CN108572380B - Navigation method based on satellite navigation and visual navigation and application thereof - Google Patents
Navigation method based on satellite navigation and visual navigation and application thereof Download PDFInfo
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- CN108572380B CN108572380B CN201710459907.8A CN201710459907A CN108572380B CN 108572380 B CN108572380 B CN 108572380B CN 201710459907 A CN201710459907 A CN 201710459907A CN 108572380 B CN108572380 B CN 108572380B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
Abstract
The invention discloses a navigation method based on satellite navigation and visual navigation. The method adopts a satellite navigation system to carry out coarse adjustment on a course object and a visual navigation system to carry out fine adjustment on the course object, so that the course object walks along the central line of a crop row, wherein the satellite navigation system carries out low-frequency large-amplitude adjustment on the course and the visual navigation system carries out high-frequency small-amplitude adjustment on the course. The combined navigation method based on satellite navigation and visual navigation provided by the invention can effectively solve the problems of low precision, instability, time delay, positioning deviation of visual navigation in a complex illumination environment and the like in GNSS navigation, improves the stability of a navigation system, can realize accurate positioning and autonomous navigation of a heading object in an outdoor environment, and is better applied to accurate operation of agricultural machinery in the growth process of crops.
Description
Technical Field
The invention relates to a navigation method, in particular to a navigation method based on satellite navigation and visual navigation and application thereof, belonging to the technical field of navigation positioning.
Background
With the development of science and technology, real-time navigation and positioning technologies are widely applied to various fields of production and life (such as intelligent transportation, precision agriculture, mechanical control and the like). The positioning technology in the prior art comprises a traditional global satellite navigation system GNSS and visual positioning, on one hand, the GNSS can meet the basic positioning requirement of a user under the condition of small environmental influence, but in agriculture and cities with complex environment, various obstacles block navigation signals, so that the navigation signals are attenuated, the navigation precision is reduced, and meanwhile, due to the existence of the obstacles, the number of visible satellites of a GNSS receiver is greatly changed, ephemeris of the visible satellites needs to be continuously received again, so that the navigation timeliness is influenced; on the other hand, the visual positioning uses visible light to collect image information, a video camera is adopted in the prior art to collect image information, a consumer-grade video camera exists in a mobile phone and a digital camera, the application is convenient and quick, the cost performance of a navigation system is higher, but the clear image information cannot be collected in real time under the influence of uncertainty of environment (such as illumination) and vehicle state.
Therefore, it is necessary to provide a new navigation system to meet the accuracy and reliability required by the existing navigation system.
Disclosure of Invention
The invention aims to provide a navigation method based on satellite navigation and visual navigation and application thereof, so as to overcome the defects in the prior art.
In order to achieve the purpose, the technical scheme adopted by the invention comprises the following steps:
the embodiment of the invention provides a navigation method based on satellite navigation and visual navigation, which adopts a satellite navigation system to carry out coarse adjustment on a course object and a visual navigation system to carry out fine adjustment on the course object so that the course object walks along the center line of a crop row,
the satellite navigation system obtains position information and attitude information of a heading object by using a differential technology, and then obtains navigation transverse deviation and heading deviation information by referring to a previously set navigation line, so that low-frequency large-amplitude adjustment of the heading is realized;
the visual navigation system obtains a navigation line by identifying, positioning and fitting a straight line to crops, and obtains position information and attitude information according to the relative position of a course object fixedly installed by a camera, so that navigation transverse deviation and course deviation information are obtained, and high-frequency small-amplitude adjustment of the course is realized.
Further, the satellite navigation system includes any one or a combination of two or more of the GPS system, the GLONASS system, or the GALILEO system, but is not limited thereto.
Further, the visual navigation system includes any one or a combination of two of a monocular visual navigation system and a binocular visual navigation system, but is not limited thereto.
In some embodiments, the navigation method based on satellite navigation and visual navigation comprises the following steps:
let the distance between the center point of the course object and the navigation line of the satellite, i.e. the satellite navigation lateral deviation be d1The included angle between the central line of the course object and the navigation line of the satellite, namely the deviation of the navigation course of the satellite is theta1；
Let the distance between the center point of the course object and the visual leading line, i.e. the transverse deviation of the visual leading line be d2The included angle between the central line of the course object and the visual navigation course, namely the deviation of the visual navigation course is theta2；
Let dcPresetting a coarse adjustment limit theta for the satellite navigation lateral deviationcPresetting a coarse adjustment limit for the satellite navigation course deviation;
let d0Presetting an error limit theta for the visual navigation lateral deviation relative to the satellite navigation lateral deviation0Presetting error limit for the visual navigation course deviation relative to the satellite navigation course deviation;
let E1＝f1(d1,θ1) In the formula E1Adjusting the steering information of the vehicle after the satellite navigation information is processed;
let E2＝f2(d2,θ2) In the formula E2The method specifically comprises the following operation steps of processing the visual navigation information to obtain vehicle steering adjustment information:
s110, detecting whether the satellite navigation information is updated, namely whether a satellite navigation system obtains the lateral deviation and the course deviation of a course relative to a satellite navigation line or not, if the satellite navigation information is updated, executing S120, otherwise executing S210;
s120, when | d1|＞dcOr | θ1|＞θcIf the satellite navigation information is within the coarse adjustment range, S130 is executed, otherwise S2 is executed10；
S210, detecting whether the visual navigation information is updated, namely whether the visual navigation system obtains the transverse deviation and the course deviation of the latest course relative to the visual navigation line, if the visual navigation information is updated, executing S220, otherwise executing S110;
s220, when | d2-d1|＜d0Or | θ2-θ1|＜θ0If so, namely the visual navigation information is within the error range, executing S230, otherwise executing S110;
s130, according to E1＝f1(d1,θ1) Obtaining steering adjustment information of a course object based on satellite navigation information;
s140, adjusting information E according to the steering1For satellite navigation information (d)1,θ1) Correcting;
s230, according to E2＝f2(d2,θ2) Obtaining steering adjustment information of a course object based on visual navigation information;
s310, low-frequency large-gain course steering adjustment based on satellite navigation information and high-frequency small-gain course steering adjustment based on visual navigation information, so that the course can walk autonomously.
Further, E1＝f1(d1,θ1) In the formula E1And (d)1,θ1) And (4) positively correlating.
Further, E2＝f2(d2,θ2) In the formula E2And (d)2,θ2) And (4) positively correlating.
The embodiment of the invention also provides a vehicle, and automatic navigation is realized by adopting the navigation method based on satellite navigation and visual navigation.
Compared with the prior art, the invention has the advantages that: the navigation method based on satellite navigation and visual navigation can carry out global navigation on the course body, when a detected course object (such as a vehicle) has larger deviation, the course body is roughly adjusted, the vehicle of the course body is ensured to always walk along the direction of the navigation line, the course object is prevented from having overlarge deviation, meanwhile, the visual navigation system carries out local navigation fine adjustment on the course body, the course object is ensured to accurately walk along the center line of a crop row, and the self-adaptive navigation in a certain range is realized; the navigation method can effectively solve the problems of low precision, instability, time delay and positioning deviation of visual navigation in a complex illumination environment in GNSS navigation, and improves the stability of a navigation system; the accurate positioning and autonomous navigation of the heading object in the outdoor environment can be realized, and the method is better applied to the accurate operation of agricultural machinery in the growth process of crops.
Drawings
Fig. 1 is a structural diagram of combined satellite navigation and visual navigation based on the navigation method of satellite navigation and visual navigation in embodiment 1 of the present invention.
Fig. 2 is a schematic diagram of satellite navigation deviation information and visual navigation deviation information of a navigation method based on satellite navigation and visual navigation in embodiment 1 of the present invention.
Fig. 3 is a flowchart of a navigation method based on satellite navigation and visual navigation in embodiment 1 of the present invention.
Detailed Description
In view of the deficiencies in the prior art, the inventors of the present invention have made extensive studies and extensive practices to provide technical solutions of the present invention. The technical solution, its implementation and principles, etc. will be further explained as follows.
The embodiment of the invention provides a navigation method based on satellite navigation and visual navigation, which adopts a satellite navigation system to carry out coarse adjustment on a course object and a visual navigation system to carry out fine adjustment on the course object so that the course object walks along the center line of a crop row,
the satellite navigation system obtains position information and attitude information of a heading object by using a differential technology, and then obtains navigation transverse deviation and heading deviation information by referring to a previously set navigation line, so that low-frequency large-amplitude adjustment of the heading is realized;
the visual navigation system obtains a navigation line by identifying, positioning and fitting a straight line to crops, and obtains position information and attitude information according to the relative position of a course object fixedly installed by a camera, so that navigation transverse deviation and course deviation information are obtained, and high-frequency small-amplitude adjustment of the course is realized.
Further, the satellite navigation system includes any one or a combination of two or more of the GPS system, the GLONASS system, or the GALILEO system, but is not limited thereto.
Further, the visual navigation system includes any one or a combination of two of a monocular visual navigation system and a binocular visual navigation system, but is not limited thereto.
Further, the satellite navigation system mainly comprises a double antenna, a reference station and a controller.
Further, the visual navigation system mainly comprises a camera and an image processor.
In some embodiments, the navigation method based on satellite navigation and visual navigation comprises the following steps:
let the distance between the center point of the course object and the navigation line of the satellite, i.e. the satellite navigation lateral deviation be d1The included angle between the center point of the heading object and the navigation line of the satellite, namely the deviation of the navigation heading of the satellite is theta1；
Let the distance between the center point of the course object and the visual leading line, i.e. the transverse deviation of the visual leading line be d2The included angle between the center point of the course object and the visual navigation course, namely the deviation of the visual navigation course is theta2；
Let dcPresetting a coarse adjustment limit theta for the satellite navigation lateral deviationcPresetting a coarse adjustment limit for the satellite navigation course deviation;
let d0Presetting an error limit theta for the visual navigation lateral deviation relative to the satellite navigation lateral deviation0Presetting error limit for the visual navigation course deviation relative to the satellite navigation course deviation;
let E1＝f1(d1,θ1) In the formula E1Adjusting the steering information of the vehicle after the satellite navigation information is processed;
let E2＝f2(d2,θ2) In the formula E2The method comprises the specific operation steps of adjusting the steering information of the vehicle after the visual navigation information is processedThe following were used:
s110, detecting whether the satellite navigation information is updated, namely whether the satellite navigation system obtains any one of the lateral deviation or the course deviation of the course relative to the satellite navigation line newly, if the satellite navigation information is updated, executing S120, otherwise executing S210;
s120, when | d1|＞dcOr | θ1|＞θcIf the satellite navigation information is within the coarse adjustment range, executing S130, otherwise executing S210;
s210, detecting whether the visual navigation information is updated, namely whether the visual navigation system obtains the lateral deviation d of the latest course relative to the visual navigation line2And heading deviation theta2If the visual navigation information is updated, executing S220, otherwise executing S110;
s220, when | d2-d1|＜d0Or | θ2-θ1|＜θ0If so, namely the visual navigation information is within the error range, executing S230, otherwise executing S110;
s130, according to E1＝f1(d1,θ1) Obtaining steering adjustment information of a course object based on satellite navigation information;
s140, adjusting information E according to the steering1For satellite navigation information (d)1,θ1) Correcting;
s230, according to E2＝f2(d2,θ2) Obtaining steering adjustment information of a course object based on visual navigation information;
s310, adjusting a low-frequency large-gain course object based on satellite navigation information and adjusting high-frequency small-gain course object steering based on visual navigation information, so that the course object can walk autonomously.
Further, E1＝f1(d1,θ1) In the formula E1And (d)1,θ1) Positive correlation, assuming a gain factor of K1；E2＝f2(d2,θ2) In the formula E2And (d)2,θ2) Positive correlation, assuming a gain factor of K2In which K is1＞K2。
The embodiment of the invention also provides a vehicle, which adopts the navigation method based on satellite navigation and visual navigation to realize automatic navigation.
The navigation method based on satellite navigation and visual navigation sets a satellite navigation line along a crop walking center line according to a satellite point collecting instrument, a satellite system obtains position information and attitude information of a vehicle through double antennas so as to obtain lateral deviation and course deviation of a course object (vehicle) relative to the satellite navigation line, namely satellite navigation information, and the satellite navigation system adjusts vehicle steering according to the satellite navigation information; meanwhile, the visual navigation system acquires crop images in real time, performs crop identification and positioning fitting on straight lines through image processing to obtain a navigation line, and then obtains position and attitude information of the vehicle according to the relative position of the camera fixedly mounted on the vehicle, so that navigation transverse deviation and course deviation information, namely visual navigation information, is obtained. When the vehicle is detected to have large deviation, a satellite navigation system is adopted to carry out coarse adjustment on the vehicle, so that the vehicle is ensured to always travel along the direction of the navigation line and the deviation is not too large; and meanwhile, the visual navigation system carries out local navigation fine adjustment on the vehicle, ensures that the vehicle accurately walks along the center line of the crop row, and realizes self-adaptive navigation within a certain range.
In the navigation method based on satellite navigation and visual navigation, the information acquisition period of the satellite navigation system is longer, the output frequency is lower, and the adjustment amplitude is larger; the visual navigation system has short information acquisition period, high output frequency and small adjustment amplitude.
The navigation method based on satellite navigation and visual navigation provided by the invention limits the range of the difference between the visual navigation information and the satellite navigation information, eliminates navigation information abnormal points detected by a visual system, and simultaneously correspondingly corrects the satellite navigation information after the satellite navigation system adjusts the vehicle steering to ensure the relative real-time accuracy of the satellite navigation information.
The technical solution of the present invention is further explained below with reference to the specific embodiments and the accompanying drawings.
Example 1
Fig. 1 is a block diagram of a navigation system including a satellite navigation system and a visual navigation system according to an embodiment of the navigation method. The satellite navigation system selects a Beidou satellite positioning system, and the visual navigation system is a monocular visual navigation system. The satellite navigation system mainly comprises double antennas, a reference station and a controller, position information and attitude information of a vehicle are obtained by utilizing a differential technology, and then navigation transverse deviation and course deviation information are obtained by referring to a previously set navigation line. The visual navigation system mainly comprises a camera and an image processor, obtains a navigation line by identifying, positioning and fitting a straight line to crops, and obtains the position and posture information of the vehicle according to the relative position of the camera fixedly arranged on the vehicle, thereby obtaining the information of navigation transverse deviation and course deviation. The satellite navigation system performs low-frequency large-amplitude adjustment on the vehicle steering according to the satellite navigation transverse deviation and the course deviation, so that the vehicle is kept in a certain deviation range around the previously set satellite navigation line; meanwhile, the visual navigation system carries out high-frequency small-amplitude adjustment on the vehicle steering according to the visual navigation transverse deviation and the course deviation, so that the vehicle can more accurately walk along the center line of the row of the crops.
Fig. 2 is a schematic view of navigation deviation information using the navigation method, where AB is a satellite navigation path formed by locating a point of a crop in the same crop row and then fitting a straight line, and CD is a visual navigation path formed by a visual navigation system identifying, locating, and fitting a straight line. The distance from the vehicle center point to the satellite navigation route AB is the satellite navigation lateral deviation d1The included angle between the longitudinal central line of the vehicle and the satellite navigation line is the satellite navigation course deviation theta1(ii) a The distance from the center point of the vehicle to the visual navigation line CD is the visual navigation lateral deviation d2The included angle between the longitudinal central line of the vehicle and the visual navigation course is the visual navigation course deviation theta2。
FIG. 3 is a control flow chart of the navigation method, which is specifically explained as follows:
let the distance between the center point of the course object and the navigation line of the satellite, i.e. the satellite navigation lateral deviation be d1The included angle between the central line of the course object and the navigation line of the satellite, namely the deviation of the navigation course of the satellite is theta1；
Let the distance between the center point of the course object and the visual leading line, i.e. the transverse deviation of the visual leading line be d2The included angle between the central line of the course object and the visual navigation course, namely the deviation of the visual navigation course is theta2；
Let dcPresetting a coarse adjustment limit theta for the satellite navigation lateral deviationcPresetting a coarse adjustment limit for the satellite navigation course deviation;
let d0Presetting an error limit theta for the visual navigation lateral deviation relative to the satellite navigation lateral deviation0Presetting error limit for the visual navigation course deviation relative to the satellite navigation course deviation;
let E1＝f1(d1,θ1) In the formula E1Adjusting the steering information of the vehicle after the satellite navigation information is processed;
let E2＝f2(d2,θ2) In the formula E2The method specifically comprises the following operation steps of processing the visual navigation information to obtain vehicle steering adjustment information:
s110, detecting whether the satellite navigation information is updated, namely whether a satellite navigation system obtains the lateral deviation and the course deviation of a course relative to a satellite navigation line or not, if the satellite navigation information is updated, executing S120, otherwise executing S210;
s120, when | d1|＞dcOr | θ1|＞θcIf the satellite navigation information is within the coarse adjustment range, executing S130, otherwise executing S210;
s210, detecting whether the visual navigation information is updated, namely whether the visual navigation system obtains the lateral deviation d of the latest course relative to the visual navigation line2And heading deviation theta2If the visual navigation information is updated, executing S220, otherwise executing S110;
s220, when | d2-d1|＜d0Or theta2-θ1|＜θ0If so, namely the visual navigation information is within the error range, executing S230, otherwise executing S110;
s130, according to E1＝f1(d1,θ1) Obtaining steering adjustment information of a course object based on satellite navigation information;
s140, adjusting information E according to the steering1For satellite navigation information (d)1,θ1) Correcting;
s230, according to E2＝f2(d2,θ2) Obtaining steering adjustment information of a course object based on visual navigation information;
s310, adjusting a low-frequency large-gain course object based on satellite navigation information and adjusting high-frequency small-gain course object steering based on visual navigation information, so that the course object can walk autonomously.
The satellite system performs global navigation according to the transverse deviation d1Course deviation of theta1The vehicle steering is coarsely regulated, and the vehicle can navigate and walk within a certain deviation range from the left to the right of a satellite navigation line; the vision system performs local navigation according to the transverse deviation d2Course deviation of theta2And the steering of the vehicle is finely adjusted, so that the self-adaptive navigation of the vehicle in a tiny range around the crop row center line is realized.
When | d1|＞dcOr | θ1|＞θcWhen the satellite navigation information is within the coarse adjustment range, the satellite navigation system is according to E1＝f1(d1,θ1) Steering the vehicle (in the formula E)1Steering adjustment information for the vehicle after processing of the satellite navigation information, and E1∝(d1,θ1) I.e. E1Is positively correlated with (d)1,θ1) Assuming a gain factor of K1)。
When | d2-d1|＜d0Or | θ2-θ1|＜θ0That is, the visual navigation information is within the error range, the visual navigation system is in accordance with E2＝f2(d2,θ2) Steering the vehicle (in the formula E)2Steering adjustment information for the vehicle after processing of the visual navigation information, and E2∝(d2,θ2) I.e. E1Is positively correlated with (d)2,θ2) Assuming a gain factor of K2)。
The gain of the satellite navigation system for vehicle steering adjustment is greater than the gain of the visual navigation system for vehicle steering adjustment, i.e., K1＞K2. The period of the satellite navigation system for adjusting the vehicle steering is larger than the period of the visual navigation system for adjusting the vehicle steering in the information processing period.
It should be understood that the above-mentioned embodiments are merely illustrative of the technical concepts and features of the present invention, which are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and therefore, the protection scope of the present invention is not limited thereby. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (5)
1. A navigation method based on satellite navigation and visual navigation is characterized in that a satellite navigation system is adopted to carry out coarse adjustment on a course object and a visual navigation system is adopted to carry out fine adjustment on the course object, so that the course object walks along the center line of a crop row,
the satellite navigation system obtains position information and attitude information of a heading object by using a differential technology, and then obtains navigation transverse deviation and heading deviation information by referring to a previously set navigation line, so that low-frequency large-amplitude adjustment of the heading is realized;
the visual navigation system obtains a navigation line by identifying, positioning and fitting a straight line to crops, and obtains position information and attitude information according to the relative position of a course object fixedly installed by a camera, so that navigation transverse deviation and course deviation information are obtained, and high-frequency small-amplitude adjustment of the course is realized;
the distance between the center point of the heading object and a satellite navigation course, namely the satellite navigation transverse deviation is d1, and the included angle between the center line of the heading object and the satellite navigation course, namely the satellite navigation course deviation is theta 1;
the distance between the center point of the heading object and the visual navigation path, namely the visual navigation lateral deviation is d2, and the included angle between the center line of the heading object and the visual navigation path, namely the visual navigation heading deviation is theta 2;
d, presetting a coarse adjustment limit for the satellite navigation lateral deviation, and theta c presetting a coarse adjustment limit for the satellite navigation course deviation;
let d0 be the preset error limit of the visual navigation lateral deviation relative to the satellite navigation lateral deviation, and θ 0 be the preset error limit of the visual navigation heading deviation relative to the satellite navigation heading deviation;
let E1 be f1(d1, θ 1), where E1 is the vehicle steering adjustment information after the satellite navigation information processing;
let E2 be f2(d2, θ 2), where E2 is the vehicle steering adjustment information after the visual navigation information processing, the specific operation steps are as follows:
s110, detecting whether the satellite navigation information is updated, namely whether a satellite navigation system obtains the lateral deviation and the course deviation of a course relative to a satellite navigation line or not, if the satellite navigation information is updated, executing S120, otherwise executing S210;
s120, when | d1| > dc or | theta 1| > theta c, namely the satellite navigation information is in the coarse adjustment range, executing S130, otherwise executing S210;
s210, detecting whether the visual navigation information is updated, namely whether the visual navigation system obtains the transverse deviation and the course deviation of the latest course relative to the visual navigation line, if the visual navigation information is updated, executing S220, otherwise executing S110;
s220, when | d2-d1| < d0 or | theta 2-theta 1| < theta 0, namely the visual navigation information is in the error range, executing S230, otherwise executing S110;
s130, obtaining steering adjustment information of the heading object based on the satellite navigation information according to E1 ═ f1(d1, theta 1);
s140, correcting the satellite navigation information (d1, theta 1) according to the steering adjustment information E1;
s230, obtaining steering adjustment information of the heading based on the visual navigation information according to E2 ═ f2(d2, theta 2);
s310, low-frequency large-gain course steering adjustment based on satellite navigation information and high-frequency small-gain course steering adjustment based on visual navigation information, so that the course can walk autonomously.
2. The navigation method according to claim 1, characterized in that: the satellite navigation system comprises any one or the combination of more than two of the GPS system, the GLONASS system or the GALILEO system.
3. The navigation method according to claim 1, characterized in that: the visual navigation system comprises any one or combination of a monocular visual navigation system and a binocular visual navigation system.
4. The navigation method according to claim 1, characterized in that: e1 ═ f1(d1, θ 1) where E1 is positively correlated with (d1, θ 1); e2 ═ f2(d2, θ 2) where E2 is positively correlated with (d2, θ 2).
5. A vehicle, characterized in that automatic navigation is realized by using the navigation method based on satellite navigation and visual navigation according to any one of claims 1-4.
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| CN110472000B (en) * | 2019-08-12 | 2022-11-29 | 北京三快在线科技有限公司 | Road network route determining method and device, electronic equipment and storage medium |
| CN111026119B (en) * | 2019-12-20 | 2023-02-24 | 扬州大学 | Farming seedling row-to-row weeding control method for accurately correcting Beidou satellite navigation |
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