CN107235013B - Vehicle navigation positioning panoramic cradle head - Google Patents
Vehicle navigation positioning panoramic cradle head Download PDFInfo
- Publication number
- CN107235013B CN107235013B CN201710631773.3A CN201710631773A CN107235013B CN 107235013 B CN107235013 B CN 107235013B CN 201710631773 A CN201710631773 A CN 201710631773A CN 107235013 B CN107235013 B CN 107235013B
- Authority
- CN
- China
- Prior art keywords
- horizontal
- rotor motor
- navigation
- inner rotor
- navigation positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 claims abstract description 27
- 230000002401 inhibitory effect Effects 0.000 claims abstract description 4
- 230000000007 visual effect Effects 0.000 claims description 25
- 238000005259 measurement Methods 0.000 claims description 7
- 230000004927 fusion Effects 0.000 claims description 6
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 claims 2
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 claims 2
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 claims 2
- 238000013135 deep learning Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000011946 reduction process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
- B60R11/0258—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof for navigation systems
-
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/265—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network constructional aspects of navigation devices, e.g. housings, mountings, displays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/0003—Arrangements for holding or mounting articles, not otherwise provided for characterised by position inside the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
- Studio Devices (AREA)
Abstract
A vehicle navigation positioning panoramic head comprising: the horizontal inertial servo control system is arranged on the horizontal base and is used for inhibiting external vibration interference; the horizontal X-axis inner rotor motor and the horizontal Y-axis inner rotor motor are vertically stacked on the horizontal base; the inertial detection unit is used for detecting the horizontal attitude angle of the vehicle navigation positioning panoramic tripod head; the controller is used for acquiring the horizontal attitude angle of the vehicle navigation positioning panoramic tripod head detected by the inertia detection unit, and controlling the rotation of the horizontal X-axis inner rotor motor and the horizontal Y-axis inner rotor motor according to the horizontal attitude angle of the vehicle navigation positioning panoramic tripod head so as to keep the vehicle navigation positioning panoramic tripod head horizontal. Because the horizontal inertial servo control system is arranged on the horizontal base of the vehicle navigation positioning panoramic tripod head, the vehicle navigation positioning panoramic tripod head can maintain a horizontal posture, the influence of external vibration interference is effectively reduced, and the user experience is improved.
Description
Technical Field
The invention relates to the technical field of navigation positioning, in particular to a vehicle-mounted navigation positioning panoramic tripod head.
Background
With the rapid development of unmanned automobiles in recent years, the demands and performance requirements for on-board environment sensing systems are also accelerating. In the related art, in-vehicle navigation positioning and vision systems are often in a discrete or primarily integrated state, for example, most automobiles may be equipped with independently operating vision recorders, ADAS systems, and GNSS navigation positioning systems. However, the related art has a problem in that the vibration reduction process is not performed on the pan-tilt due to space and cost reasons, resulting in a decrease in sensing accuracy.
Disclosure of Invention
The application provides the vehicle-mounted navigation positioning panoramic tripod head, which can keep a horizontal posture, effectively reduce the influence of external vibration interference, greatly improve the detection precision of the vehicle-mounted navigation positioning panoramic platform, further improve the sensing capability of an automobile to a foreign environment and improve the experience of a user.
The application provides a vehicle navigation positioning panoramic cradle head, which comprises: a horizontal base; the horizontal inertial servo control system is arranged on the horizontal base and is used for inhibiting external vibration interference; the horizontal inertia servo control system comprises a horizontal X-axis inner rotor motor, a horizontal Y-axis inner rotor motor, an inertia detection unit and a controller; the horizontal X-axis inner rotor motor and the horizontal Y-axis inner rotor motor are vertically stacked on the horizontal base, and the horizontal X-axis inner rotor motor is arranged above the horizontal Y-axis inner rotor motor; the inertial detection unit is arranged on the horizontal X-axis inner rotor motor and is used for detecting the horizontal attitude angle of the vehicle navigation positioning panoramic tripod head; the controller is respectively connected with the horizontal X-axis inner rotor motor, the horizontal Y-axis inner rotor motor and the inertia detection unit, and is used for acquiring the horizontal attitude angle of the vehicle-mounted navigation positioning panoramic tripod head detected by the inertia detection unit and controlling the rotation of the horizontal X-axis inner rotor motor and the horizontal Y-axis inner rotor motor according to the horizontal attitude angle of the vehicle-mounted navigation positioning panoramic tripod head so as to enable the vehicle-mounted navigation positioning panoramic tripod head to keep horizontal.
