CN108007474A - A kind of unmanned vehicle independent positioning and pose alignment technique based on land marking - Google Patents
A kind of unmanned vehicle independent positioning and pose alignment technique based on land marking Download PDFInfo
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- CN108007474A CN108007474A CN201710766832.8A CN201710766832A CN108007474A CN 108007474 A CN108007474 A CN 108007474A CN 201710766832 A CN201710766832 A CN 201710766832A CN 108007474 A CN108007474 A CN 108007474A
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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
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Abstract
A kind of unmanned vehicle independent positioning and pose alignment technique based on land marking, are related to and automatically control and image processing field.It is characterized in that in the case of no gps signal, inertance element, magnetometer and light stream module information on aircraft are merged, land marking is identified using camera, completes the position to aircraft and attitude updating.Inertance element and light stream module are used for the pitching rolling information and positional information for obtaining aircraft, and magnetometer is used for the yaw information for obtaining aircraft；Camera is used to obtain land marking image, according to position of the land marking in image and initial geographic coordinate system is obtained and posture, resolves position and posture of the aircraft relative to initial geographic coordinate system；Using posture information acquired in camera to being corrected using pose obtained by inertance element, magnetometer and light stream module information.The present invention can realize the Global localization to aircraft and attitude updating using the fixed intervals grid or floor ceramic tile gap of white features band composition as land marking.
Description
Technical field
The present invention relates to automatically controlling and image processing field, suitable for carried out in unmanned vehicle room precision navigation or
High-precision navigation is carried out in the case of no gps signal.
Background technology
In recent years, the development of unmanned vehicle all becomes the topic increasingly paid close attention in civilian and military field, such as nobody
Helicopter, unmanned Fixed Wing AirVehicle, unmanned rotary wing aircraft etc., are now widely used for industry-by-industry, such as investigation and prison
Depending on, search and rescue aid, take photo by plane with mapping etc..Especially quadrotor unmanned vehicle, it is simple in structure by its, have vertical
Landing and the characteristics of freely hover, can be outstanding in complex environment completion assigned tasks.And held in unmanned vehicle
During row task, one of the problem of navigator fix is wherein the most key.
For outdoor environment, Global Navigation Satellite System (Global Navigation Satellite System,
GNSS) global positioning system (Global Positioning System, GPS) in such as U.S., the big-dipper satellite in China are led
Boat system (BeiDou Navigation Satellite System, BDS) can provide the positioning clothes of degree of precision to the user
Business, has substantially met user in outdoor scene to the demand based on location-based service.However, personal user, indoor performance, formation
Inspection etc. has substantial amounts of location requirement that scene indoors occurs in indoor flight, factory.And indoor scene is hidden be subject to building
Keep off, GNSS signal rapid decay, can not meet the needs of navigator fix in indoor scene, and existing unmanned vehicle positions
Seldom be related to unmanned vehicle in method determines appearance problem, waits indoors in environment.It is difficult that this is solved in not new technology
Before topic, the operation skill of user can only be relied on, and security incident happens occasionally.Therefore, unmanned vehicle indoor positioning technologies
As industrial quarters and the hot spot of academia's research.
It is current had some carried out on unmanned plane be indoor positioning patent and technology, as light stream positions, inertia member
Part positions, wireless location, dynamic capture system positioning etc..Although these methods can be applied to indoor positioning, still deposit
Various the problem of, as light stream positioning and inertance element position, there are cumulative errors, it is impossible to the fortune of long-time stable
OK；Wireless location is relatively low there are positioning accuracy, the problem of easily receiving the interference of surrounding environment, and wireless location method can not be to nothing
The posture of people's aircraft is corrected；And for dynamic capture system, although it has high positioning accuracy, can reach centimetre
The even precision of millimeter, but its fancy price and less sphere of action limit the large-scale application of this method.
