CN109405850A - A kind of the inertial navigation positioning calibration method and its system of view-based access control model and priori knowledge - Google Patents
A kind of the inertial navigation positioning calibration method and its system of view-based access control model and priori knowledge Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The invention discloses a kind of view-based access control model and the inertial navigation of priori knowledge positioning calibration method and its systems, this method includes that S1 uses binocular camera acquisition reference beacons image, the geographical location that reference beacons image is obtained by GPS and calculating generates data to deposit benchmark database；S2 acquires real-time beacon images using binocular camera, matches real-time beacon images and reference beacons image, obtains the geographical location of data centering, the geographical location provided with the geographical location amendment inertial navigation of acquisition, calibration inertial navigation positioning；Wherein reference beacons image includes road sign image and 3D rendering, and real-time beacon images also include road sign image and 3D rendering.The invention proposes a kind of view-based access control model and the inertial navigation of priori knowledge positioning calibration method and its system, cannot satisfy the need logo image and 3D rendering while the problem of handle are overcome, is corrected for inertial navigation position error and reference is provided.
Description
Technical field
The present invention relates to the auxiliary positioning of inertial navigation more particularly to the inertial navigations of a kind of view-based access control model and priori knowledge
Position calibration method and its system.
Background technique
The main means of vehicle autonomous positioning are inertial navigations at present.Since the position error of inertial navigation can be with navigation
The increase of distance and dissipate rapidly, vehicle be used alone inertial navigation system, be unable to satisfy the needs of long range precise positioning.
Road network instrument provides a kind of method for not depending on external means and improving inertial navigation precision, passes through vehicle-mounted pick-up
Head carries out identification positioning to natural landmark, to obtain the accurate geographical location information of carrier, repairs for inertial navigation position error
It is positive that reference by location is provided.Existing road network instrument is single use 3D rendering progress without being single use natural landmark
Match, when encountering long forthright section or feature similarly continuous section, frequent appearance can not match or erroneous matching.
Summary of the invention
To solve the above-mentioned problems, the invention proposes a kind of view-based access control models and the positioning calibration of the inertial navigation of priori knowledge
Method and its system overcome cannot satisfy the need logo image and 3D rendering while the problem of handle, and auxiliary road network instrument is inertial navigation
Position error amendment provides reference by location.
In order to achieve the above objectives, the invention proposes a kind of view-based access control models and the inertial navigation of priori knowledge to position calibration side
Method, including S1 acquire reference beacons image using binocular camera, and the geographical position of reference beacons image is obtained by GPS and calculating
It sets, generates data to deposit benchmark database；S2 acquires real-time beacon images using binocular camera, matches real-time beacon images
With reference beacons image, the geographical location of data centering is obtained, the geography provided with the geographical location amendment inertial navigation of acquisition
Position, calibration inertial navigation positioning；Wherein reference beacons image includes road sign image and 3D rendering, and real-time beacon images also include
Road sign image and 3D rendering.
Optionally, S1 includes S11, acquires reference beacons image sequence data using the binocular camera of calibration；S12 makes
With GPS gathers geographical location information；S13 calculates actual geographic position；S14, generating includes reference beacons image and actual geographic
The data pair of position；S15, by the data in S14 to deposit benchmark database.
Optionally, S2 includes S21, acquires image using the binocular camera of calibration；S22, the image of search S21 acquisition,
Detect beacon images；S23 carries out reference location using inertial navigation system；S24, by the beacon images and reference data in S22
Reference beacons image in library carries out identification matching, calculates actual geographic position after extracting base position；S25 is calculated and is joined in S23
Examine the error in positioning and S24 between actual geographic position, amendment, calibration inertial navigation system.
Optionally, S24 includes S241, according to the reference location in the precision of inertial navigation system and S23, obtains search
Area；S242, from the data extracted in benchmark database in the field of search to set；S243, S242 extract set in, retrieval with
The reference beacons image that beacon images in S22 match；S244, obtain benchmark database in matched reference beacons image
Corresponding geographical location.
Optionally, the method for calculating actual geographic position includes S001, calculates carrier using Binocular Vision Principle and is sampling
The relative distance at moment and reference beacons；S002 passes through the High Precision GPS Data of synchronous acquisition, the reality of calculating benchmark beacon
Geographical location；S003, by relative distance in S001 in S002 actual geographic position it is vector superposed, calculate sampling instant
The actual geographic position of carrier.
