as TWR, PDOA
The relative position information of anchor node (Anchor) and UWB beacons (Tag).The present invention can be not limited to the utilization to UWB technology,
Other no-load communication techniques that can be used for implementing the present invention should also be as being protected.
UWB beacons can be obtained relative to robot apart from d by TWR methods.Each ranging needs 3 communications：
A.Tag ends send a Poll packet, when sending, the timestamp tt1 that Tag records are sent；
B.Anchor etc. is to be received, receives after Poll packets, records the timestamp ta1 of the time of reception, and send one
Response bags, record sends Response timestamp ta2；
C.Tag ends etc. are to be received, receive after Response bags, record the timestamp tt2 of the time of reception, and calculate needs
When timestamp tt3, the Tag ends clock for sending Final bags reaches tt3, send in Final bags, Final bags comprising 3 timestamps
Information (tt1, tt2, tt3)；
D.Anchor ends are received after Final packets, and record receives timestamp ta3.Now Anchor have recorded 3
Timestamp ta1, ta2, ta3, while the content by reading Final bags, can also obtain three timestamp tt1 at Tag ends,
Tt2, tt3；
E. due to Anchor ends and Tag ends time irreversibility, it is therefore desirable to calculate the respective time difference, see Fig. 2, wherein：
Tround1=tt2-tt1；
Treply1=ta2-ta1；
Tround2=ta3-ta2；
Treply2=tt3-tt2；
UWB beacons can be obtained relative to robot apart from d and angle theta by PDOA methods.Positioning based on PDOA, is needed
The distance between anchor node (Anchor) equipped with two antennas, and two Anchor antennas to be installed in robotic end small
In communication half-wavelength, while, it is necessary to a beacon (Tag) is installed in other positions, by detecting that tag sends the phase of signal
Difference, calculates two nodes relative apart from d and angle, θ.The method without arranging many anchor nodes indoors, it is possible to precision
Relative distance and angle between higher two nodes of acquisition.Method precise angular positions based on PDOA are high, if by two
The Anchor of root antenna considers as a node, then equivalent to can realize " point-to-point " relative positioning (although
Anchor ends are actually two nodes, but due to antenna can install it is relatively near, and two nodes can be arranged in same
On PCB, a node can be approximately analogized to).
For detecting detection data that some beacon obtains for the first time and non-detecting the detection data that the beacon is obtained, place for the first time
Reason method is different.
If the first detection data is the detection data that the first beacon of first detection is obtained, wherein, the first beacon is first
The beacon that the beacon identity that detection data is carried is indicated；If the detection that the first detection data obtains for the first beacon of first detection
Data, determine that the first detection data meets the first preparatory condition.In this case, according to first object detection data in beacon
The first beacon is drawn in map.
That is, if detection data is to detect the obtained first detection data of some beacon (that is, this never to be detected before
Individual beacon), then draw beacon map using the detection data, i.e. the beacon is plotted in beacon map.
If the first detection data is not the detection data that the first beacon of first detection is obtained, the first detection data is calculated
Confidence level；The confidence level of first detection data and predetermined threshold value are compared；Be more than in the confidence level of the first detection data etc.
In the case of predetermined threshold value, determine that the first detection data meets the first preparatory condition.
If detection data is not first detection data, i.e. detected this beacon before, then needs to calculate and be somebody's turn to do
The confidence level of detection data, if with a low credibility, abandons the detection data；If with a high credibility, the detection data is utilized
Update beacon map, i.e. update the position of the first beacon in beacon map according to first object detection data.
Detect in the case that certain beacon obtains detection data, sentenced by calculating the confidence level of the detection data for the first time non-
It is disconnected whether to update beacon map using the detection data, if the detection data is with a low credibility, illustrate to obtain the detection data
Detection process error it is larger, now abandon use the detection data；If the detection data is with a high credibility, illustrate this
The detection process error of detection data is smaller, now beacon map is updated according to the detection data, by according to detection data
Confidence level decides whether to be updated beacon map according to detection data, using detection data with a high credibility to beacon map
It is updated, the influence of detecting error can be reduced to minimum, the higher beacon map of the degree of accuracy can be obtained.