In some embodiments, the inertial detection unit may be an IMU inertial measurement unit.
In some embodiments, the IMU inertial measurement unit may also be used for IMU inertial navigation.
In some embodiments, the vehicle navigation positioning panoramic cradle further comprises: the vertical outer rotor motor is arranged on the horizontal inertia servo control system and is used for driving the vision acquisition unit to carry out scanning shooting; and the visual acquisition unit is used for acquiring visual images so as to acquire visual scanning images.
In some embodiments, the visual acquisition unit may include an RGB camera, a depth camera, a grayscale camera, and an infrared camera.
In some embodiments, the controller may be further connected to the vertical outer rotor motor, and configured to control the vertical outer rotor motor to rotate, so as to drive the vision system to perform rotation scanning shooting, so as to perform vision SLAM navigation.
In some embodiments, the vehicle navigation positioning panoramic tripod head may further include an ADAS system connected to the visual acquisition unit to acquire a visual scan image; the ADAS system is used for alarming or braking intervention according to the visual scanning image.
In some embodiments, the vehicle navigation positioning panoramic head may further comprise: at least two RTK antennas for satellite positioning navigation.
In some embodiments, the controller may be further configured to obtain results of the visual SLAM navigation, the satellite positioning navigation, and the IMU inertial navigation, and perform EKF fusion based on the results of the visual SLAM navigation, the satellite positioning navigation, and the IMU inertial navigation.
In some embodiments, the vehicle navigation positioning panoramic head may be fixed to the vehicle roof by a fixed suction cup.
According to the vehicle-mounted navigation positioning panoramic tripod head, the horizontal inertial servo control system is arranged on the horizontal base of the vehicle-mounted navigation positioning panoramic tripod head, so that the vehicle-mounted navigation positioning panoramic tripod head can maintain a horizontal posture, the influence of external vibration interference is effectively reduced, the detection precision of the vehicle-mounted navigation positioning panoramic platform is greatly improved, the sensing capability of a vehicle to a foreign environment is further improved, and the user experience is improved.
Drawings
FIG. 1 is a structural illustration of a vehicle navigation positioning panoramic head;
FIG. 2 is a block diagram of a horizontal inertial servo control system for a vehicle navigation positioning panoramic head;
fig. 3 is a top view of a vehicle navigation positioning panoramic head.
Detailed Description
The application will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, related operations of the present application have not been shown or described in the specification in order to avoid obscuring the core portions of the present application, and may be unnecessary to persons skilled in the art from a detailed description of the related operations, which may be presented in the description and general knowledge of one skilled in the art.
With the rapid development of unmanned automobiles in recent years, the demands and performance requirements for on-board environment sensing systems are also accelerating. Future unmanned vehicles may be equipped with GNSS (Global Navigation SATELLITE SYSTEM, global satellite navigation system), RTK (Real-TIME KINEMATIC, carrier phase difference technology), IMU (Inertial measurement unit ), vision recorder, ADAS (ADVANCED DRIVERASSISTANT SYSTEMS, advanced driving assistance system) system, vision SLAM (Simultaneous localization andmapping, instant localization mapping) system, vision deep learning recognition system, panoramic 3D live action system, etc.; for example, the unmanned automobile design such as google, hundred degrees and the like, the navigation positioning vision system is written in different works. Future demands will promote the fusion of various system fields, so the reliability of the vehicle navigation positioning panoramic platform is more important.
The following describes a vehicle navigation positioning panoramic cradle head according to an embodiment of the present application with reference to the accompanying drawings.
Fig. 1 is a schematic structure of a vehicle navigation positioning panoramic tripod head.
As shown in fig. 1-3, the vehicle navigation positioning panoramic tripod head of the embodiment of the present application includes a horizontal base 10, a horizontal inertial servo control system and a controller 200.
The horizontal inertial servo control system is arranged on the horizontal base 10 and is used for inhibiting external vibration interference.
