CN107356244B - Calibration method and device for road side unit antenna - Google Patents
Calibration method and device for road side unit antenna Download PDFInfo
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- CN107356244B CN107356244B CN201710543680.5A CN201710543680A CN107356244B CN 107356244 B CN107356244 B CN 107356244B CN 201710543680 A CN201710543680 A CN 201710543680A CN 107356244 B CN107356244 B CN 107356244B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The embodiment of the invention discloses a calibration method and a device of a road side unit antenna, wherein the method comprises the following steps: obtaining a first conversion matrix of an antenna coordinate system and a reference coordinate system according to the measured first included angle; obtaining a second conversion matrix of the lane coordinate system and the reference coordinate system according to the measured second included angle; obtaining a third conversion matrix of an antenna coordinate system and a lane coordinate system according to the first conversion matrix and the second conversion matrix; and obtaining calibration parameters of the road side unit antenna (RSU antenna) according to the mounting height of the antenna and the third conversion matrix. And calculating the first conversion matrix and the second conversion matrix by taking the reference coordinate system as a middle coordinate system, and further obtaining high-precision calibration parameters of the antenna according to the first conversion matrix, the second conversion matrix and the installation height of the antenna, thereby simplifying the calibration process, improving the efficiency and simultaneously improving the accuracy and the positioning precision of the antenna for positioning the vehicle-mounted unit.
Description
Technical Field
The embodiment of the invention relates to the technical field of computers, in particular to a calibration method and device for a roadside unit antenna.
Background
Electronic Toll Collection (Electronic Toll Collection) systems are also known as Electronic Toll Collection systems. The ETC system uses a Dedicated Short-Range Communication (DSRC) technology to complete the whole toll collection process, so that the vehicle keeps a running state without parking in the whole toll collection process. This technology is currently widely used in highway tolling.
With the continuous expansion of the application field of the ETC system, especially the application of the multi-lane free flow technology, the demand for accurately positioning the On Board Unit (OBU) vehicle in the ETC system is also stronger and stronger. In an ETC system, an RSU (Road Side Unit) based On a spatial array antenna adopts a Direction of Arrival (DOA) and a Digital Beam Forming (DBF) technology to estimate the On Board Unit (OBU) signal Arrival Direction, and then converts angle information of the OBU On the DBF antenna into accurate coordinate information of the OBU under a lane coordinate system according to RSU calibration parameters (installation information, OBU installation information and lane coordinate system information), thereby completing an OBU positioning requirement.
In the technical scheme of RSU calibration based on gradiometer measurement and OBU positioning reverse thrust in the prior art, calibration parameter accuracy is often not up to standard due to large instrument accuracy error in the gradiometer measurement scheme, and the gradiometer can only measure the RSU installation inclination angle, the installation rotation angle of the RSU is ignored, the problem of large error in OBU positioning is caused, calibration point information needs to be collected for many times in OBU reverse thrust calibration, the operation flow is complex, the calibration process consumes a lot of time, large-scale practical application in engineering is not facilitated, in the two previous schemes, a default lane plane is horizontal, but in some installation environments cannot be avoided in practical application, and the lane plane has the problem of a certain gradient.
In the process of implementing the embodiment of the invention, the inventor finds that the existing calibration method cannot provide a group of accurate and reliable calibration parameters, which often causes the problems of poor OBU positioning effect, large error and the like.
Disclosure of Invention
Because the existing method has the problems, the embodiment of the invention provides a calibration method and a calibration device for a roadside unit antenna.
In a first aspect, an embodiment of the present invention provides a calibration method for a roadside unit antenna, including:
measuring a first included angle between the coordinate axis of the antenna coordinate system and the coordinate axis of the reference coordinate system, and obtaining a first conversion matrix of the antenna coordinate system and the reference coordinate system according to the first included angle;
measuring a second included angle between the coordinate axis of the lane coordinate system and the coordinate axis of the reference coordinate system, and obtaining a second conversion matrix of the lane coordinate system and the reference coordinate system according to the second included angle;
obtaining a third conversion matrix of the antenna coordinate system and the lane coordinate system according to the first conversion matrix and the second conversion matrix;
and acquiring the installation height of the antenna, and obtaining the calibration parameters of the road side unit antenna according to the installation height and the third conversion matrix.