Optionally, the calibration of binocular camera includes the following steps, S011, makes the calibrating template of known parameters；S012,
Change relative position of the calibrating template with respect to binocular camera, the figure of calibrating template under different location is acquired using binocular camera
Picture；S013 positions the position of angle point in every piece image using Corner Detection Algorithm；S014, according to the location position list of angle point
A camera interior and exterior parameter；S015 calculates the spin matrix between two cameras and is translated towards according to the outer parameter of two cameras
Amount.
Optionally, when beacon is road sign, MCT collection apparatus, storage, detection and matching beacon images are used.
Optionally, when beacon is 3D point cloud beacon, HOG collection apparatus, storage, detection and matching beacon images are used.
In order to achieve the above objectives, the invention proposes a kind of view-based access control models and the inertial navigation of priori knowledge to position calibration side
System.The system includes data acquisition and collector, acquires reference beacons using binocular camera, is obtained by GPS and calculating
The geographical location of reference beacons is taken, generates data to deposit benchmark database；Vision matching locating module, uses binocular camera
Real-time beacon images are acquired, real-time beacon images and reference beacons image are matched, the geographical location of data centering are obtained, with acquisition
Geographical location amendment inertial navigation provide geographical location, calibration inertial navigation positioning；Wherein reference beacons image includes road
Logo image and 3D rendering, real-time beacon images also include road sign image and 3D rendering.
Optionally, view-based access control model and the inertial navigation locating calibration system of priori knowledge further include human-computer interaction application mould
Block carries out human-computer interaction by method for visualizing, and output matching location related information carries out algorithm and precision point convenient for user
Analysis；And application database, the data that the log information and the needs specified of user being responsible in storage operational process record, so as into
Row information playback and system trace debug.
A kind of view-based access control model of the invention and the inertial navigation locating calibration system of priori knowledge have compared with prior art
Have following the utility model has the advantages that 1, the beacon range that can identify and handle simultaneously is wider, include road sign image and 3D rendering, wherein 3D
Image includes the stereo-picture of the landmarks such as bridge, tunnel and high building；2, expand inertial navigation locating calibration system
The scope of application can work normally in long forthright section and feature similarly continuous section；3, the precision of inertial navigation positioning is improved
And real-time can correct position error since identifiable beacon type is more extensive more in time；4, interaction is friendly, user
The relevant information of matching positioning can be obtained according to visualization interface, to carry out algorithm and precision analysis, application database is set
It stands and provides support for information playback and system trace debug.
Detailed description of the invention
The inertial navigation of view-based access control model and priori knowledge of the invention is positioned with reference to the accompanying drawings and detailed description
Calibration method and its system are described in further detail.
Fig. 1 is flow chart of the invention.
Fig. 2 is the flow chart of S1 of the present invention.
Fig. 3 is the flow chart of S2 of the present invention.
Fig. 4 is the schematic diagram of image MCT feature extraction.
Specific embodiment
Cooperate schema and presently preferred embodiments of the present invention below, the present invention is further explained to reach predetermined goal of the invention institute
The technological means taken.
As shown in Figures 1 to 4, the present invention provides the inertial navigation positioning calibration side of a kind of view-based access control model and priori knowledge
Method.This method includes S1, acquires reference beacons image using binocular camera, by GPS and calculates acquisition reference beacons image
Geographical location, generate data to deposit benchmark database；S2 acquires real-time beacon images using binocular camera, and matching is real
When beacon images and reference beacons image, obtain the geographical location of data centering, correct inertial navigation with the geographical location of acquisition
The geographical location of offer, calibration inertial navigation positioning；Wherein reference beacons image includes road sign image and 3D rendering, real-time beacon
Image also includes road sign image and 3D rendering.
Each data are to the geographical location for including a reference beacons image and the reference beacons image, wherein benchmark
Beacon images data are acquired by vehicle-mounted binocular camera, and geographical location comes from high-precision GPS.In S2, real-time beacon images also by
Vehicle-mounted binocular camera is acquired.
As shown in Fig. 2, in the present embodiment, S1 includes S11, reference beacons figure is acquired using the binocular camera of calibration
As sequence data；S12 uses GPS gathers geographical location information；S13 calculates actual geographic position；S14, generating includes benchmark
The data pair of beacon images and actual geographic position；S15, by the data in S14 to deposit benchmark database.