In conclusion existing is that unmanned vehicle pose determines to be primarily present problems with：First, indoors etc. without navigation
In the case of satellite-signal, good positioning and orientation can not be realized, limit the application range of unmanned plane；2nd, in existing room
In interior localization method, for unmanned vehicle carry not by the setting element of outer signals, such as light stream locating module, inertial navigation
Element etc., it is poor there are positioning accuracy, can not long-time steady operation the problem of, can not be corrected for position and posture cumulative errors
The problem of；And caught for such as dynamic, the system such as wireless location, which is respectively present price height and positioning accuracy, can not meet control system
The problem of system requires.
The content of the invention
The present invention is ineffective and existing in order to solve indoor positioning existing for existing unmanned vehicle localization method
Indoor orientation method is existing to have cumulative errors, can not correct unmanned vehicle posture, and price is high and positioning accuracy is poor
The problems such as.
A kind of unmanned vehicle independent positioning and pose alignment technique based on land marking, comprise the following steps：
Step 1: establish initial geographic coordinate system, body coordinate system, body to geography involves coordinate system, camera coordinates system,
Image coordinate system, light stream module coordinate system, installs camera and light stream locating module on unmanned vehicle；
Step 2: position and posture of the calibration for cameras coordinate system relative to body coordinate system, and measure light stream locating module
Relative position relation between camera, calibration body coordinate system to the transition matrix between initial geographic coordinate system；
Step 3: light stream locating module velocity information is obtained, and the acceleration information of inertance element and unmanned vehicle are certainly
The attitude information of body, integrates the acceleration information of inertance element, the light stream locating module that light stream locating module is returned
Speed VoThe inertance element speed V obtained after the integrated acceleration provided with inertance elementa, initial geographic coordinate system is transformed into, is obtained
Light stream locating module speed V under to initial geographic coordinate systemf' and inertance element speed Va'.It is right under initial geographic coordinate system
Vf' and Va' merged, speed after being merged, integrates speed after fusion, obtains unmanned plane in initial geographical coordinate
Rough position P in system0, pass through inertance element and the rough posture R of magnetometer acquisition unmanned plane0；
Step 4: obtain the land marking image I of camera collection, land marking information in extraction image I, to from image I
In acquired land marking information carry out preliminary screening, information after screening is changed to initial geographic coordinate system；
Step 5: ground identification information is further screened in initial geographic coordinate system, after further screening
Information unmanned vehicle position and posture are corrected, obtain unmanned vehicle accurate location P1With exact posture R1；
Step 6: return to step three.
Preferably, a kind of the unmanned vehicle independent positioning and pose alignment technique based on land marking, its ground
Face is identified as square net
Preferably, the detailed process of step 1 comprises the following steps：
Step 1 one, the initial geographic coordinate system o0x0y0z0：With east-north-day coordinate of unmanned vehicle position
System is used as initial geographic coordinate system；
Body coordinate system obxbybzb：Body coordinate system origin o is used as using unmanned plane center of gravityb, with the symmetrical of unmanned vehicle
It is x that plane in parallel is directed toward heading in axisbAxis, to be vertically directed toward right side with unmanned vehicle symmetrical plane as ybAxis, hangs down
Directly and xbAxis and ybIt is z that axis, which is directed toward below unmanned vehicle,bAxis；
Body coordinate system obxbybzb：Body coordinate system origin o is used as using unmanned plane center of gravityb, with the longitudinal direction of unmanned vehicle
It is x to be directed toward heading parallel to axis in symmetrical planebAxis, to be directed toward right side perpendicular to the longitudinally asymmetric plane of unmanned vehicle
For ybAxis, perpendicular to xbAxis and ybIt is z that axis, which is directed toward below unmanned vehicle,bAxis；
Body involves coordinate system o to geography1x1y1z1：Body coordinate system origin o is used as using unmanned plane center of gravity1, x1、y1、z1Axis
Parallel respectively and initial geographic coordinate system x0、y0、z0Axis；
Image coordinate system oixiyi：Using camera upper left side as image coordinate system origin oi, with parallel to image the top pixel
Line, it is x to be directed toward right sideiAxis, with parallel to image leftmost side pixel, downwardly directed is yiAxis；
Camera coordinates system ocxcyczc:Using camera photocentre as camera coordinates system origin oc, it is outwardly directed for phase with camera optical axis
Machine coordinate system zcAxis, with parallel and image coordinate system xi、yiAxis is respectively xc、ycAxis；
Light stream module coordinate system ofxfyfzf：Using light stream locating module center as light stream locating module coordinate origin, xf、
yf、zfAxis distinguishes parallel and body coordinate system xb、yb、zbAxis.