Optionally, the obtaining of the installation height of the antenna specifically includes:
and determining the coordinates of the antenna in the lane coordinate system, and determining the installation height of the antenna according to the coordinates.
Optionally, the method further comprises:
and acquiring angle information of the vehicle-mounted unit and the roadside unit antenna, and acquiring coordinate information of the vehicle-mounted unit in the lane coordinate system according to the angle information and the calibration parameters.
Optionally, the first angle and/or the second angle is measured by a nine-axis gyroscope.
Optionally, the reference coordinate system is a northeast day coordinate system.
In a second aspect, an embodiment of the present invention further provides a calibration apparatus for a roadside unit antenna, including:
the first conversion matrix acquisition module is used for measuring a first included angle between the coordinate axes of the antenna coordinate system and the coordinate axes of the reference coordinate system and obtaining a first conversion matrix of the antenna coordinate system and the reference coordinate system according to the first included angle;
the second conversion matrix acquisition module is used for measuring a second included angle between the coordinate axis of the lane coordinate system and the coordinate axis of the reference coordinate system and acquiring a second conversion matrix of the lane coordinate system and the reference coordinate system according to the second included angle;
a third transformation matrix obtaining module, configured to obtain a third transformation matrix of the antenna coordinate system and the lane coordinate system according to the first transformation matrix and the second transformation matrix;
and the calibration parameter acquisition module is used for acquiring the installation height of the antenna and acquiring the calibration parameters of the road side unit antenna according to the installation height and the third conversion matrix.
Optionally, the calibration parameter obtaining module is specifically configured to determine coordinates of the antenna in the lane coordinate system, and determine an installation height of the antenna according to the coordinates.
Optionally, the apparatus further comprises:
and the vehicle-mounted unit positioning module is used for acquiring angle information of the vehicle-mounted unit and the roadside unit antenna and obtaining coordinate information of the vehicle-mounted unit in the lane coordinate system according to the angle information and the calibration parameters.
Optionally, the first angle and/or the second angle is measured by a nine-axis gyroscope.
Optionally, the reference coordinate system is a northeast day coordinate system.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of the above method claims.
In a fourth aspect, embodiments of the invention also propose a non-transitory computer-readable storage medium storing a computer program which causes the computer to perform the method of the above method claim.
According to the technical scheme, the first conversion matrix of the antenna coordinate system and the reference coordinate system and the second conversion matrix of the lane coordinate system and the reference coordinate system are obtained through calculation by taking the reference coordinate system as the middle coordinate system, and the high-precision calibration parameters of the roadside unit antenna are further obtained according to the first conversion matrix, the second conversion matrix and the installation height of the antenna, so that the calibration process is simplified, the efficiency is improved, and the accuracy and the positioning precision of the antenna for the positioning of the vehicle-mounted unit are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flowchart of a calibration method for a roadside antenna according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a positional relationship between an RSU and an OBU according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of coordinates of a northeast coordinate system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the location relationship between an RSU and an OBU according to another embodiment of the present invention;
FIG. 5 is a schematic coordinate diagram providing a positional relationship between an RSU and an OBU according to another embodiment of the present invention;
fig. 6 is a schematic structural diagram of a calibration apparatus for a roadside antenna according to an embodiment of the present invention;
fig. 7 is a logic block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Fig. 1 shows a schematic flow chart of a calibration method for a roadside unit antenna provided in this embodiment, including:
s101, measuring a first included angle between a coordinate axis of an antenna coordinate system and a coordinate axis of a reference coordinate system, and obtaining a first conversion matrix of the antenna coordinate system and the reference coordinate system according to the first included angle.
The antenna coordinate system comprises a transverse antenna, a longitudinal antenna and an antenna array plane, wherein the transverse antenna of the antenna coordinate system is an X axis, the longitudinal antenna of the antenna coordinate system is a Y axis, and the vertical antenna array plane is a Z axis.
The reference coordinate system is a coordinate system which can be used as a reference.