Wherein the storage of the benchmark database of step S15 need to follow following rule: 1, to test or actual geographic region into
Data are carried out region class storage by row division processing, i.e. delimitation data memory range；This method is guaranteeing Dynamic data exchange, complete
While, amount of storage can be greatly reduced, and improve the safety of data content；It 2, can be according to fork in the road for long section
Equal crosspoints information interrupts in single section for multiple sections, to improve the access speed of path geometry and attribute；3, road sign
Data need to do normalized, convenient for storage and the use of subsequent match identification process；4, it is established for section and road sign benchmark empty
Between set index, to improve the efficiency of queried access.
As shown in figure 3, in the present embodiment, step S2 includes S21, image is acquired using the binocular camera of calibration；
S22, the image of search S21 acquisition, detects beacon images；S23 carries out reference location using inertial navigation system；S24, by S22
In beacon images and benchmark database in reference beacons image carry out identification matching, calculated practically after extracting base position
Manage position；S25 calculates the error in S23 in reference location and S24 between actual geographic position, amendment, calibration inertial navigation system
System.
The basis that beacon images are data acquisition and match cognization is detected in S22, detection efficiency directly affects system
Accuracy and real-time are links important in system.The essence of lane marker detection is the image acquired from binocular camera
In sequence, identifies and extract the beacon in acquired image, and the beacon is normalized.
In the present embodiment, S24 includes S241, according to the reference location in the precision of inertial navigation system and S23,
Obtain the field of search；S242, from the data extracted in benchmark database in the field of search to set；S243, in the set that S242 is extracted
In, retrieve the reference beacons image to match with the beacon images in S22；S244, obtain benchmark database in matched base
The corresponding geographical location of definite message or answer logo image.
Wherein, the field of search in S241 is drawn according to data such as position, the positioning accuracies of inertial navigation system output
Fixed.Data in S242 are by the data of reference beacons image and its geographic location Jing Guo normalized to set
To the set of composition.Due to having preset the field of search before matching, area coverage is compared, the effect of Data Matching is improved
Rate.
In the present embodiment, the method for calculating actual geographic position includes S001, calculates carrier using Binocular Vision Principle
In the relative distance of sampling instant and reference beacons；S002 passes through the High Precision GPS Data of synchronous acquisition, calculating benchmark beacon
Actual geographic position；S003, by relative distance in S001 in S002 actual geographic position it is vector superposed, calculate and adopt
The actual geographic position of sample moment carrier.
Binocular Vision Principle calculating includes the following steps in S001, according to single-hole imaging principle, any point P in three-dimensional space
Coordinate (X at camera coordinate system { C }c,Yc,Zc) with the calculation relational expression of corresponding image pixel coordinate I (u, v) are as follows:
Wherein, s is weight factor, and R is spin matrix, and t is translation vector.Since { C } is direct utilization { CleftEstablish
, therefore vision calculating formula is established for left side camera, does not need the matrix constituted multiplied by the R in formula (1), t, it then can be with
It is written as follow form:
And the matrix that vision calculating formula then needs to constitute multiplied by the R in formula (1), t is established for right camera, then
It arrives:
Wherein { r11, r12, r13..., r33Be matrix R in element, { tx, ty, tzBe vector t in element.
Weighted value s can be eliminated after expansion (2), formula (3) abbreviation respectivelyleftWith srightAnd one group is obtained by four equations
The over-determined systems of the composition of three unknown numbers just can calculate coordinate value (X of the P at { C } using least square methodc,Yc,
Zc)。
In the present embodiment, the calibration of binocular camera includes the following steps, S011, makes the calibration mold of known parameters
Plate；S012 changes relative position of the calibrating template with respect to binocular camera, is acquired using binocular camera and is demarcated under different location
The image of template；S013 positions the position of angle point in every piece image using Corner Detection Algorithm；S014, according to the position of angle point
Set calibration single camera inside and outside parameter；S015, according to the outer parameter of two cameras, calculate spin matrix between two cameras and
Translation vector.
Camera calibration refers to that the relationship established between camera review location of pixels and scene point location, approach are bases
Camera model is solved the model parameter of camera by the image coordinate of known features point.Binocular vision system calibration and simple list
A camera calibration is the difference is that it is also needed to obtain while single camera inside and outside parameter in knowing system between camera
Space position parameter.The scaling method has the advantages that the equipment used is easy, precision is high, experimentation is simple.