Light stream locating module, is installed on unmanned vehicle lower section by step 1 two, is connected with unmanned vehicle body, camera
Coordinate system is installed on below unmanned vehicle so that camera coordinates system zcAxis, xcAxis, ycAxis distinguishes parallel and body coordinate system zb
Axis, y0Axis ,-x0Axis；
Preferably, the detailed process of step 2 comprises the following steps：
Step 2 one, by unmanned vehicle and scaling board be positioned over same physical plane, and scaling board is being moved to camera just
Lower section, keeps scaling board side parallel with body coordinate system x-axis direction, camera is demarcated.
Step 2 two, utilize the horizontal and vertical distance between graduated scale measurement light stream locating module and camera.
Step 2 three, using installed on unmanned vehicle magnetometer and inertance element calibration body coordinate system to initially
Transformational relation between geographic coordinate system.
Preferably, the detailed process of step 3 comprises the following steps：
Step 3 one, obtain light stream locating module velocity information, and the acceleration information and unmanned vehicle of inertance element
The attitude information of itself, integrates the acceleration information of inertance element, and light stream locating module is returned light stream locating module
Speed VoThe inertance element speed V obtained after the integrated acceleration provided with inertance elementa.By VfAnd VaSuccessively change to body
Under coordinate system, body to geography involve coordinate system, be finally transformed under initial geographic coordinate system, finally obtain initial geographical coordinate
Light stream locating module speed V under systemf' and inertance element speed Va'。
Step 3 two, read unmanned vehicle height H, and fusion method is selected to V according to elevation informationf' and Va' melted
Close, the unit of height H is rice.
When unmanned vehicle height H is more than or equal to threshold level H1When, using Kalman filter to Vf' and Va' melted
Close, obtain speed V under the initial geographic coordinate system of unmanned vehicleo。
When unmanned vehicle height H is less than H1When, by Vf' and Va' be directly added according to certain weights, obtain nothing
Speed V under the initial geographic coordinate system of people's aircrafto, formula is as follows：
Vo=α Vf'+βVa'
Wherein α and β is weighting parameters, is changed with the change of height H.
Step 3 three, to speed V after fusionoIntegrated to obtain rough position of the unmanned vehicle under initial coordinate system
P0, pass through inertance element and the coarse filtration posture R of magnetometer acquisition unmanned plane0。
Preferably, the detailed process of step 4 comprises the following steps：
Step 4 one, by camera gather land marking image I change to hsv color space, utilize land marking with ground
Difference of the face in color and luminance channel obtains bianry image I to image I is carried out binary conversion treatmentb.In bianry image
IbIn, land marking part is represented with white, above ground portion is represented with black.
Step 4 two, by morphology operations, to bianry image IbHandled.
Step 4 three, to bianry image IbProjective transformation is done, obtain land marking faces bianry image Ir；To facing two
It is worth image IrHough straight-line detection is carried out, is tentatively sieved using the yaw angle information Hough straight-line detection result of unmanned vehicle
Choosing, deletes in image and detects that straight line angle differs larger straight line with true ground tag line.
Step 4 four, transform to the straight line after preliminary screening under initial geographic coordinate system.
Preferably, the detailed process of step 5 is as follows：
Step 5 one：Under initial geographic coordinate system, using straight line after unmanned vehicle position and preliminary screening initial
Correlation between straight line, further screens straight line, is deleted behind position and angle and preliminary screening under geographic coordinate system
Except wherein position, straight line that angle has big difference with actual value deletes non-parallel and non-perpendicular straight line between other straight lines.
Step 5 two, handle straight line information after further screening, will be straight after screening under initial geographic coordinate system
Straight-line detection position after the actual position of line and screening makes the difference, as a result as unmanned vehicle position correction amount Δ P.