Wherein the horizontal inertial servo control system comprises a horizontal X-axis inner rotor motor 30, a horizontal Y-axis inner rotor motor 20, an inertial detection unit 50 and a controller 200;
the horizontal X-axis inner rotor motor 30 and the horizontal Y-axis inner rotor motor 20 are vertically stacked on the horizontal base 10, and the horizontal X-axis inner rotor motor 30 is arranged above the horizontal Y-axis inner rotor motor 20;
the inertia detection unit 50 is arranged on the horizontal X-axis inner rotor motor 30, and the inertia detection unit 50 is used for detecting the horizontal attitude angle of the vehicle navigation positioning panoramic tripod head 100;
The controller 200 is respectively connected to the horizontal X-axis inner rotor motor 30, the horizontal Y-axis inner rotor motor 20, and the inertia detection unit 50, and the controller 200 is configured to obtain the horizontal attitude angle of the vehicle navigation positioning panoramic head 100 detected by the inertia detection unit 50, and control the rotation of the horizontal X-axis inner rotor motor 30 and the horizontal Y-axis inner rotor motor 20 according to the horizontal attitude angle of the vehicle navigation positioning panoramic head 100, so that the vehicle navigation positioning panoramic head is kept horizontal.
It should be noted that, the inertia detection unit 50 may be an inertial device in the horizontal inertia servo control system, such as a gyroscope and an accelerometer, and the inertial device is used to detect the angular velocity and the angular acceleration of vibration disturbance outside the system, and calculate the horizontal tilt angle in real time, and feed back the detected velocity to the controller 100, and the controller 100 controls the rotation of the horizontal X-axis inner rotor motor 30 and the horizontal Y-axis inner rotor motor 20 according to newton's law of inertia, so as to provide a reaction moment, and suppress the moment generated by the external vibration disturbance signal.
Therefore, the vehicle-mounted navigation positioning panoramic tripod head can keep a horizontal posture through the horizontal inertial servo control system, the influence of external vibration interference is effectively reduced, the detection precision of the vehicle-mounted navigation positioning panoramic platform is greatly improved, the sensing capability of an automobile to a foreign environment is further improved, and the experience of a user is improved.
In some embodiments of the present application, the inertial detection unit 50 is an IMU inertial measurement unit. In particular, the IMU inertial measurement unit is also used for IMU inertial navigation.
In some embodiments of the present application, as shown in fig. 1 and fig. 3, the vehicle navigation positioning panoramic tripod head further includes: the vertical outer rotor motor 40 is arranged on the horizontal inertia servo control system, and the vertical outer rotor motor 40 is used for driving the vision acquisition unit 60 to carry out scanning shooting; a visual acquisition unit 60, the visual acquisition unit 60 being configured to acquire a visual image to acquire a visual scan image.
Specifically, the vision acquisition unit 60 includes an RGB camera, a depth camera, a grayscale camera, and an infrared camera.
Therefore, the vehicle navigation positioning panoramic tripod head can drive the vision acquisition unit to carry out scanning shooting through the vertical outer rotor motor, so that the vision acquisition range is enlarged, the vision blind spots are reduced, and the cost is saved.
In some embodiments of the present application, the controller 200 is further connected to the vertical external rotor motor 40, and is used for controlling the vertical external rotor motor 40 to rotate, so as to drive the vision acquisition unit 60 to perform rotary scanning shooting, so as to perform vision SLAM navigation.
Specifically, the vertical outer rotor motor 40 may be scanned at a constant speed within a range of 60 ° each of the left and right of the forward direction, that is, the rotation angle of the vertical outer rotor motor 40 may be 120 °, that is, the vision acquisition unit 60 may acquire an image of 120 ° of the forward direction of the vehicle.
The vehicle navigation positioning panoramic tripod head 100 can perform visual SLAM navigation through the image acquired by the visual acquisition unit 60.
Specifically, the vertical outer rotor motor 40 drives the vision acquisition unit 60 to rotate for scanning shooting, all images acquired by scanning can be synthesized into an automobile aerial view, and images in front of the vehicle can be subjected to vision SLAM navigation and deep learning object detection and identification.
In some embodiments of the present application, the vehicle navigation positioning panoramic tripod head further comprises an ADAS system, which is connected to the vision acquisition unit 60 to acquire a vision scanning image; the ADAS system is used for alarming or braking intervention according to the visual scanning image.