For example, the reference coordinate system may be a northeast coordinate system. The northeast coordinate system (ENU) is also called a site coordinate system (local Cartesian coordinates system), the origin of the coordinate system is the center of the station (receiving antenna), the Z axis coincides with the normal of the ellipsoid and is positive upward (the sky direction), the Y axis coincides with the minor semi-axis of the ellipsoid (the north), and the X axis coincides with the major semi-axis of the earth (the east).
The antenna coordinate system takes a transverse antenna as an X axis, a longitudinal antenna as a Y axis and a vertical antenna array plane as a Z axis.
The first included angle is an included angle between a coordinate axis of the antenna coordinate system and a coordinate axis of the reference coordinate system.
The first conversion matrix is a conversion matrix of an antenna coordinate system and the reference coordinate system.
S102, measuring a second included angle between the coordinate axis of the lane coordinate system and the coordinate axis of the reference coordinate system, and obtaining a second conversion matrix of the lane coordinate system and the reference coordinate system according to the second included angle.
The lane coordinate system takes a lane road surface as a reference surface to establish a coordinate system, a projection point of the RSU on the lane plane is taken as an origin, a vertical road surface is taken as a Z axis, a vertical cut-off road surface direction is taken as an X axis, and an incoming direction is taken as a Y axis.
And the second included angle is an included angle between the coordinate axis of the lane coordinate system and the coordinate axis of the reference coordinate system.
The second transformation matrix is a transformation matrix of the lane coordinate system and the reference coordinate system.
In particular, the first angle and/or the second angle may be measured by a nine-axis gyroscope.
S103, obtaining a third conversion matrix of the antenna coordinate system and the lane coordinate system according to the first conversion matrix and the second conversion matrix.
And the third conversion matrix is a conversion matrix of the antenna coordinate system and the lane coordinate system.
S104, obtaining the installation height of the antenna, and obtaining the calibration parameters of the road side unit antenna according to the installation height and the third conversion matrix.
Wherein, the mounting height is the height of the antenna from the road surface.
The calibration parameters are parameters for calibrating the road side unit antenna.
According to the method and the device, the reference coordinate system is used as the middle coordinate system, the first conversion matrix of the antenna coordinate system and the reference coordinate system and the second conversion matrix of the lane coordinate system and the reference coordinate system are obtained through calculation, high-precision calibration parameters of the antenna are further obtained according to the first conversion matrix, the second conversion matrix and the installation height of the antenna, the calibration process is simplified, the efficiency is improved, and meanwhile the accuracy and the positioning accuracy of the antenna for the positioning of the vehicle-mounted unit are improved.
Further, on the basis of the above method embodiment, the acquiring the installation height of the antenna in S104 specifically includes:
and determining the coordinates of the antenna in the lane coordinate system, and determining the installation height of the antenna according to the coordinates.
The method and the device comprehensively consider lane information and RSU installation information, complete RSU calibration parameter calculation, improve the accuracy and the positioning precision of the RSU for the OBU, provide accurate and high-precision calibration parameters for some complex installation environments, guarantee the requirement of the RSU on the OBU positioning performance under the complex environments, simplify the calibration process and improve the engineering application efficiency.
Further, on the basis of the above embodiment of the method, the method further comprises:
s105, obtaining angle information of the vehicle-mounted unit and the road side unit antenna, and obtaining coordinate information of the vehicle-mounted unit in the lane coordinate system according to the angle information and the calibration parameters.
The embodiment provides a calibration method for a spatial array RSU antenna, which can be used for calibration and calibration of the spatial array RSU antenna and positioning of the RSU antenna on an OBU. The method comprises the following steps: the method comprises the following steps of measuring conversion information of an RSU antenna under an ENU coordinate system by a gyroscope, measuring a conversion relation of a lane plane under the ENU coordinate system by the gyroscope, and calculating conversion parameters of the RSU under the lane coordinate system, wherein the method comprises the following steps:
a1, establishing a lane coordinate system, determining a projection point of the RSU antenna on a lane plane, and establishing the lane coordinate system according to the projection point position and the direction of the lane coordinate system.
And A2, measuring the coordinates of the RSU in the lane coordinate system, namely determining the installation height H of the RSU.
A3, measuring an included angle between the coordinate system of the antenna and the coordinate axis of the ENU reference coordinate system by the gyroscope tool.