The confidence level mentioned above for calculating the first detection data, the process of confidence level for calculating the first detection data is：Root
According to target electronic device pushing away for the first beacon is calculated in the position for estimating the first beacon in pose and beacon map at the second moment
Survey observation data；The position of the first detection data instruction is calculated with speculating the distance between position that observation data are indicated；According to
Distance calculates the confidence level of the first detection data.
If the position that the first detection data is indicated is with speculating the distance between position that observation data are indicated relatively,
It is, for example, less than to be equal to pre-determined distance, then the confidence level of the first detection data is higher, then regard first detection data as first
Target acquisition data.If position that the first detection data is indicated with speculate the distance between position that observation data are indicated compared with
Far, be greater than pre-determined distance, then the confidence level of the first detection data is relatively low, illustrate that this detecting error is larger, by this
One detection data give up without.
Alternatively, after first object detection data is obtained, target electronic is calculated according to first object detection data and set
Standby movement locus.It is many due to having been obtained for pose of the target electronic device at the first moment, the second moment in once detecting
Pose of the target electronic device at multiple moment is just obtained in secondary detection, be therefore, it can according to target electronic device multiple
The pose at moment calculates the movement locus of target electronic device.
Except drawing beacon map, the program can also draw environmental characteristic map.According to first object detection data
To beacon map and target electronic device estimating before pose is modified at the second moment, acquisition is visited to surrounding environment
The second detection data measured；The second detection data for meeting the second preparatory condition is filtered out, the second target acquisition number is obtained
According to.According to first object detection data, the second target acquisition data to environmental characteristic map, beacon map and target electronic device
It is modified in the pose of estimating at the second moment.
By disposing a small amount of beacon in advance in the environment, above-mentioned detection data can provide weight for the SLAM processes of robot
The feature beacon wanted.By these beacons, that robot can be obtained in real time is accurate, stably, distinguishable characteristic information, simplify
Feature information extraction and the process of matching, so as to reach the purpose for improving SLAM systems.
Electronic positioning system provided in an embodiment of the present invention is a kind of SLAM systems by UWB, by robotic end
UWB receivers are installed, a small amount of UWB emission sources are disposed in the environment, is provided for robot and stablizes considerable characteristic information.These
UWB beacons have the properties such as accuracy of observation is high, investigative range is wide, feature is distinguishable.By TWR/PDOA signal processing method,
Robot can accurately tell the UWB emission source beacons in environment, and obtain the relative position information of robot and UWB beacons.
This approach simplify feature information extraction and the process of matching, traditional environment detecting sensor is compensate in accuracy, stability
The deficiency of aspect, it is achieved thereby that the SLAM technologies of real-time stabilization, have ensured the Stability and veracity of SLAM systems.
The environmental characteristic for obtaining accurate stable is the key of SLAM problems.The present invention passes through the signal transacting sides such as TWR, PDOA
Method, accurately tells the UWB emission sources disposed in advance in environment, and obtain the relative position information of robot and UWB emission sources
(apart from d, angle theta).By the observation to these UWB emission sources, the present invention solves feature information extraction and matching in environment
Difficult point, so as to realize the SLAM technologies of real-time stabilization.