Wherein S015 includes the following steps, calculates the inner parameter of two cameras first and respectively relative to fixation
The spin matrix R of reference frame1、R2, translation vector T1、T2.Assuming that throwing of any point P on the imaging plane of left and right in scene
Shadow is respectively p1、p2, and coordinate of this under fixed reference frame is pw, then p1、p2、pwBetween there are following relationships:
Eliminate pwAfter can obtain:
WhereinFor the spin matrix of binocular vision system,For the translation of binocular vision
Vector.It can be seen that location parameter matrix R, T between two cameras is determined by the outer parameter of each camera.
In the present embodiment, when beacon is road sign, MCT collection apparatus, storage, detection and matching beacon images are used.MCT
For amendment statistics transformation.As shown in figure 4, being split first to image, the gray value of each cut zone is then read out, then
The gray value of the gray value of each cut zone of realtime graphic each cut zone corresponding with beacon is compared, thus
Judge whether two images match.
In the present embodiment, when beacon is 3D point cloud beacon, HOG collection apparatus, storage, detection and matching beacon figure are used
Picture.3D point cloud carries out three-dimensional reconstruction acquisition by the image that binocular camera acquires, and is to the buildings beacon such as bridge, tunnel and high building
Abstract.It identifies that position fixing process mainly comprises the steps that and firstly generates beacon HOG feature database；HOG collection apparatus with
Compiling；HOG characteristic matching and calculating.
Based on the same inventive concept, the inertia that a kind of view-based access control model and priori knowledge are additionally provided in the embodiment of the present invention is led
The system of boat positioning calibration.The system includes data acquisition and collector, acquires reference beacons using binocular camera, passes through
GPS and the geographical location for calculating acquisition reference beacons generate data to deposit benchmark database；Vision matching locating module, makes
Real-time beacon images are acquired with binocular camera, match real-time beacon images and reference beacons image, obtain the ground of data centering
Position is managed, the geographical location provided with the geographical location amendment inertial navigation of acquisition, calibration inertial navigation positioning；Wherein benchmark is believed
Logo image includes road sign image and 3D rendering, and real-time beacon images also include road sign image and 3D rendering.
As shown in Figure 1, the main purpose of data acquisition and collector is to generate benchmark database.Vision matching positioning mould
Block is by handling the inertial navigation location information and vision data of input, to realize beacon detection identification, benchmark
Position is extracted, relative position calculates and global position generates.Beacon therein includes simultaneously 2D road sign and 3D building.
The view-based access control model of present embodiment and the inertial navigation locating calibration system of priori knowledge further include that human-computer interaction is answered
With module, human-computer interaction is carried out by method for visualizing, output matching location related information carries out algorithm and precision convenient for user
Analysis；And application database, the data that the needs that the log information and user being responsible in storage operational process are specified record, so as to
Carry out information playback and system trace debug.
Wherein, human-computer interaction application module includes visualization, information exchange unit and location error calculating unit.It can
Depending on changing unit by patterned means, by intuitively showing information, multi-dimensional data can be shown simultaneously, is clearly effectively passed
Up to link up information.Information exchange unit is responsible for the diconnected of man-machine interactive application module and application database and receives
From the information of vision matching locating module.Location error calculating provides support for the calibration of inertial navigation system.Application database
The information from human-computer interaction application module and vision matching locating module is received and stored, is that information playback and system tracking are adjusted
Examination provides data.
Particular embodiments described above has carried out further in detail the object of the invention, technical scheme and beneficial effects
Illustrate, it should be understood that the above is only a specific embodiment of the present invention, the protection being not intended to limit the present invention
Range, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in this hair
Within bright protection scope.
Claims (10)
1. a kind of view-based access control model and the inertial navigation of priori knowledge position calibration method, it is characterised in that: including,
S1 acquires reference beacons image using binocular camera, and the geography of the reference beacons image is obtained by GPS and calculating
Position generates data to deposit benchmark database；
S2 acquires real-time beacon images using the binocular camera, matches the real-time beacon images and the reference beacons
Image obtains the geographical location of the data centering, the ground provided with the geographical location amendment inertial navigation of acquisition
Position is managed, the inertial navigation positioning is calibrated；
Wherein reference beacons image includes road sign image and 3D rendering, the real-time beacon images also include the road sign image and
The 3D rendering.