When straight line only exists straight line information after further screening, correction unmanned vehicle is perpendicular to the rectilinear direction
On positional information, when there are corrected value is averaged during plurality of parallel lines.
There are can correct unmanned vehicle when two straight lines and orthogonal two straight lines for straight line after further screening
Horizontal position information.
P1=P0+ΔP
Wherein, P1For unmanned vehicle accurate location；P0For unmanned vehicle coarse position information；Δ P is unmanned vehicle
Position correction amount.
Straight-line intersection after further screening is calculated, retains the intersection point for being less than distance L apart from unmanned vehicle horizontal level, when
There are such four points in the intersection point of reservation, wherein when any three points are not conllinear, it can be utilized and thrown by the intersection point of reservation
Shadow conversion directly calculates unmanned vehicle accurate location P1With exact posture R1。
Preferably, the detailed process of step 6 is as follows：
Return to step three.
Preferably, the value of the weighting parameters α of step 3 is α=1- β, the value β of weighting parameters β=| H-H1|, threshold value
Height H1Value is 0.4 meter.
Preferably, the distance L of step 5 is 3 meters.
Proposed in the present invention by being laid with white features band group grid on ground or utilizing the nets such as flooring ceramic tile
Method of the lattice as land marking, merges inertance element, magnetometer and light stream locating module information on unmanned vehicle, utilizes phase
Machine identifies land marking, realizes the position to unmanned vehicle and attitude updating, and obtains higher positioning and determine appearance essence
Degree.
Brief description of the drawings
Fig. 1 is position and the attitude updating flow chart of the present invention；
Fig. 2 is land marking schematic diagram of the present invention, wherein, black portions are ground, and white portion is land marking；
Fig. 3 is unmanned plane and land marking figure used in test in the present invention.
Embodiment
Embodiment one：Illustrate present embodiment with reference to Fig. 1,
A kind of unmanned vehicle independent positioning and pose alignment technique based on land marking, comprise the following steps：
Step 1: establish initial geographic coordinate system, body coordinate system, body to geography involves coordinate system, camera coordinates system,
Image coordinate system, light stream module coordinate system, installs camera and light stream locating module on unmanned vehicle；
Step 2: position and posture of the calibration for cameras coordinate system relative to body coordinate system, and measure light stream locating module
Relative position relation between camera, calibration body coordinate system to the transition matrix between initial geographic coordinate system；
Step 3: light stream locating module velocity information is obtained, and the acceleration information of inertance element and unmanned vehicle are certainly
The attitude information of body, integrates the acceleration information of inertance element, the light stream locating module that light stream locating module is returned
Speed VoThe inertance element speed V obtained after the integrated acceleration provided with inertance elementa, initial geographic coordinate system is transformed into, is obtained
Light stream locating module speed V under to initial geographic coordinate systemf' and inertance element speed Va'.It is right under initial geographic coordinate system
Vf' and Va' merged, speed after being merged, integrates speed after fusion, obtains unmanned plane in initial geographical coordinate
Rough position P in system0, pass through inertance element and the rough posture R of magnetometer acquisition unmanned plane0；
Step 4: obtain the land marking image I of camera collection, land marking information in extraction image I, to from image I
In acquired land marking information carry out preliminary screening, information after screening is changed to initial geographic coordinate system；
Step 5: ground identification information is further screened in initial geographic coordinate system, after further screening
Information unmanned vehicle position and posture are corrected, obtain unmanned vehicle accurate location P1With exact posture R1；
Step 6: return to step three.
Proposed in the present invention by being laid with white features band group grid on ground or utilizing the nets such as flooring ceramic tile
Method of the lattice as land marking, merges inertance element, magnetometer and light stream locating module information on unmanned vehicle, utilizes phase
Machine identifies land marking, realizes the position to unmanned vehicle and attitude updating, and obtains higher positioning and determine appearance essence
Degree.
Preferably, a kind of the unmanned vehicle independent positioning and pose alignment technique based on land marking, its ground
Face is identified as square net.