A4, measuring an included angle between a lane coordinate system and the coordinate axis of an ENU reference coordinate system by a gyroscope tool.
And A5, solving the conversion relation between the RSU coordinate system and the lane coordinate system and a lane plane equation, and finally solving all RSU calibration parameters to finish the calibration process.
Specifically, as shown in fig. 2, the schematic diagram of the position relationship between the RSU and the OBU is shown, the OBU is installed on a vehicle, and the RSU is installed at a fixed position on a road.
As shown in fig. 3, the coordinate system of ENU is shown, the X axis is east direction of the earth, the Y axis is north direction of the earth, the gravity normal of the Z axis is reverse, and the gyroscope outputs information of each included angle between the gyroscope coordinate system and the axis of ENU coordinate system according to the information of the current position and orientation of its module.
As shown in FIG. 4, facing the direction of the coming vehicle, the lane coordinate system X is established by taking the projection point of the RSU on the ground as the origin of coordinates, crossing the left side of the road surface as the X axis, the direction of the coming vehicle as the Y axis, and the vertical upward direction perpendicular to the road surface as the Z axisPYPZP. Facing to the direction of the coming vehicle, the center of the RSU antenna is the origin of coordinates, the direction of the transverse antenna array is the X axis, the direction of the coming vehicle perpendicular to the antenna plane is the Z axis, the direction of the longitudinal antenna array is the Y axis, and an antenna coordinate system X is establishedP'YP'ZP'。
And similarly, the gyroscope module is placed according to the orientation of the lane coordinate system to obtain the included angle between the current lane coordinate system and each coordinate axis of the ENU coordinate system.
According to the transformation principle of a space coordinate system, any two coordinate systems with the same origin can establish a relationship through a rotation matrix, and if the rotation matrix is M, the method comprises the following steps:
OBU point P (x) under lane coordinate systemp,yp,zp) At antenna coordinate P' (x)p',yp',zp')，Pr(xr,yr,zr) As the origin P of the antenna coordinate systemO'(0,0,0) coordinates in the lane coordinate system, i.e., translation parameters, then the relationship of P and P' is:
P＝P'*M+Pr(1)
P-Pr＝P'*M (2)
any cartesian coordinate system can be converted into another cartesian coordinate system by three rotations, and the coordinate systems defined by the coordinate systems all conform to the cartesian coordinate system, and if their origins are the same, the conversion can be performed by the following three conversion matrices:
the final coordinate system transformation matrix can be expressed as follows:
the gyroscope output is the rotation angle α, gamma between the coordinate axis of the coordinate system to be measured and the coordinate axis corresponding to the reference ENU coordinate system.
The height H of RSU is measured by the antenna coordinate system and the lane coordinate system, and the translation parameter from the RSU coordinate system to the lane coordinate system can be obtained
P＝(0,0,H) (7)
Gyroscope measuring antenna coordinate system and ENU reference coordinate system coordinate axis included angle αr,βr,γrTo obtain a coordinate system transformation matrix
I.e. point P of OBU in the antenna coordinate systemr(xr,yr,zr) Coordinate P in ENU reference coordinate systeme(xe,ye,ze) Then, the following conditions are satisfied:
Pe＝Pr*Rr(8)
gyroscope measures coordinate axis included angle α between lane coordinate system and ENU reference coordinate systeml,βl,γlTo obtain a coordinate system transformation matrix
Because the coordinate axis directions of the lane coordinate system and the RSU coordinate system are consistent, the OBU coordinates P under the lane coordinate systemv(xv,yv,zv) Point P of OBU in RSU coordinate systeml(xl,yl,zl) The following relationship is satisfied:
Pl(xl,yl,zl)＝Pv(xv,yv,zv)+P(0,0,H) (9)
point P of OBU under RSU coordinate systeml(xl,yl,zl) Coordinate P in ENU reference coordinate systeme(xe,ye,ze) Then, the following conditions are satisfied: pe＝Pl*Rl
Pl*Rl＝Pr*Rr(10)
The OBU is in the lane coordinate system Pv(xv,yv,zv) The following can be obtained:
and finally, completely solving conversion parameters between the coordinate points and the antenna coordinate points in the lane coordinate system.