Embodiment 2
State estimation and environment sensing class sensor are selectively equipped with robotic end：Robot can pass through shape in t
State estimates class inner sensor, and such as Inertial Measurement Unit, encoder odometer obtain the state change from t-1 moment to t
Measure ut；Also environment sensing class outer sensor, such as monocular camera, stereoscopic camera, laser radar, millimetre-wave radar, ultrasound can be passed through
Ripple radar, obtains the environmental observation information z of tt。
UWB communication equipments are configured in SLAM systems：In space environment, place a UWB at interval of a segment distance and send out
Emitter beacon (Tag), it is ensured that robot can observe at least one beacon in the process of walking.Install UWB's in robotic end
Anchor node (Anchor).Two antennas (two can also be more than) are equipped with Anchor, this two antennas meet vertical linear polarization
Condition, while the feed point distance of two antennas, no more than half-wavelength, (e.g., using 6.5GHz communication frequencies, then half-wave is a length of
23.1mm, two antenna feed points distance is no more than this value).As shown in figure 3, Anchor is arranged on some motor, motor meeting
Rotated with anchor antennas, some Tag in the robot of alignment in real time working environment.Robot passes through such logical in t
Believe that equipment obtains the observation information y of UWB beaconst。
Observation to UWB beacons is represented by yt：
Wherein, the observation information obtained by TWRFor UWB beacons relative to robot apart from d；Obtained by PDOA
Observation informationFor beacon relative to robot apart from d and angle theta.
As shown in figure 4, robot is in motion process, data that the sensor itself assembled by merging is obtained and right
The observation data of UWB beacons, to the movement locus x of robot0,x1,…xtCarry out On-line Estimation, and constructing environment characteristics map
mzWith UWB beacon maps my.Because UWB beacon positions are fixed and feature is distinguishable so that UWB maps myIn resetting for robot
It can be played a significant role in the problems such as position and adaptation dynamic environment.
Embodiment 3
One kind fusion robotary estimated data (such as encoder odometer, Inertial Measurement Unit, visual odometry, is regarded
Feel inertia odometer) and UWB beacon observation information SLAM systems.The system On-line Estimation robot motion track and UWB letters
Mark map.
Comprise the following steps that：
1. robot pose x0Initialization：, can be initial to the pose of robot with arbitrary value if not yet building UWB maps
Change；If having built UWB maps, according to the map myWith UWB observation informations y0Calculate initial pose.
2. in robot kinematics, obtain state estimation sensing data ut(for example：Encoder odometer, vision
The increment from t-1 moment to t such as inertia odometer), robot pose is updated according to robot motion model and assumed
3. obtain UWB observation dataFor example：UWB beacons are obtained relative to machine by TWR
Device people apart from d；UWB beacons are obtained relative to robot apart from d and angle theta by PDOA.Judged by the sequence number of beaconWhether it is first observation of the robot to beacon k.
If 4. above-mentioned beacon is first observation, passing through observation informationInitialize the position of the beaconAnd added
Enter map；If the non-first observation of above-mentioned beacon, examines the observation informationConfidence level (for example：According to robot poseWith
Beacon position in mapSpeculate beacon k observed quantityCalculate actual observation informationWith guess value
DistanceIfLess than threshold xid, it is believed that observation informationIt is credible, otherwise insincere).
5. it regard all believable UWB beacon observations as effective observation informationBy bayesian state estimation side
Method is (for example：The methods such as EKF, particle filter, nonlinear optimization), amendment robot pose and UWB beacon maps
6. repeat step 2 is to step 5, On-line Estimation robot motion track and UWB beacon maps.
In above-mentioned steps, robot estimates x in t to posetIt is extended to movement locus xt-i,xt-j,…,xt's
Estimation, wherein i, j >=0.
Electronic positioning system provided in an embodiment of the present invention is a kind of SLAM systems by UWB, by robotic end
UWB receivers are installed, a small amount of UWB emission sources are disposed in the environment, is provided for robot and stablizes considerable characteristic information.These
UWB beacons have the properties such as accuracy of observation is high, investigative range is wide, feature is distinguishable.By TWR/PDOA signal processing method,
Robot can accurately tell the UWB emission source beacons in environment, and obtain the relative position information of robot and UWB beacons.