Embodiment two：
The detailed process of present embodiment step 1 comprises the following steps：
Step 1 one, the initial geographic coordinate system o0x0y0z0：With east-north-day coordinate of unmanned vehicle position
System is used as initial geographic coordinate system；
Body coordinate system obxbybzb：Body coordinate system origin o is used as using unmanned plane center of gravityb, with the longitudinal direction of unmanned vehicle
It is x to be directed toward heading parallel to axis in symmetrical planebAxis, to be directed toward right side perpendicular to the longitudinally asymmetric plane of unmanned vehicle
For ybAxis, perpendicular to xbAxis and ybIt is z that axis, which is directed toward below unmanned vehicle,bAxis；
Body involves coordinate system o to geography1x1y1z1：Body coordinate system origin o is used as using unmanned plane center of gravity1, x1、y1、z1Axis
Parallel respectively and initial geographic coordinate system x0、y0、z0Axis；
Image coordinate system oixiyi：Using camera upper left side as image coordinate system origin oi, with parallel to image the top pixel
Line, it is x to be directed toward right sideiAxis, with parallel to image leftmost side pixel, downwardly directed is yiAxis；
Camera coordinates system ocxcyczc:Using camera photocentre as camera coordinates system origin oc, it is outwardly directed for phase with camera optical axis
Machine coordinate system zcAxis, with parallel and image coordinate system xi、yiAxis is respectively xc、ycAxis；
Light stream module coordinate system ofxfyfzf：Using light stream locating module center as light stream locating module coordinate origin, xf、
yf、zfAxis distinguishes parallel and body coordinate system xb、yb、zbAxis.
Light stream locating module, is installed on unmanned vehicle lower section by step 1 two, is connected with unmanned vehicle body, camera
Coordinate system is installed on below unmanned vehicle so that camera coordinates system zcAxis, xcAxis, ycAxis distinguishes parallel and body coordinate system zb
Axis, y0Axis ,-x0Axis；
The three of embodiment：
The detailed process of present embodiment step 2 comprises the following steps：
Step 2 one, by unmanned vehicle and scaling board be positioned over same physical plane, and scaling board is being moved to camera just
Lower section, keeps scaling board side parallel with body coordinate system x-axis direction, camera is demarcated.
Step 2 two, utilize the horizontal and vertical distance between graduated scale measurement light stream locating module and camera.
Step 2 three, using installed on unmanned vehicle magnetometer and inertance element calibration body coordinate system to initially
Transformational relation between geographic coordinate system.
The four of specific real mode
The detailed process of present embodiment step 3 comprises the following steps：
Step 3 one, obtain light stream locating module velocity information, and the acceleration information and unmanned vehicle of inertance element
The attitude information of itself, integrates the acceleration information of inertance element, and light stream locating module is returned light stream locating module
Speed VoThe inertance element speed V obtained after the integrated acceleration provided with inertance elementa.By VfAnd VaSuccessively change to body
Under coordinate system, body to geography involve coordinate system, be finally transformed under initial geographic coordinate system, finally obtain initial geographical coordinate
Light stream locating module speed V under systemf' and inertance element speed Va'。
Step 3 two, read unmanned vehicle height H, and fusion method is selected to V according to elevation informationf' and Va' melted
Close, the unit of height H is rice.
When unmanned vehicle height H is more than or equal to threshold level H1When, using Kalman filter to Vf' and Va' melted
Close, obtain speed V under the initial geographic coordinate system of unmanned vehicleo。
When unmanned vehicle height H is less than H1When, by Vf' and Va' be directly added according to certain weights, obtain nothing
Speed V under the initial geographic coordinate system of people's aircrafto, formula is as follows：
Vo=α Vf'+βVa'
Wherein α and β is weighting parameters, is changed with the change of height H.
Step 3 three, to speed V after fusionoIntegrated to obtain rough position of the unmanned vehicle under initial coordinate system
P0, pass through inertance element and the coarse filtration posture R of magnetometer acquisition unmanned plane0。
The five of embodiment
The detailed process of present embodiment step 5 comprises the following steps：
Step 4 one, by camera gather land marking image I change to hsv color space, utilize land marking with ground
Difference of the face in color and luminance channel obtains bianry image I to image I is carried out binary conversion treatmentb.In bianry image
IbIn, land marking part is represented with white, above ground portion is represented with black.