Intersection points of a coordinate axis of the antenna coordinate system and a lane plane (a plane where the OBU is located) are a (a,0,0), B (0, B,0), and C (0,0, C), respectively, and a, B, C ≠ 0, as shown in fig. 5.
The intercept plane equation is then:
let A be 1/a, B be 1/B, and C be 1/C.
Converting the matrix from the antenna coordinate system to the RSU coordinate system
And the antenna installation height H, and a plane equation of the lane plane under an antenna coordinate system can be obtained
Then
The antenna coordinate system is converted into an RSU coordinate system by a transformation matrix MrlAnd completing the solution of the plane equation parameters of the lane plane under the antenna coordinate system to complete the RSU calibration process. And subsequently, estimating the incidence angle according to the DOA, and solving the coordinate of the OBU in the lane coordinate system.
Regarding a specific positioning principle, let P be an OBU point on a lane plane, and a coordinate P (x) in a lane coordinate systemp,yp,zp) For the purpose of calculation, let P be (x) in the coordinate system of the antennap',yp',zp')。
As can be seen from fig. 4, the distance from the OBU to the RSU is:
from the relationship of the incident angles, one can derive:
since P is on the lane plane, the P point coordinate satisfies the lane plane equation:
the equation system is obtained from equations (15) (16) (17):
obtained by the formula (16):
by substituting equation (19) for equation (18), the system of equations can be simplified:
and then simplifying to obtain:
the substitution of A, B, C for 1/a, 1/b and 1/c respectively is simplified to obtain:
substituting equation (20) into equations (18) and (17) yields:
during the calibration process, the transformation matrix M and the plane parameters A, B, C are obtained according to the formula P ═ P' × M + PrThe coordinate (x) of the OBU in the lane coordinate system can be obtained through coordinate system transformationp,yp,zp)，(xp,yp,zp) Namely the final positioning result.
For example, the antenna installation height is measured, the RSU installation height H is measured by a tape measure to be 4.8m relative to the lane plane, and the gyroscope measures the rotation angle (45,0,0) of the antenna coordinate system relative to the ENU reference coordinate system. Transforming the matrix according to a coordinate system:
the transformation matrix between the RSU coordinate system and the reference ENU coordinate system is found as follows:
the gyroscope measures coordinate axis included angles (0,0,0) of a lane coordinate system relative to an ENU reference coordinate system, and the matrix is converted according to the coordinate system:
the rotation matrix is obtained as follows:
further, solving a transformation matrix of the antenna coordinate system to the RSU coordinate system, and solving the following:
according to a conversion matrix MrlAnd the RSU installation height, solving the following parameters of the lane plane under an antenna coordinate system:
10000 (infinity)
B＝678.8
C＝678.8
Source angle of incidence: when AngleX is 90 and AngleY is 90, the coordinates in the lane coordinate system are determined to be (0,4.8) by the above positioning process.
Fig. 6 shows a schematic structural diagram of a calibration apparatus for a roadside unit antenna provided in this embodiment, where the apparatus includes: a first conversion matrix obtaining module 601, a second conversion matrix obtaining module 602, a third conversion matrix obtaining module 603, and a calibration parameter obtaining module 604, where:
the first conversion matrix obtaining module 601 is configured to measure a first included angle between a coordinate axis of an antenna coordinate system and a coordinate axis of a reference coordinate system, and obtain a first conversion matrix of the antenna coordinate system and the reference coordinate system according to the first included angle;
the second transformation matrix obtaining module 602 is configured to measure a second included angle between a coordinate axis of a lane coordinate system and a coordinate axis of the reference coordinate system, and obtain a second transformation matrix of the lane coordinate system and the reference coordinate system according to the second included angle;
the third transformation matrix obtaining module 603 is configured to obtain a third transformation matrix of the antenna coordinate system and the lane coordinate system according to the first transformation matrix and the second transformation matrix;
the calibration parameter obtaining module 604 is configured to obtain an installation height of the antenna, and obtain a calibration parameter of the roadside unit antenna according to the installation height and the third conversion matrix.