This approach simplify feature information extraction and the process of matching, traditional environment detecting sensor is compensate in accuracy, stability
The deficiency of aspect, it is achieved thereby that the SLAM technologies of real-time stabilization, ensure the Stability and veracity of SLAM systems.
The environmental characteristic for obtaining accurate stable is the key of SLAM problems.The present invention passes through the signal transacting sides such as TWR, PDOA
Method, accurately tells the UWB emission sources disposed in advance in environment, and obtain the relative position information of robot and UWB emission sources
(apart from d, angle theta).By the observation to these UWB emission sources, the present invention solves feature information extraction and matching in environment
Difficult point, so as to realize the SLAM technologies of real-time stabilization.
Embodiment 4
One kind fusion robotary estimated data (for example encoder odometer, Inertial Measurement Unit, visual odometry,
Vision inertia odometer), the SLAM of environment sensing data (such as laser point cloud, visual signature point) and UWB beacon observation information
System.System On-line Estimation robot motion track, environmental characteristic map and UWB beacon maps.
Comprise the following steps that：
1. robot pose x0Initialization：If not yet building map, the pose of robot can be initialized with arbitrary value；If
Map is built, according to UWB maps my, environmental characteristic map mz, UWB observation informations y0With environment sensing data z0Calculate initial
Pose.
2. in robot kinematics, obtain state estimation sensing data ut(for example：Encoder odometer, inertia
The increment from t-1 moment to t such as measuring unit), robot pose is updated according to robot motion model and assumed
3. obtain UWB observation dataFor example：Obtained by TWR signal processing mode
UWB beacons are relative to robot apart from d；By PDOA signal processing mode obtain UWB beacons relative to robot away from
From d and angle theta.Judged by the sequence number of beaconWhether it is first observation of the robot to beacon k.
4. obtain environmental characteristic observation dataAnd with environmental map mzIn known features
It is associated matching (for example：Characteristic matching is carried out according to the similarity degree that visual signature point is described), judge the feature extractedWhether it is first observation.
If 5. above-mentioned observation informationOrFor first observation, its locus is initialized by observation information,
And it is added into correspondence map；If not first observation, check observation informationWithConfidence level.
6. it regard all believable observations as effective observation informationBy bayesian state estimation side
Method is (for example：The methods such as EKF, particle filter, nonlinear optimization), correct robot pose xt, environmental characteristic
Scheme mzWith UWB maps my
7. repeat step 2 is to step 6, On-line Estimation robot motion track, environmental characteristic map and UWB beacon maps.
In above-mentioned steps, robot estimates x in t to posetIt is extended to movement locus xt-i,xt-j,…,xt's
Estimation, wherein i, j >=0.If in addition, robot is not equipped with state estimation sensor, above-mentioned steps, can skip 2, directly passing through
Observation information estimation robot motion track.
By disposing a small amount of UWB emission marks in advance in the environment, above-mentioned UWB communications and observed result can be robot
SLAM processes important feature beacon is provided.By these UWB beacons, that robot can be obtained in real time is accurate, stably, can divide
The characteristic information distinguished, simplifies the process of feature information extraction and matching, so as to reach the purpose for improving SLAM systems.
Simultaneous localization and mapping (SLAM) is that mobile robot (such as ground robot, aerial unmanned plane) is independently fixed
One of core technology of position navigation.In circumstances not known, sensor (such as encoder mileage that robot is equipped with by itself
Meter, Inertial Measurement Unit, monocular or three-dimensional camera, laser or ultrasonic range finder sensor etc.) obtain oneself state and surrounding ring
The information in border, estimates itself pose and increment type constructing environment map in real time online.In the prior art, traditional sensors are in environment
There is many deficiencies in perceptible aspect, such as investigative range is limited, local feature loss of learning, characteristic information matching difficulty, causes
SLAM technologies face the challenge for a long time in terms of accuracy, stability and real-time.