That is, the vision acquisition unit 60 may also acquire an image of the rear side of the vehicle traveling direction, and the ADAS system may perform a hazard warning or a braking intervention through the acquired image of the rear side of the vehicle traveling direction.
In some embodiments of the present application, as shown in fig. 1 and fig. 3, the vehicle navigation positioning panoramic tripod head further includes: at least two RTK antennas 70, the RTK antennas 70 being used for satellite positioning navigation.
In some embodiments of the present application, the controller 200 is further configured to obtain results of the visual SLAM navigation, the satellite positioning navigation, and the IMU inertial navigation, and perform EKF (ExtendedKalmanFilter) fusion according to the results of the visual SLAM navigation, the satellite positioning navigation, and the IMU inertial navigation.
The visual SLAM navigation, the GNSS RTK satellite positioning navigation and the IMU inertial navigation have respective defects when being used independently, for example, the GNSS RTK satellite positioning navigation can navigate all-weather and output global error-free coordinates, but depends on satellite signals, and if an automobile runs to a road section with insufficient satellite signals, the problem that the navigation cannot be continued can be caused; although inertial navigation of the IMU and visual SLAM navigation do not depend on external information for navigation, coordinate errors are accumulated along with practice and are local coordinates. Therefore, the disadvantage complementation can be realized through EKF fusion, the navigation positioning data with higher bandwidth and smoothness can be output, and the robustness of the navigation positioning system is improved.
In some embodiments of the present application, the vehicle navigation positioning panoramic head 100 is fixed to the roof of the vehicle by the fixing suction cup 80.
Therefore, the aim of fusing a plurality of technical means of navigation through vision collection can be fulfilled, and the accuracy of the vehicle navigation panorama is improved.
According to an embodiment of the present application, the vehicle navigation positioning panoramic head 100 is powered on, the inertial detection unit 50 detects the angular velocity and the angular acceleration of the head, and the controller 200 performs the gesture fusion and PID control on the data detected by the inertial detection unit 50, that is, controls the rotation of the horizontal X-axis inner rotor motor 30 and the horizontal Y-axis inner rotor motor 20 according to the horizontal gesture angle of the vehicle navigation positioning panoramic head 100, so as to keep the vehicle navigation positioning panoramic head 100 horizontal. The vehicle navigation positioning panoramic head 100 performs work in a horizontal state. The vertical outer rotor motor 40 of the vehicle-mounted navigation positioning panoramic platform 100 drives the vision acquisition unit 60 to rotate to acquire a front picture and a rear view picture of the automobile, wherein the vehicle-mounted navigation positioning panoramic platform 100 performs vision SLAM navigation and deep learning object detection and identification through the front picture, and simultaneously fuses the front picture and the rear view picture to generate an automobile aerial view, and an ADAS system of the vehicle-mounted navigation positioning panoramic platform 100 performs alarm or braking intervention when the automobile is in a dangerous state through the rear view picture.
From this, through set up horizontal inertial servo control system on car navigation location panorama cloud platform horizontal base for car navigation location panorama cloud platform can keep the horizontal gesture, has effectively reduced the influence of external vibration interference, very big improvement car navigation location panorama platform's detection precision, and then promoted the perception ability of car to the foreign country environment, promoted user's experience.
The foregoing description of the invention has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the invention pertains, based on the idea of the invention.
Claims (5)
1. The utility model provides a car navigation location panorama cloud platform which characterized in that includes:
A horizontal base;
The horizontal inertial servo control system is arranged on the horizontal base and is used for inhibiting external vibration interference;
The horizontal inertia servo control system comprises a horizontal X-axis inner rotor motor, a horizontal Y-axis inner rotor motor, an inertia detection unit and a controller;
the horizontal X-axis inner rotor motor and the horizontal Y-axis inner rotor motor are vertically stacked on the horizontal base, and the horizontal X-axis inner rotor motor is arranged above the horizontal Y-axis inner rotor motor;
The inertial detection unit is arranged on the horizontal X-axis inner rotor motor and is used for detecting the horizontal attitude angle of the vehicle navigation positioning panoramic tripod head:
The controller is respectively connected with the horizontal X-axis inner rotor motor, the horizontal Y-axis inner rotor motor and the inertia detection unit, and is used for acquiring the horizontal attitude angle of the vehicle-mounted navigation positioning panoramic tripod head detected by the inertia detection unit and controlling the rotation of the horizontal X-axis inner rotor motor and the horizontal Y-axis inner rotor motor according to the horizontal attitude angle of the vehicle-mounted navigation positioning panoramic tripod head so as to keep the vehicle-mounted navigation positioning panoramic tripod head horizontal;
The inertial detection unit is an IMU inertial measurement unit;
the IMU inertial measurement unit is also used for IMU inertial navigation;
The vertical outer rotor motor is arranged on the horizontal inertia servo control system and is used for driving the vision acquisition unit to carry out scanning shooting;
at least two RTK antennas for satellite positioning navigation;
the controller is further used for acquiring visual SLAM navigation, satellite positioning navigation and IMU inertial navigation results and performing EKF fusion according to the visual SLAM navigation, the satellite positioning navigation and the IMU inertial navigation results.