Step 4 two, by morphology operations, to bianry image IbHandled.
Step 4 three, to bianry image IbProjective transformation is done, obtain land marking faces bianry image Ir；To facing two
It is worth image IrHough straight-line detection is carried out, is tentatively sieved using the yaw angle information Hough straight-line detection result of unmanned vehicle
Choosing, deletes in image and detects that straight line angle differs larger straight line with true ground tag line.
Step 4 four, transform to the straight line after preliminary screening under initial geographic coordinate system.
Embodiment six：
The detailed process of present embodiment step 5 is as follows：
Step 5 one：Under initial geographic coordinate system, using straight line after unmanned vehicle position and preliminary screening initial
Correlation between straight line, further screens straight line, is deleted behind position and angle and preliminary screening under geographic coordinate system
Except wherein position, straight line that angle has big difference with actual value deletes non-parallel and non-perpendicular straight line between other straight lines.
Step 5 two, handle straight line information after further screening, will be straight after screening under initial geographic coordinate system
Straight-line detection position after the actual position of line and screening makes the difference, as a result as unmanned vehicle position correction amount Δ P.
When straight line only exists straight line information after further screening, correction unmanned vehicle is perpendicular to the rectilinear direction
On positional information, when there are corrected value is averaged during plurality of parallel lines.
There are can correct unmanned vehicle when two straight lines and orthogonal two straight lines for straight line after further screening
Horizontal position information.
P1=P0+ΔP
Wherein, P1For unmanned vehicle accurate location；P0For unmanned vehicle coarse position information；Δ P is unmanned vehicle
Position correction amount.
Straight-line intersection after further screening is calculated, retains the intersection point for being less than distance L apart from unmanned vehicle horizontal level, when
There are such four points in the intersection point of reservation, wherein when any three points are not conllinear, it can be utilized and thrown by the intersection point of reservation
Shadow conversion directly calculates unmanned vehicle accurate location P1With exact posture R1。
Other steps and parameter are identical with one of embodiment one to six.
Unmanned vehicle position and attitude error after 10 meters of the indoor flight of no gps signal is as shown in table 1.
Position and attitude error after 10 meters of 1 unmanned vehicle of table flight
| Method | Position error | Yaw angle error | Whether drift about |
| Optical flow method | >1 meter | Without legal appearance | It is |
| Context of methods | <5 centimetres | <4° | It is no |
By table one it can be seen that context of methods is compared can significantly improve positioning accuracy with simple optical flow method, and it is fixed
Position and accuracy of attitude determination do not increase and increase with move distance.
Position and attitude error is as shown in table 2 after ten minutes in the indoor flight of no gps signal for unmanned vehicle.
2 unmanned vehicle of table flight position and attitude error after ten minutes
| Method | Position error | Yaw angle error | Whether drift about |
| Inertance element | >5 meters | >10° | It is |
| Context of methods | 5 centimetres | <4° | It is no |
Note：Unmanned vehicle is used in test as great Jiang companies M100 quadrotor unmanned vehicles；Camera uses normal light
Learn camera, camera resolution 640*480；Light stream locating module is great Jiang companies guidance locating modules；Inertance element and
Magnetometer etc. carries module using M100 quadrotor unmanned vehicles.