Electronic positioning system provided in an embodiment of the present invention is a kind of SLAM systems by UWB, by robotic end
UWB receivers are installed, a small amount of UWB emission sources are disposed in the environment, is provided for robot and stablizes considerable characteristic information.These
UWB beacons have the properties such as accuracy of observation is high, investigative range is wide, feature is distinguishable.By TWR/PDOA signal processing method,
Robot can accurately tell the UWB emission source beacons in environment, and obtain the relative position information of robot and UWB beacons.
This approach simplify feature information extraction and the process of matching, traditional environment detecting sensor is compensate in accuracy, stability
The deficiency of aspect, it is achieved thereby that the SLAM technologies of real-time stabilization, ensure the Stability and veracity of SLAM systems.
The environmental characteristic for obtaining accurate stable is the key of SLAM problems.The present invention passes through the signal transacting sides such as TWR, PDOA
Method, accurately tells the UWB emission sources disposed in advance in environment, and obtain the relative position information of robot and UWB emission sources
(apart from d, angle theta).By the observation to these UWB emission sources, the present invention solves feature information extraction and matching in environment
Difficult point, so as to realize the SLAM technologies of real-time stabilization.
Embodiment 5
According to embodiments of the present invention, the positioner of a kind of electronic equipment is additionally provided.The positioner of the electronic equipment
The localization method of above-mentioned electronic equipment can be performed, the localization method of above-mentioned electronic equipment can also determining by the electronic equipment
Position device is implemented.
Fig. 5 is the positioner of a kind of electronic equipment according to embodiments of the present invention.As shown in figure 5, the device includes：Meter
Calculate unit 10, acquiring unit 20, screening unit 30, amending unit 40, determining unit 50.
Computing unit 10, for according to target electronic device the first moment posture information and target electronic device
Target electronic device is calculated relative to the state increment at the first moment estimate pose at the second moment at the second moment, wherein,
First moment was located at before the second moment.
Acquiring unit 20, carries out detecting the first obtained detection data for obtaining to beacon.
Screening unit 30, the first detection data of the first preparatory condition is met for filtering out, and obtains first object detection
Data.
Amending unit 40, for according to first object detection data to beacon map and target electronic device at the second moment
Pose of estimating be modified.
Determining unit 50, for using pose after amendment as target electronic device the second moment pose.
Embodiment 6
According to embodiments of the present invention, a kind of electronic equipment is additionally provided.The electronic equipment includes：Motor, anchor node, sensing
The positioner of device, above-mentioned electronic equipment.
Anchor node is provided with motor, motor is used to make the direction of anchor node change by the rotation of itself.
At least provided with first antenna and the second antenna on anchor node, first antenna and the second antenna meet vertical polarization bar
Part, also, the distance between first antenna and the second antenna are less than or equal to the half-wavelength of object beam, wherein, object beam is
The wave beam of beacon emissions.
Sensor, the state change for detecting target electronic device.
State estimation and environment sensing class sensor are selectively equipped with robotic end：Robot can pass through shape in t
State estimates class inner sensor, and such as Inertial Measurement Unit, encoder odometer obtain the state change from t-1 moment to t
Measure ut；Also environment sensing class outer sensor, such as monocular camera, stereoscopic camera, laser radar, millimetre-wave radar, ultrasound can be passed through
Ripple radar, obtains the environmental observation information z of tt。
UWB communication equipments are configured in SLAM systems：In space environment, place a UWB at interval of a segment distance and send out
Emitter beacon (Tag), it is ensured that robot can observe at least one beacon in the process of walking.Install UWB's in robotic end
Anchor node (Anchor).Two antennas (first antenna and the second antenna) are equipped with Anchor, this two antennas meet vertical line
Polarization condition, while the feed point distance of two antennas, no more than half-wavelength, (e.g., using 6.5GHz communication frequencies, then half-wave is a length of
23.1mm, two antenna feed points distance is no more than this value).As shown in figure 3, Anchor is arranged on some motor, motor meeting
Rotated with anchor antennas, some Tag in the robot of alignment in real time working environment.Robot passes through such logical in t
Believe that equipment obtains the observation information y of UWB beaconst。
Observation to UWB beacons is represented by yt：
Wherein, the observation information obtained by TWRFor UWB beacons relative to robot apart from d；Obtained by PDOA
Observation informationFor beacon relative to robot apart from d and angle theta.