Specifically, the first conversion matrix obtaining module 601 measures a first included angle between a coordinate axis of an antenna coordinate system and a coordinate axis of a reference coordinate system, and obtains a first conversion matrix of the antenna coordinate system and the reference coordinate system according to the first included angle; the second transformation matrix obtaining module 602 measures a second included angle between the coordinate axis of the lane coordinate system and the coordinate axis of the reference coordinate system, and obtains a second transformation matrix of the lane coordinate system and the reference coordinate system according to the second included angle; the third transformation matrix obtaining module 603 obtains a third transformation matrix of the antenna coordinate system and the lane coordinate system according to the first transformation matrix and the second transformation matrix; the calibration parameter obtaining module 604 obtains the installation height of the antenna, and obtains the calibration parameter of the roadside unit antenna according to the installation height and the third conversion matrix.
According to the embodiment, the reference coordinate system is used as the middle coordinate system, the first conversion matrix of the antenna coordinate system and the reference coordinate system and the second conversion matrix of the lane coordinate system and the reference coordinate system are obtained through calculation, and the high-precision calibration parameters of the roadside unit antenna are further obtained according to the first conversion matrix, the second conversion matrix and the installation height of the antenna, so that the calibration process is simplified, the efficiency is improved, and meanwhile, the accuracy and the positioning precision of the antenna for the positioning of the vehicle-mounted unit are improved.
Further, on the basis of the above device embodiment, the calibration parameter obtaining module 604 is specifically configured to determine coordinates of the antenna in the lane coordinate system, and determine the installation height of the antenna according to the coordinates.
Further, on the basis of the above embodiment of the apparatus, the apparatus further comprises:
and the vehicle-mounted unit positioning module is used for acquiring angle information of the vehicle-mounted unit and the roadside unit antenna and obtaining coordinate information of the vehicle-mounted unit in the lane coordinate system according to the angle information and the calibration parameters.
Further, on the basis of the above device embodiment, the first included angle and/or the second included angle is measured by a nine-axis gyroscope.
Further, on the basis of the above device embodiment, the reference coordinate system is a northeast coordinate system.
The calibration device of the roadside unit antenna described in this embodiment may be used to implement the above method embodiments, and the principle and technical effect are similar, which are not described herein again.
Referring to fig. 7, the electronic device includes: a processor (processor)701, a memory (memory)702, and a bus 703;
wherein the content of the first and second substances,
the processor 701 and the memory 702 complete communication with each other through the bus 703;
the processor 701 is configured to call the program instructions in the memory 702 to execute the methods provided by the above-described method embodiments.
The present embodiments disclose a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the methods provided by the above-described method embodiments.
The present embodiments provide a non-transitory computer-readable storage medium storing computer instructions that cause the computer to perform the methods provided by the method embodiments described above.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
It should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A calibration method of a road side unit antenna is characterized by comprising the following steps:
measuring a first included angle between the coordinate axis of the antenna coordinate system and the coordinate axis of the reference coordinate system, and obtaining a first conversion matrix of the antenna coordinate system and the reference coordinate system according to the first included angle;
measuring a second included angle between the coordinate axis of the lane coordinate system and the coordinate axis of the reference coordinate system, and obtaining a second conversion matrix of the lane coordinate system and the reference coordinate system according to the second included angle;
obtaining a third conversion matrix of the antenna coordinate system and the lane coordinate system according to the first conversion matrix and the second conversion matrix;
acquiring the installation height of the antenna, and acquiring calibration parameters of the road side unit antenna according to the installation height and the third conversion matrix;
the obtaining of the installation height of the antenna specifically includes:
determining the coordinates of the antenna in the lane coordinate system, and determining the installation height of the antenna according to the coordinates;
wherein, the coordinate axis directions of the lane coordinate system and the RSU coordinate system are consistent, and the coordinate P of the OBU is under the lane coordinate systemv(xv,yv,zv) Point P of OBU in RSU coordinate systeml(xl,yl,zl) The following relationship is satisfied:
Pl(xl,yl,zl)＝Pv(xv,yv,zv)+P(0,0,H)
point P of OBU under RSU coordinate systeml(xl,yl,zl) Coordinate P in ENU reference coordinate systeme(xe,ye,ze) Satisfies the following conditions: pe＝Pl*Rl
Pl*Rl＝Pr*Rr
OBU P in lane coordinate systemv(xv,yv,zv) Comprises the following steps:
2. the method of claim 1, further comprising:
and acquiring angle information of the vehicle-mounted unit and the roadside unit antenna, and acquiring coordinate information of the vehicle-mounted unit in the lane coordinate system according to the angle information and the calibration parameters.