2. The vehicle navigation positioning panoramic head of claim 1, wherein the visual acquisition unit comprises an RGB camera, a depth camera, a grayscale camera, and an infrared camera.
3. The vehicle navigation positioning panoramic tripod head of claim 1, wherein said controller is further connected to said vertical outer rotor motor for controlling the rotation of the vertical outer rotor motor to drive the vision system to perform a rotational scan photographing for visual SLAM navigation.
4. The vehicle navigation positioning panoramic head of claim 1, further comprising an ADAS system connected to the vision acquisition unit to acquire a vision scan image;
the ADAS system is used for alarming or braking intervention according to the visual scanning image.
5. The vehicle navigation positioning panoramic head of claim 1, wherein the vehicle navigation positioning panoramic head is secured to a vehicle roof by a stationary suction cup.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710631773.3A CN107235013B (en) | 2017-07-28 | 2017-07-28 | Vehicle navigation positioning panoramic cradle head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710631773.3A CN107235013B (en) | 2017-07-28 | 2017-07-28 | Vehicle navigation positioning panoramic cradle head |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107235013A CN107235013A (en) | 2017-10-10 |
| CN107235013B true CN107235013B (en) | 2024-07-09 |
Family
ID=59989019
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710631773.3A Active CN107235013B (en) | 2017-07-28 | 2017-07-28 | Vehicle navigation positioning panoramic cradle head |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107235013B (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11314262B2 (en) | 2016-08-29 | 2022-04-26 | Trifo, Inc. | Autonomous platform guidance systems with task planning and obstacle avoidance |
| US10395117B1 (en) | 2016-08-29 | 2019-08-27 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
| US10162362B2 (en) | 2016-08-29 | 2018-12-25 | PerceptIn, Inc. | Fault tolerance to provide robust tracking for autonomous positional awareness |
| US10390003B1 (en) | 2016-08-29 | 2019-08-20 | Perceptln Shenzhen Limited | Visual-inertial positional awareness for autonomous and non-autonomous device |
| US10437252B1 (en) | 2017-09-08 | 2019-10-08 | Perceptln Shenzhen Limited | High-precision multi-layer visual and semantic map for autonomous driving |
| US10794710B1 (en) | 2017-09-08 | 2020-10-06 | Perceptin Shenzhen Limited | High-precision multi-layer visual and semantic map by autonomous units |
| CN107761262B (en) * | 2017-11-10 | 2023-06-02 | 浙江罗速设备制造有限公司 | Sock stitching machine capable of effectively comparing with manual stitching |
| CN108020740B (en) * | 2017-11-29 | 2020-02-07 | 中国科学院新疆天文台 | Equipment area electromagnetic interference detection and identification system and method |
| CN110393006A (en) * | 2018-02-09 | 2019-10-29 | 深圳市大疆创新科技有限公司 | Inhibit the method and holder of holder vibration |
| WO2019205034A1 (en) * | 2018-04-25 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Camera stabilizer position correction method and device |
| CN108566503B (en) * | 2018-04-26 | 2020-06-09 | 广州飞宇智能科技有限公司 | Image acquisition processing device and method |
| CN108897345A (en) * | 2018-07-18 | 2018-11-27 | 北京小马智行科技有限公司 | A kind of method and system of control unmanned vehicle camera rotation |
| US11774983B1 (en) | 2019-01-02 | 2023-10-03 | Trifo, Inc. | Autonomous platform guidance systems with unknown environment mapping |
| CN110794877B (en) * | 2019-11-22 | 2020-10-13 | 北京理工大学 | Vehicle-mounted camera holder servo system and control method |
| CN111959409B (en) * | 2020-07-29 | 2022-10-18 | 北京三快在线科技有限公司 | Holder adjusting method, storage medium, electronic device and vehicle |
| CN113310487B (en) * | 2021-05-25 | 2022-11-04 | 云南电网有限责任公司电力科学研究院 | Ground-oriented mobile robot-oriented integrated navigation method and device |