Robot is in motion process, data and the sight to UWB beacons that the sensor itself assembled by merging is obtained
Data are surveyed, to the movement locus x of robot0,x1,…xtCarry out On-line Estimation, and constructing environment characteristics map mzWith UWB beacons
Map my.Because UWB beacon positions are fixed and feature is distinguishable so that UWB maps myReorientation and adaptation dynamic in robot
It can be played a significant role in the problems such as environment.
Embodiment 7
According to embodiments of the present invention, a kind of electronic positioning system is additionally provided.The electronic positioning system includes：At least one
Beacon；And above-mentioned electronic equipment.
Electronic positioning system provided in an embodiment of the present invention is a kind of SLAM systems by UWB, by robotic end
UWB receivers are installed, a small amount of UWB emission sources are disposed in the environment, is provided for robot and stablizes considerable characteristic information.These
UWB beacons have the properties such as accuracy of observation is high, investigative range is wide, feature is distinguishable.By TWR/PDOA signal processing method,
Robot can accurately tell the UWB emission source beacons in environment, and obtain the relative position information of robot and UWB beacons.
This approach simplify feature information extraction and the process of matching, traditional environment detecting sensor is compensate in accuracy, stability
The deficiency of aspect, it is achieved thereby that the SLAM technologies of real-time stabilization, ensure the Stability and veracity of SLAM systems.
The environmental characteristic for obtaining accurate stable is the key of SLAM problems.The present invention passes through the signal transacting sides such as TWR, PDOA
Method, accurately tells the UWB emission sources disposed in advance in environment, and obtain the relative position information of robot and UWB emission sources
(apart from d, angle theta).By the observation to these UWB emission sources, the present invention solves feature information extraction and matching in environment
Difficult point, so as to realize the SLAM technologies of real-time stabilization.
The embodiments of the present invention are for illustration only, and the quality of embodiment is not represented.
In the above embodiment of the present invention, the description to each embodiment all emphasizes particularly on different fields, and does not have in some embodiment
The part of detailed description, may refer to the associated description of other embodiment.
In several embodiments provided by the present invention, it should be understood that disclosed technology contents, others can be passed through
Mode is realized.Wherein, device embodiment described above is only schematical, such as division of described unit, Ke Yiwei
A kind of division of logic function, can there is other dividing mode when actually realizing, such as multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be the INDIRECT COUPLING or communication link of unit or module by some interfaces
Connect, can be electrical or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On unit.Some or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is realized using in the form of SFU software functional unit and as independent production marketing or used
When, it can be stored in a computer read/write memory medium.Understood based on such, technical scheme is substantially
The part contributed in other words to prior art or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are to cause a computer
Equipment (can for personal computer, server or network equipment etc.) perform each embodiment methods described of the invention whole or
Part steps.And foregoing storage medium includes：USB flash disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can be with store program codes
Medium.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (11)
1. the localization method of a kind of electronic equipment, it is characterised in that including：
According to target electronic device the first moment posture information and the target electronic device the second moment relative to
The state increment at first moment calculates the target electronic device and estimates pose at second moment, wherein, it is described
First moment was located at before second moment；
Obtain and beacon is carried out to detect the first obtained detection data, wherein, first detection data carries the beacon
With the relative position information of the target electronic device；
The first detection data for meeting the first preparatory condition is filtered out, first object detection data is obtained；
Beacon map and the target electronic device are estimated at second moment according to the first object detection data
Pose is modified；
Using pose after amendment as the target electronic device second moment pose.