Claims (8)
1. a kind of unmanned vehicle independent positioning and pose alignment technique based on land marking, it is characterised in that including：
Step 1: establishing initial geographic coordinate system, body coordinate system, body to geography involves coordinate system, camera coordinates system, image
Coordinate system, light stream module coordinate system, installs camera and light stream locating module on unmanned vehicle；
Step 2: position and posture of the calibration for cameras coordinate system relative to body coordinate system, and measure light stream locating module and phase
Relative position relation between machine, calibration body coordinate system to the transition matrix between initial geographic coordinate system；
Step 3: light stream locating module velocity information is obtained, and the acceleration information of inertance element and unmanned vehicle itself
Attitude information.The acceleration information of inertance element is integrated, obtains inertance element speed Va.Light stream locating module is returned
Light stream locating module speed VoThe inertance element speed V obtained after the integrated acceleration provided with inertance elementa, it is transformed into just
Beginning geographic coordinate system, obtains the light stream locating module speed V under initial geographic coordinate systemf' and inertance element speed Va’.Initial
To V under geographic coordinate systemf' and Va' merged, speed after being merged, integrates speed after fusion, obtains unmanned plane
Rough position P in initial geographic coordinate system0, pass through inertance element and the rough posture R of magnetometer acquisition unmanned plane0；
Step 4: the land marking image I of camera collection is obtained, land marking information in extraction image I, to the institute from image I
The land marking information of acquisition carries out preliminary screening, and information after screening is changed to initial geographic coordinate system；
Step 5: ground identification information is further screened in initial geographic coordinate system, according to the letter after further screening
Breath is corrected unmanned vehicle position and posture, obtains unmanned vehicle accurate location P1With exact posture R1；
Step 6: return to step three.
2. a kind of unmanned vehicle independent positioning and pose alignment technique based on land marking according to claim 1,
It is characterized in that, the land marking is square net.
3. a kind of unmanned vehicle independent positioning and pose alignment technique based on land marking according to claim 1,
It is characterized in that, the detailed process of step 2 comprises the following steps：
Step 1 one, the initial geographic coordinate system o0x0y0z0：With east-north-day coordinate of the initial position of unmanned vehicle
System is used as initial geographic coordinate system；
Body coordinate system obxbybzb：Body coordinate system origin o is used as using unmanned plane center of gravityb, with the longitudinally asymmetric of unmanned vehicle
It is x that plane in parallel is directed toward heading in axisbAxis, to be directed toward right side perpendicular to the longitudinally asymmetric plane of unmanned vehicle as yb
Axis, perpendicular to xbAxis and ybIt is z that axis, which is directed toward below unmanned vehicle,bAxis；
Body involves coordinate system o to geography1x1y1z1：Body coordinate system origin o is used as using unmanned plane center of gravity1, x1、y1、z1Axis is distinguished
Parallel and initial geographic coordinate system x0、y0、z0Axis；
Image coordinate system oixiyi：Using camera upper left side as image coordinate system origin oi, with parallel to image the top pixel line,
It is x to be directed toward right sideiAxis, with parallel to image leftmost side pixel, downwardly directed is yiAxis；
Camera coordinates system ocxcyczc:Using camera photocentre as camera coordinates system origin oc, sat so that camera optical axis is outwardly directed for camera
Mark system zcAxis, with parallel and image coordinate system xi、yiAxis is respectively xc、ycAxis；
Light stream module coordinate system ofxfyfzf：Using light stream locating module center as light stream locating module coordinate origin, xf、yf、zfAxis
Parallel respectively and body coordinate system xb、yb、zbAxis.
Light stream locating module, is installed on unmanned vehicle lower section by step 1 two, is connected with unmanned vehicle body；Camera is installed
Below unmanned vehicle so that camera coordinates system zcAxis, xcAxis, ycAxis distinguishes parallel and body coordinate system zbAxis, y0Axis ,-x0
Axis.
4. a kind of unmanned vehicle independent positioning and pose alignment technique based on land marking according to claim 2,
It is characterized in that, the detailed process of step 2 comprises the following steps：
Step 2 one, by unmanned vehicle and scaling board be positioned over same physical plane, and scaling board is moved to immediately below camera,
Keep scaling board side parallel with body coordinate system x-axis direction, camera is demarcated.
Step 2 two, utilize the horizontal and vertical distance between graduated scale measurement light stream locating module and camera.
Step 2 three, utilize magnetometer and inertance element the calibration body coordinate system installed on unmanned vehicle to initial geography
Transformational relation between coordinate system.