3. The method of claim 1, wherein the first angle and/or the second angle is measured by a nine-axis gyroscope.
4. The method of claim 1, wherein the reference coordinate system is a northeast coordinate system.
5. A calibration device for a road side unit antenna is characterized by comprising:
the first conversion matrix acquisition module is used for measuring a first included angle between the coordinate axes of the antenna coordinate system and the coordinate axes of the reference coordinate system and obtaining a first conversion matrix of the antenna coordinate system and the reference coordinate system according to the first included angle;
the second conversion matrix acquisition module is used for measuring a second included angle between the coordinate axis of the lane coordinate system and the coordinate axis of the reference coordinate system and acquiring a second conversion matrix of the lane coordinate system and the reference coordinate system according to the second included angle;
a third transformation matrix obtaining module, configured to obtain a third transformation matrix of the antenna coordinate system and the lane coordinate system according to the first transformation matrix and the second transformation matrix;
the calibration parameter acquisition module is used for acquiring the installation height of the antenna and acquiring calibration parameters of the road side unit antenna according to the installation height and the third conversion matrix;
the calibration parameter acquisition module is specifically used for determining the coordinates of the antenna in the lane coordinate system and determining the installation height of the antenna according to the coordinates;
wherein, the coordinate axes of the lane coordinate system and the RSU coordinate systemThe directions are consistent, and the OBU coordinates P under the lane coordinate systemv(xv,yv,zv) Point P of OBU in RSU coordinate systeml(xl,yl,zl) The following relationship is satisfied:
Pl(xl,yl,zl)＝Pv(xv,yv,zv)+P(0,0,H)
point P of OBU under RSU coordinate systeml(xl,yl,zl) Coordinate P in ENU reference coordinate systeme(xe,ye,ze) Satisfies the following conditions: pe＝Pl*Rl
Pl*Rl＝Pr*Rr
OBU P in lane coordinate systemv(xv,yv,zv) Comprises the following steps:
6. the apparatus of claim 5, further comprising:
and the vehicle-mounted unit positioning module is used for acquiring angle information of the vehicle-mounted unit and the roadside unit antenna and obtaining coordinate information of the vehicle-mounted unit in the lane coordinate system according to the angle information and the calibration parameters.
7. An electronic device, comprising:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1 to 4.
8. A non-transitory computer-readable storage medium storing a computer program that causes a computer to perform the method according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710543680.5A CN107356244B (en) | 2017-07-05 | 2017-07-05 | Calibration method and device for road side unit antenna |
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| CN108020814B (en) * | 2017-11-23 | 2020-08-25 | 北京万集科技股份有限公司 | OBU positioning method and system |
| CN107770862B (en) * | 2017-11-23 | 2020-09-25 | 交控科技股份有限公司 | Train positioning system based on train-ground communication and positioning method based on train positioning system |
| CN108507534A (en) * | 2018-03-09 | 2018-09-07 | 广州市中海达测绘仪器有限公司 | RTK tilt measuring methods and system |
| CN110440818B (en) * | 2018-05-04 | 2021-11-19 | 沈阳美行科技有限公司 | Lane matrix model, construction method thereof, reading method and device |
| CN111121849B (en) * | 2020-01-02 | 2021-08-20 | 大陆投资(中国)有限公司 | Automatic calibration method for orientation parameters of sensor, edge calculation unit and roadside sensing system |
| CN114419746B (en) * | 2021-12-24 | 2024-04-09 | 北京万集科技股份有限公司 | RSU calibration method, RSU calibration device, electronic equipment and RSU calibration system |
| CN117129956B (en) * | 2023-10-27 | 2024-04-09 | 深圳绿米联创科技有限公司 | Positioning correction method, device, detection equipment, computer equipment and storage medium |
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