2. according to the method described in claim 1, it is characterised in that filter out the first detection data for meeting the first preparatory condition
Including：
Whether judge first detection data is to detect the detection data that the first beacon is obtained for the first time, wherein, first letter
Mark is the beacon that the beacon identity that first detection data is carried is indicated；
If first detection data determines first detection to detect the detection data that first beacon is obtained for the first time
Data meet first preparatory condition.
3. method according to claim 2, it is characterised in that according to the first object detection data to beacon map and
Estimate pose of the target electronic device at second moment is modified, including：
First beacon is drawn in the beacon map according to the first object detection data.
4. method according to claim 2, it is characterised in that judging whether first detection data is first detection
After the detection data that first beacon is obtained, methods described also includes：
If first detection data is not to detect the detection data that first beacon is obtained for the first time, calculates described first and visit
Survey the confidence level of data；
The confidence level of first detection data is compared with predetermined threshold value；
In the case where the confidence level of first detection data is more than or equal to the predetermined threshold value, the first detection number is determined
According to meeting first preparatory condition.
5. method according to claim 4, it is characterised in that according to the first object detection data to beacon map and
Estimate pose of the target electronic device at second moment is modified, including：
The position of first beacon is updated in the beacon map according to the first object detection data.
6. method according to claim 4, it is characterised in that calculating the confidence level of first detection data includes：
First beacon described in pose and the beacon map is estimated at second moment according to the target electronic device
Position calculate the supposition observation data of first beacon；
The position for calculating the first detection data instruction speculates the distance between position that observation data are indicated with described；
The confidence level of first detection data is calculated according to the distance.
7. according to the method described in claim 1, it is characterised in that after first object detection data is obtained, methods described
Also include：
The movement locus of the target electronic device is calculated according to the first object detection data.
8. according to the method described in claim 1, it is characterised in that according to the first object detection data to beacon map
With the target electronic device estimating before pose is modified at second moment, methods described also includes：
Obtain and surrounding environment is carried out to detect the second obtained detection data；
The second detection data for meeting the second preparatory condition is filtered out, the second target acquisition data are obtained；
Beacon map and the target electronic device are estimated at second moment according to the first object detection data
Pose be modified including：
According to the first object detection data, the second target acquisition data to environmental characteristic map, beacon map and institute
The pose of estimating that target electronic device is stated at second moment is modified.
9. the positioner of a kind of electronic equipment, it is characterised in that including：
Computing unit, exists for the posture information and the target electronic device according to target electronic device at the first moment
Second moment calculated target electronic device the estimating at second moment relative to the state increment at first moment
Pose, wherein, first moment was located at before second moment；
Acquiring unit, carries out detecting the first obtained detection data for obtaining to beacon；
Screening unit, the first detection data of the first preparatory condition is met for filtering out, first object detection data is obtained；
Amending unit, for according to the first object detection data to beacon map and the target electronic device described
The pose of estimating at two moment is modified；
Determining unit, for using pose after amendment as the target electronic device second moment pose.
10. a kind of electronic equipment, it is characterised in that including：
Anchor node is provided with motor, the motor, the motor is used to make the direction of the anchor node by the rotation of itself
Change；
At least provided with first antenna and the second antenna on anchor node, the anchor node, the first antenna and described second day
Line meets vertical polarization condition, also, the distance between the first antenna and second antenna are less than or equal to object beam
Half-wavelength, wherein, the object beam be beacon emissions wave beam；
Sensor, the state change for detecting the target electronic device；
The positioner of electronic equipment described in claim 9.
11. a kind of electronic positioning system, it is characterised in that including：
At least one beacon；
Electronic equipment described in claim 10.
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| CN114814727A (en) * | 2021-12-29 | 2022-07-29 | 山东科技大学 | Ultra-wideband three-dimensional positioning algorithm with high positioning precision and anti-interference capability |
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