5. a kind of unmanned vehicle independent positioning and pose alignment technique based on land marking according to claim 3,
It is characterized in that, the detailed process of step 3 comprises the following steps：
Step 3 one, obtain light stream locating module velocity information, and the acceleration information of inertance element and unmanned vehicle itself
Attitude information, the acceleration information of inertance element is integrated, by light stream locating module return light stream locating module speed
VoThe inertance element speed V obtained after the integrated acceleration provided with inertance elementa.By VfAnd VaSuccessively change to body coordinate
Under system, body to geography involve coordinate system, be finally transformed under initial geographic coordinate system, finally obtain under initial geographic coordinate system
Light stream locating module speed Vf' and inertance element speed Va’。
Step 3 two, read unmanned vehicle height H, and fusion method is selected to V according to elevation informationf' and Va' merged, it is high
The unit for spending H is rice.
When unmanned vehicle height H is more than or equal to threshold level H1When, using Kalman filter to Vf' and Va' merged,
Obtain speed V under the initial geographic coordinate system of unmanned vehicleo。
When unmanned vehicle height H is less than H1When, by Vf' and Va' be directly added according to certain weights, obtain nobody and fly
Speed V under the initial geographic coordinate system of row deviceo, formula is as follows：
Vo=α Vf’+βV’,
Wherein α and β is weighting parameters, is changed with the change of height H.
Step 3 three, to speed V after fusionoIntegrated to obtain rough position P of the unmanned vehicle under initial coordinate system0, lead to
Cross inertance element and magnetometer obtains the coarse filtration posture R of unmanned plane0。
6. a kind of unmanned vehicle independent positioning and pose alignment technique based on land marking according to claim 4,
It is characterized in that, the detailed process of step 4 comprises the following steps：
Step 4 one, change the land marking image I that camera gathers to hsv color space, is existed using land marking and ground
Difference in color and luminance channel obtains bianry image I to image I is carried out binary conversion treatmentb.The I in bianry imagebIn,
Land marking part is represented with white, above ground portion is represented with black.
Step 4 two, by morphology operations, to bianry image IbHandled.
Step 4 three, to bianry image IbProjective transformation is done, obtain land marking faces bianry image Ir；To facing binary map
As IrHough straight-line detection is carried out, preliminary screening is carried out using the yaw angle information Hough straight-line detection result of unmanned vehicle,
Delete in image and detect that straight line angle differs larger straight line with true ground tag line.
Step 4 four, transform to the straight line after preliminary screening under initial geographic coordinate system.
7. a kind of unmanned vehicle independent positioning and pose alignment technique based on land marking according to claim 5,
It is characterized in that, the detailed process of step 5 is as follows：
Step 5 one：Under initial geographic coordinate system, using straight line after unmanned vehicle position and preliminary screening initial geographical
Correlation between straight line, further screens straight line, deletes it behind position and angle and preliminary screening under coordinate system
Middle position, the straight line that angle has big difference with actual value, deletes non-parallel and non-perpendicular straight line between other straight lines.
Step 5 two, handle straight line information after further screening, under initial geographic coordinate system, by straight line after screening
Actual position makes the difference with the straight-line detection position after screening, as a result as unmanned vehicle position correction amount Δ P.
When straight line only exists straight line information after further screening, correction unmanned vehicle is in the rectilinear direction
Positional information, when there are be averaged during plurality of parallel lines to corrected value.
There are the water that unmanned vehicle can be corrected when two straight lines and orthogonal two straight lines for straight line after further screening
Flat positional information.
P1=P0+ΔP
Wherein, P1For unmanned vehicle accurate location；P0For unmanned vehicle coarse position information；Δ P is unmanned vehicle position
Correcting value.
Straight-line intersection after further screening is calculated, retains the intersection point for being less than distance L apart from unmanned vehicle horizontal level, works as reservation
Intersection point in there are such four points, wherein when any three points are not conllinear, projection can be utilized to become by the intersection point of reservation
Change and directly calculate unmanned vehicle accurate location P1With exact posture R1。
8. a kind of unmanned vehicle independent positioning and pose school based on land marking according to one of claim 2 to 7
Positive technology, it is characterised in that the value of the weighting parameters α of step 3 is α=1- β, the value β of weighting parameters β=| H-H1|, threshold
It is worth height H1Value is 0.4 meter.The value of distance L is 3 meters in step 5.
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