| CN114869604B (en) * | 2022-05-07 | 2023-07-11 | 江苏理工学院 | Intelligent navigation system of wheelchair of Internet of things |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207360243U (en) * | 2017-07-28 | 2018-05-15 | 深圳普思英察科技有限公司 | Automotive positioning pan and tilt head |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101750075A (en) * | 2008-11-28 | 2010-06-23 | 佛山市顺德区顺达电脑厂有限公司 | Vehicular navigation component, portable navigation device and control method thereof |
| CN203078432U (en) * | 2012-12-30 | 2013-07-24 | 比亚迪股份有限公司 | Vehicle navigation control device |
| US20150219767A1 (en) * | 2014-02-03 | 2015-08-06 | Board Of Regents, The University Of Texas System | System and method for using global navigation satellite system (gnss) navigation and visual navigation to recover absolute position and attitude without any prior association of visual features with known coordinates |
| CN103895584B (en) * | 2014-04-14 | 2015-03-25 | 北京建筑大学 | Movable lifting type vehicle-mounted panorama holder with high precision locating function |
| US9411053B2 (en) * | 2014-06-19 | 2016-08-09 | Novatel Inc. | Method for using partially occluded images for navigation and positioning |
-
2017
- 2017-07-28 CN CN201710631773.3A patent/CN107235013B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207360243U (en) * | 2017-07-28 | 2018-05-15 | 深圳普思英察科技有限公司 | Automotive positioning pan and tilt head |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107235013A (en) | 2017-10-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107235013B (en) | Vehicle navigation positioning panoramic cradle head | |
| CN207360243U (en) | Automotive positioning pan and tilt head | |
| JP7073315B2 (en) | Vehicles, vehicle positioning systems, and vehicle positioning methods | |
| JP7082545B2 (en) | Information processing methods, information processing equipment and programs | |
| CN110869700B (en) | System and method for determining vehicle position | |
| US9933515B2 (en) | Sensor calibration for autonomous vehicles | |
| WO2018204300A1 (en) | Multimodal localization and mapping for a mobile automation apparatus | |
| CN106814753B (en) | Target position correction method, device and system | |
| US10558218B2 (en) | Vehicle surroundings monitoring apparatus, monitoring system, remote monitoring apparatus, and monitoring method | |
| US20100053593A1 (en) | Apparatus, systems, and methods for rotating a lidar device to map objects in an environment in three dimensions | |
| CN109074078A (en) | Method and apparatus for capturing the image of traffic sign | |
| CN107111879A (en) | Pass through the method and apparatus of panoramic looking-around Image estimation vehicle displacement | |
| KR101880185B1 (en) | Electronic apparatus for estimating pose of moving object and method thereof | |
| CN111854740B (en) | Inertial navigation system capable of dead reckoning in a vehicle | |
| US11087145B2 (en) | Gradient estimation device, gradient estimation method, computer program product, and controlling system | |
| US11145112B2 (en) | Method and vehicle control system for producing images of a surroundings model, and corresponding vehicle | |
| KR102006291B1 (en) | Method for estimating pose of moving object of electronic apparatus | |
| KR20130015739A (en) | Method for autonomous movement based on driver state and apparatus threof | |
| JP2018139084A (en) | Device, moving object device and method | |
| JP2012242263A (en) | Mobile body position detection device | |
| JP2008082932A (en) | Navigation device, its control method, and control program | |
| EP3795952A1 (en) | Estimation device, estimation method, and computer program product | |
| CN108322698B (en) | System and method based on fusion of multiple cameras and inertial measurement unit | |
| EP3957954A1 (en) | Active gimbal stabilized aerial visual-inertial navigation system | |
| EP2577227A1 (en) | Method of determining an arrangement of a portable communication device within a coordinate system of a vehicle, corresponding computing unit and portable communication device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |