CN108919238A - A kind of bearing calibration of rotary laser radar data and system based on Inertial Measurement Unit - Google Patents
A kind of bearing calibration of rotary laser radar data and system based on Inertial Measurement Unit Download PDFInfo
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Abstract
A kind of rotary laser radar data bearing calibration based on Inertial Measurement Unit, including：Step 1 passes through rigid connection, and Inertial Measurement Unit and rotary laser radar are fixed on same rigid body；The Inertial Measurement Unit is connected to hardware synchronization processing board and host computer by step 2, and the rotary laser radar is connected to hardware synchronization processing board and host computer；Step 3, starting hardware synchronization trigger board；Hardware synchronization trigger board sends PPS impulse level signal to Inertial Measurement Unit and rotary laser radar simultaneously；After hardware synchronization trigger board sends PPS pulse signal, the time data based on GPRMC reference format are sent to laser radar；Step 4, host computer acquire and cache laser radar data and Inertial Measurement Unit data；Step 5, time adjustment；Step 6, Data correction.
Description
Technical field
The present invention relates to laser data restoration and reconstruction field more particularly to it is a kind of based on Inertial Measurement Unit it is rotary swash
Optical radar data correcting method and system.
Background technique
With the development of unmanned vehicle in recent years, the application demand of multi-line laser radar is increasing.All big enterprises are all adding
It is tight to develop multi-line laser radar.Wherein rotary multi-line laser radar plays an important role, because it is with hundred meters or more
Detection range, and have 360 degree and look around function, and there is positive and negative 15 degree of the visual field, it can preferably be used for robot localization and build
Figure.
The working method of rotary laser radar is on the motor of a rotation equipped with multiple Laser emissions and reception device.
Motor rotation drives laser transceiver work.In data transmission, the sensor of laser radar is every a bit of time to outgoing
Send the data packet of a laser ranging, host computer received data packet, when data packet adds up all laser after angle is more than 360 degree
Under Mapping of data points to laser radar centre coordinate system, it is packaged framing and issues outward.But due to this rotation work of laser radar
Make mode, will lead to 360 degrees according to not collected in synchronization, need one section of acquisition time, this will lead to one
A serious problem, collected data cannot map directly to laser radar centre coordinate system to sensor during the motion
Under.
Non- correction maps mode：
The non-correction maps mode of laser data point is as shown in Figure 1, wherein R is measured distance, and ω is the vertical angle of laser
Degree, α are the horizontal rotation angle of laser, piFor the uncorrected three-dimensional space point that rotary laser radar calculates, x, y, z
For the coordinate on polar projection method to X, Y, Z axis.
But since rotary laser radar is there are horizontal movement and rotary motion, need to carry out school to collected data
Just, mapping mode after correction：pi=f (Ri,ωi,αi,ti)=Rotationi*f(Ri,ωi,αi)+Transposei.Wherein,
RotationiFor rotary variable, TransposeiTo translate variable.Therefore, it when rotary laser radar is deposited during exercise, needs
Rotary laser radar data is corrected.
Summary of the invention
The present invention provides a kind of bearing calibration of rotary laser radar data and system based on Inertial Measurement Unit, it is real
Show when rotary laser radar is there are when rotary motion, rotary laser radar data has been corrected.The present invention use with
Lower technical solution.
A kind of rotary laser radar data bearing calibration based on Inertial Measurement Unit, the method includes following steps
Suddenly：
Step 1 passes through rigid connection, Inertial Measurement Unit and rotary laser radar is fixed on same rigid body, institute
Inertial Measurement Unit coordinate system is stated to be consistent with laser radar coordinate system direction；
The Inertial Measurement Unit is connected to hardware synchronization processing board and host computer by step 2, by the rotary laser
Radar is connected to hardware synchronization processing board and host computer；
Step 3, starting hardware synchronization trigger board；Hardware synchronization trigger board is simultaneously to Inertial Measurement Unit and rotary laser
Radar sends PPS impulse level signal；After hardware synchronization trigger board sends PPS pulse signal, it is based on to laser radar transmission
The time data of GPRMC reference format；Time data can adding up with the timer of the main control module of hardware synchronization trigger board
And change, the time range of output is 0-3600 seconds, more than 3600 seconds after sent since 0 again；
Step 4, host computer acquire and cache laser radar data and Inertial Measurement Unit data；The processing of host computer calculates
Platform is by the Inertial Measurement Unit data packet of the laser radar data packet and 400Hz that acquire 753.58Hz and caches, described
Synchronous mark position is carried in Inertial Measurement Unit data packet；Laser radar length of buffer queue is 76, and Inertial Measurement Unit is slow
Depositing queue length is 399；Whenever the length that the buffer queue of laser radar data reaches 76 just carries out a correction process；
Step 5, time adjustment；It is no in the presence of jump to detect the corresponding PPS impulse level signal of 76 laser radar data packets；
If there is no not handling then, data where then searching synchronous mark position in Inertial Measurement Unit data packet if there is jump
Frame；The time of synchronization frame is carried out more according to the time in laser radar data packet after finding Inertial Measurement Unit synchronization frame
Newly, and to the data before and after synchronization frame it is updated；
Step 6, Data correction；Parse the timestamp of rotary laser radar laser range measurement
Laseri.TimeStamp；It searches in Inertial Measurement Unit buffer queue from Laseri.TimeStamp nearest two frame data
Timestamp stabs IMU at the first timej.TimeStamp with the second timestamp IMUj+1.TimeStamp, wherein stamp and the at the first time
Two timestamps meet：
IMUj.TimeStamp≤Laseri.TimeStamp≤IMUj+1.TimeStamp, it may be selected when above formula is unsatisfactory for
Following formula
IMUj.TimeStamp≤IMUj+1.TimeStamp≤Laseri.TimeStamp；
Solve rotary variable IMUi.quaternion, interpolation is carried out using quaternary number：
Finally solve the laser radar data after correction：
Laseri.XYZ_Correction=IMUi.quaternion*Laseri.XYZ；
Wherein, Laseri.TimeStamp, i ∈ [0,30000) be rotary laser radar laser range measurement time
Stamp；Slerp is quaternary difference functions；IMUi.quaternion, i ∈ [0,30000) be rotary laser radar laser distance survey
Measure corresponding rotary variable；IMUj.quaternion, j ∈ [0,200), be Inertial Measurement Unit acquisition quaternary number；
IMUj.TimeStamp, j ∈ [0,200) be Inertial Measurement Unit acquisition data timestamp；LaseriIt .XYZ is rotary laser
The uncorrected three-dimensional space point that radar calculates；LaseriIt .XYZ_Correction is the three-dimensional space point after correction.
Preferably, the rotary laser radar and the Inertial Measurement Unit are towards unanimously.
Preferably, the PPS impulse level signal is the signal that the integral multiple in the second jumps.
Preferably, synchronous mark position, the Inertial Measurement Unit acquisition are carried in the Inertial Measurement Unit data packet
To the PPS impulse level signal jump when, by the mark position 1 in current Inertial Measurement Unit data packet, otherwise set 0.
A kind of rotary laser radar data correction system based on Inertial Measurement Unit, the system comprises inertia measurements
Unit, rotary laser radar, hardware synchronization processing board, GPS module and host computer；The Inertial Measurement Unit swashs with rotary
Optical radar is fixed on same rigid body, and Inertial Measurement Unit coordinate system is consistent with laser radar coordinate system；By inertia measurement
Unit is connected to hardware synchronization processing board and host computer, and rotary laser radar is connected to hardware synchronization processing board and upper
Machine.
Preferably, the hardware synchronization processing board includes power module, reserve battery and main control module；The power module
Operating voltage is provided for main control module, GPS module, Inertial Measurement Unit and rotary laser radar.
Preferably, the rotary laser radar triggers mouth and the master control mould by serial ports UART and TTL sync level
Block connection.
Preferably, the Inertial Measurement Unit triggers mouth by TTL sync level and is connected to the main control module.
Preferably, the GPS module triggers mouth by serial ports UART or TTL sync level and is connected to the main control module.
The beneficial effects of the invention are as follows：Inertial Measurement Unit and rotary laser radar are fixed on same rigid body, made
The coordinate system of the two is obtained towards being consistent, observation of the data acquired by Inertial Measurement Unit as rotary variable is right
The data of rotary laser radar acquisition are corrected, and realizing rotary laser radar, there are the schools of data when rotary motion
Just, guarantee laser radar during strenuous exercise in use, can still export accurately three-dimensional environment information.
Detailed description of the invention
Fig. 1 is non-correction maps schematic diagram in the present invention.
Fig. 2 is Inertial Measurement Unit and rotary laser radar connection schematic diagram in the present invention.
Fig. 3 is the correction system structure diagram in the present invention.
Fig. 4 is PPS impulse level signal and GPRMC signal timing diagram in the present invention.
Fig. 5 is hardware synchronization processing board structural schematic diagram in the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
A kind of rotary laser radar data bearing calibration based on Inertial Measurement Unit, includes the following steps：
Step 1 passes through rigid connection, and Inertial Measurement Unit (IMU) and rotary laser radar are fixed on same rigid body
On, Inertial Measurement Unit coordinate system is with laser radar coordinate system towards being consistent, and the two coordinate system error is less than 1 °.Such as Fig. 2
Shown, top is rotary laser radar, lower section IMU.This rigid connection, so that the two does identical rotation fortune simultaneously
It is dynamic, the rotation of rotary laser radar can be characterized with the rotation of IMU.
The Inertial Measurement Unit is connected to hardware synchronization processing board and host computer by step 2, by rotary laser radar
It is connected to hardware synchronization processing board and host computer.Host computer can be computer.As shown in figure 3, by the serial ports UART of laser radar
It is connected to hardware synchronization processing board with TTL sync level triggering mouth, it is same that the TTL sync level triggering mouth of IMU is connected to hardware
Walk processing board.Laser radar is connect with computer by cable, IMU is connect with computer by serial ports UART line.
Step 3, starting hardware synchronization trigger board；Hardware synchronization trigger board is simultaneously to Inertial Measurement Unit and rotary laser
Radar sends PPS impulse level signal；After hardware synchronization trigger board sends PPS pulse signal, it is based on to laser radar transmission
The time data of GPRMC reference format；Time data can adding up with the timer of the main control module of hardware synchronization trigger board
And change, the time range of output is 0-3600 seconds, more than 3600 seconds after sent since 0 again.
Step 4, host computer acquire and cache laser radar data and Inertial Measurement Unit data；The processing of host computer calculates
Platform is by the Inertial Measurement Unit data packet of the laser radar data packet and 400Hz that acquire 753.58Hz and caches, described
Synchronous mark position is carried in Inertial Measurement Unit data packet；Laser radar length of buffer queue is 76, and Inertial Measurement Unit is slow
Depositing queue length is 399；Whenever the length that the buffer queue of laser radar data reaches 76 just carries out a correction process.PPS
Impulse level signal and GPRMC signal timing diagram are as shown in Figure 4.PPS impulse level signal is that the integral multiple in the second jumps
Signal, PPS impulse level signal generates rising edge in the integral multiple of second in the present embodiment.Inertial Measurement Unit data packet
In carry synchronous mark position, when IMU collects the jump of PPS impulse level signal, by current Inertial Measurement Unit data packet
In mark position 1, otherwise set 0.The output of laser radar data packet is 753.58Hz, and laser can work in 5-20Hz, and IMU can work
Make in 50Hz-400Hz.The present embodiment chooses laser radar work, and in 10Hz, (corresponding 360 ° of the frame of 76 data packets is defeated
Out), IMU 400Hz.A timestamp is carried in each laser radar data packet, represents the data packet beam of laser thunder
The measurement moment reached.It can be calculated according to the timestamp of beam of laser at the time of other laser measurement data in the data packet.
Step 5, time adjustment；It is no in the presence of jump to detect the corresponding PPS impulse level signal of 76 laser radar data packets；
If there is no not handling then, data where then searching synchronous mark position in Inertial Measurement Unit data packet if there is jump
Frame；The time of synchronization frame is carried out more according to the time in laser radar data packet after finding Inertial Measurement Unit synchronization frame
Newly, and to the data before and after synchronization frame it is updated.
Step 6, Data correction；Parse the timestamp of rotary laser radar laser range measurement
Laseri.TimeStamp；It searches in Inertial Measurement Unit buffer queue from Laseri.TimeStamp nearest two frame data
Timestamp stabs IMU at the first timej.TimeStamp with the second timestamp IMUj+1.TimeStamp, wherein stamp and the at the first time
Two timestamps meet：
IMUj.TimeStamp≤Laseri.TimeStamp≤IMUj+1.TimeStamp, it may be selected when above formula is unsatisfactory for
Following formula
IMUj.TimeStamp≤IMUj+1.TimeStamp≤Laseri.TimeStamp；
Solve rotary variable IMUi.quaternion, interpolation is carried out using quaternary number：
Finally solve the laser radar data after correction：
Laseri.XYZ_Correction=IMUi.quaternion*Laseri.XYZ；
Wherein, Laseri.TimeStamp, i ∈ [0,30000) be rotary laser radar laser range measurement time
Stamp；Slerp is quaternary difference functions；IMUi.quaternion, i ∈ [0,30000) be rotary laser radar laser distance survey
Measure corresponding rotary variable；IMUj.quaternion, j ∈ [0,200), be Inertial Measurement Unit acquisition quaternary number；
IMUj.TimeStamp, j ∈ [0,200) be Inertial Measurement Unit acquisition data timestamp；LaseriIt .XYZ is rotary laser
The uncorrected three-dimensional space point that radar calculates；LaseriIt .XYZ_Correction is the three-dimensional space point after correction.
The present embodiment only studies rotary variable, it is assumed here that translation variable is 0, because for usual laser radar
For, measurement distance range is 100m, measurement frequency 10Hz, and the generally translational movement between measurement twice will not surpass
1m, therefore the measurement distance relative to 100m are crossed, the error is negligible.To translational movement is compensated, this method
Framework is still supported.
A kind of rotary laser radar data correction system based on Inertial Measurement Unit, as shown in figure 3, including that inertia is surveyed
Measure unit, rotary laser radar, hardware synchronization processing board, GPS module and host computer.Inertial Measurement Unit and rotary laser
Radar is fixed on same rigid body, and Inertial Measurement Unit coordinate system is consistent with laser radar coordinate system.By inertia measurement list
Member is connected to hardware synchronization processing board and host computer, and rotary laser radar is connected to hardware synchronization processing board and host computer.
The serial ports UART of laser radar and TTL sync level triggering mouth are connected to hardware synchronization processing board, the TTL of IMU is synchronized into electricity
Flat triggering mouth is connected to hardware synchronization processing board.GPS module provides GPRMC and PPS signal makes reference to hardware synchronization processing board.
The serial ports UART of GPS module and TTL sync level triggering mouth are connected to hardware synchronization processing board.By laser radar and computer expert
Cable connection is crossed, IMU is connect with computer by serial ports UART line.Wherein, Inertial Measurement Unit can use xsens-
MTi300, rotary laser radar can use Sagitar Ju Chuan Science and Technology Ltd. complete series laser radar or velodyne company
Complete series laser radar, three mould satellite positioning module NEO-M8N UBLOX can be used in GPS module.
Hardware synchronization processing board includes power module, reserve battery, main control module, as shown in Figure 5.By the string of laser radar
Mouth UART and TTL sync level triggering mouth is connected to main control module, and the TTL sync level triggering mouth of IMU is connected to master control mould
Block.GPS module triggers mouth by serial ports UART or TTL sync level and connect with main control module.Wherein power module is master control mould
Block provides 3.3V operating voltage, and provides 5V operating voltage for external GPS module, IMU, mentions respectively for multi-line laser radar
For the operating voltage of 12V.It may be master control there are also a spare button cell in addition to power module is master control module for power supply
Module for power supply meets the low power operation that main control module is under power-down mode.Hardware synchronization processing board can be laser radar
Hardware synchronization signal is provided with IMU module.
Main control module can use the STM32F103 single-chip microcontroller of ST Microelectronics, the universal synchronous of built-in full duplex
Asynchronism transceiver (USART) and GPIO mouth with external trigger function, the synchronizing function of single-chip microcontroller includes following tool
Body step：1, single-chip microcontroller receives the NMEA $ GPRMC message that sends by serial ports of GPS module, and when parsing UTC therein
Between the geographical location information such as information and longitude and latitude.2, single-chip microcontroller receives the PPS signal of GPS module, while to laser radar and IMU
Module sends TTL synchronization pulse.3, single-chip microcontroller judges whether GPS signal is effective, if signal effectively passes through UART serial ports
NMEA $ GPRMC message is forwarded to laser radar, sends local clock message if invalid.
Hardware synchronization plate has following function：1, it receives and parses through PPS signal that GPS module is passed back and NMEA $ GPRMC disappears
Breath (includes UTC time and geographical location information), sets the standard time clock that GPS is provided for the local clock of hardware synchronization plate.
2, have output GPS data function, NMEA $ GPRMC message can be sent to multi-line laser radar, laser radar is made to possess clock
Information.3, be able to use reserve battery maintains local clock to run with super low-power consumption in the case where power down, loses in GPS signal
In the case where send local clock information to laser radar.4, have output PPS signal function, PPS synchronization signal can be sent
To laser radar and IMU module, keep the data of the two synchronous.5, have voltage stabilizing function, can be GPS module, laser radar, IMU
Module provides corresponding operating voltage.
Host computer acquires and caches laser radar data and Inertial Measurement Unit data, realizes time adjustment and data school
Just, the three-dimensional space point after output calibration.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (9)
1. a kind of rotary laser radar data bearing calibration based on Inertial Measurement Unit, which is characterized in that the method packet
Include following steps：
Step 1 passes through rigid connection, and Inertial Measurement Unit and rotary laser radar are fixed on same rigid body, described used
Property measuring unit coordinate system and laser radar coordinate system towards being consistent；
The Inertial Measurement Unit is connected to hardware synchronization processing board and host computer by step 2, by the rotary laser radar
It is connected to hardware synchronization processing board and host computer；
Step 3, starting hardware synchronization trigger board；Hardware synchronization trigger board is simultaneously to Inertial Measurement Unit and rotary laser radar
Send PPS impulse level signal；After hardware synchronization trigger board sends PPS pulse signal, is sent to laser radar and be based on GPRMC
The time data of reference format；Time data can change with the cumulative of the timer of the main control module of hardware synchronization trigger board
Become, the time range of output is 0-3600 seconds, more than 3600 seconds after sent since 0 again；
Step 4, host computer acquire and cache laser radar data and Inertial Measurement Unit data；The processing computing platform of host computer
By the Inertial Measurement Unit data packet of the laser radar data packet and 400Hz that acquire 753.58Hz and cache, the inertia
Synchronous mark position is carried in measuring unit data packet；Laser radar length of buffer queue is 76, and Inertial Measurement Unit caches team
Column length is 399；Whenever the length that the buffer queue of laser radar data reaches 76 just carries out a correction process；
Step 5, time adjustment；It is no in the presence of jump to detect the corresponding PPS impulse level signal of 76 laser radar data packets；If
There is no not handling then, data frame where then searching synchronous mark position in Inertial Measurement Unit data packet if there is jump；
The time of synchronization frame is updated according to the time in laser radar data packet after finding Inertial Measurement Unit synchronization frame, and
Data before and after synchronization frame are updated；
Step 6, Data correction；Parse the timestamp Laser of rotary laser radar laser range measurementi.TimeStamp；?
Inertial Measurement Unit buffer queue is searched from Laseri.TimeStamp the timestamp of two nearest frame data stabs at the first time
IMUj.TimeStamp with the second timestamp IMUj+1.TimeStamp, wherein stamp and the second timestamp meet at the first time：
IMUj.TimeStamp≤Laseri.TimeStamp≤IMUj+1.TimeStamp, following formula may be selected when above formula is unsatisfactory for
IMUj.TimeStamp≤IMUj+1.TimeStamp≤Laseri.TimeStamp；
Solve rotary variable IMUi.quaternion, interpolation is carried out using quaternary number：
；
Finally solve the laser radar data after correction：
Laseri.XYZ_Correction=IMUi.quaternion*Laseri.XYZ；
Wherein, Laseri.TimeStamp, i ∈ [0,30000) be rotary laser radar laser range measurement timestamp；
Slerp is quaternary difference functions；IMUi.quaternion, i ∈ [0,30000) be rotary laser radar laser range measurement
Corresponding rotary variable；IMUj.quaternion, j ∈ [0,200), be Inertial Measurement Unit acquisition quaternary number；
IMUj.TimeStamp, j ∈ [0,200) be Inertial Measurement Unit acquisition data timestamp；LaseriIt .XYZ is rotary laser
The uncorrected three-dimensional space point that radar calculates；LaseriIt .XYZ_Correction is the three-dimensional space point after correction.
2. a kind of rotary laser radar data bearing calibration based on Inertial Measurement Unit according to claim 1,
It is characterized in that, the rotary laser radar and the Inertial Measurement Unit are towards unanimously.
3. a kind of rotary laser radar data bearing calibration based on Inertial Measurement Unit according to claim 1,
It is characterized in that, the PPS impulse level signal is the signal that the integral multiple in the second jumps.
4. a kind of rotary laser radar data bearing calibration based on Inertial Measurement Unit according to claim 1,
It is characterized in that, synchronous mark position is carried in the Inertial Measurement Unit data packet, and the Inertial Measurement Unit collects described
When the jump of PPS impulse level signal, by the mark position 1 in current Inertial Measurement Unit data packet, 0 is otherwise set.
5. a kind of rotary laser radar data based on Inertial Measurement Unit corrects system, which is characterized in that the system packet
Include Inertial Measurement Unit, rotary laser radar, hardware synchronization processing board, GPS module and host computer；The Inertial Measurement Unit
It is fixed on same rigid body with rotary laser radar, Inertial Measurement Unit coordinate system is consistent with laser radar coordinate system；
Inertial Measurement Unit is connected to hardware synchronization processing board and host computer, rotary laser radar is connected to hardware synchronization processing
Plate and host computer.
6. a kind of rotary laser radar data based on Inertial Measurement Unit according to claim 5 corrects system,
It is characterized in that, the hardware synchronization processing board includes power module, reserve battery and main control module；The power module is master control
Module, GPS module, Inertial Measurement Unit and rotary laser radar provide operating voltage.
7. a kind of rotary laser radar data based on Inertial Measurement Unit according to claim 6 corrects system,
It is characterized in that, the rotary laser radar triggers mouth by serial ports UART and TTL sync level and is connected to the main control module.
8. a kind of rotary laser radar data based on Inertial Measurement Unit according to claim 6 corrects system,
It is characterized in that, the Inertial Measurement Unit triggers mouth by TTL sync level and is connected to the main control module.
9. a kind of rotary laser radar data based on Inertial Measurement Unit according to claim 6 corrects system,
It is characterized in that, the GPS module triggers mouth by serial ports UART or TTL sync level and is connected to the main control module.
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| CN110361714A (en) * | 2019-08-07 | 2019-10-22 | 武汉灵途传感科技有限公司 | The ranging compensation system and method for laser radar |
| CN111381248A (en) * | 2020-03-23 | 2020-07-07 | 湖南大学 | Obstacle detection method and system considering vehicle bump |
| CN111580074A (en) * | 2020-05-26 | 2020-08-25 | 深圳市灵明光子科技有限公司 | Time precision calibration method and device and electronic equipment |
| CN112179362A (en) * | 2019-07-03 | 2021-01-05 | 深动科技（北京）有限公司 | High-precision map data acquisition system and acquisition method |
| CN114754769A (en) * | 2022-06-15 | 2022-07-15 | 天津大学四川创新研究院 | Data synchronization time service system and method for laser radar and inertial sensor |
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