2. view-based access control model according to claim 1 and the inertial navigation of priori knowledge position calibration method, it is characterised in that:
S1 includes,
S11 acquires the reference beacons image sequence data using the binocular camera of calibration；
S12 uses geographical location information described in the GPS gathers；
S13 calculates actual geographic position；
S14 generates the data pair comprising the reference beacons image and the actual geographic position；
S15, by the data in S14 to the deposit benchmark database.
3. view-based access control model according to claim 1 and the inertial navigation of priori knowledge position calibration method, it is characterised in that:
S2 includes,
S21 acquires image using the binocular camera of calibration；
S22, the image of search S21 acquisition, detects beacon images；
S23 carries out reference location using inertial navigation system；
The reference beacons image in the beacon images and the benchmark database in S22 is carried out identification by S24
Match, calculates the actual geographic position after extracting the base position；
S25 calculates the error between actual geographic position described in reference location described in S23 and S24, corrects, calibrates described be used to
Property navigation system.
4. view-based access control model according to claim 3 and the inertial navigation of priori knowledge position calibration method, it is characterised in that:
S24 includes,
S241 obtains the field of search according to the reference location in the precision of the inertial navigation system and S23；
S242, from the data extracted in the benchmark database in described search area to set；
S243 retrieves the reference beacons figure to match with the beacon images in S22 in the set that S242 is extracted
Picture；
S244 obtains the geographical location corresponding with the matched reference beacons image in the benchmark database.
5. view-based access control model according to claim 2 or 3 and the inertial navigation of priori knowledge position calibration method, feature exists
Include in: the method for calculating the actual geographic position,
S001 calculates carrier in the relative distance of sampling instant and the reference beacons using Binocular Vision Principle；
S002 calculates the actual geographic position of the reference beacons by the High Precision GPS Data of synchronous acquisition；
S003 calculates sampling by the vector superposed of relative distance described in S001 and actual geographic position described in S002
The actual geographic position of carrier described in moment.
6. view-based access control model according to claim 2 or 3 and the inertial navigation of priori knowledge position calibration method, feature exists
Include the following steps in: the calibration of binocular camera,
S011 makes the calibrating template of known parameters；
S012 is changed the relative position of the relatively described binocular camera of the calibrating template, is acquired using the binocular camera
The image of the calibrating template under different location；
S013 positions the position of angle point in every piece image using Corner Detection Algorithm；
S014, according to the location position single camera inside and outside parameter of the angle point；
S015 calculates spin matrix and translation vector between two cameras according to the outer parameter of two cameras.
7. view-based access control model according to any one of claim 1 to 4 and the inertial navigation of priori knowledge position calibration method,
It is characterized by: using MCT collection apparatus, storage, detection and the matching beacon images when beacon is road sign.
8. view-based access control model according to any one of claim 1 to 4 and the inertial navigation of priori knowledge position calibration method,
It is characterized by: using HOG collection apparatus, storage, detection and the matching beacon figure when beacon is 3D point cloud beacon
Picture.
9. the system of a kind of view-based access control model and the positioning calibration of the inertial navigation of priori knowledge, it is characterised in that: including,
Data acquisition and collector acquire reference beacons using the binocular camera, by GPS and calculate the acquisition base
Definite message or answer target geographical location generates the data to the deposit benchmark database；
Vision matching locating module acquires the real-time beacon images using the binocular camera, matches the real-time beacon
Image and the reference beacons image, obtain the geographical location of the data centering, are repaired with the geographical location of acquisition
The inertial navigation positioning is calibrated in the geographical location that the just described inertial navigation provides；
Wherein the reference beacons image includes the road sign image and the 3D rendering, and the real-time beacon images also include institute
State road sign image and the 3D rendering.
10. the inertial navigation locating calibration system of view-based access control model according to claim 9 and priori knowledge, feature exist
In: further include,
Human-computer interaction application module carries out human-computer interaction by method for visualizing, and output matching location related information is convenient for user
Carry out algorithm and precision analysis；With
Application database, the data that the log information and the needs specified of user being responsible in storage operational process record, so as into
Row information playback and system trace debug.
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| CN113008271A (en) * | 2019-08-15 | 2021-06-22 | 深圳市瑞立视多媒体科技有限公司 | Mathematical model construction method for calibrating 3D rotation difference, calibration method and device thereof |
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| CN114691523A (en) * | 2022-04-25 | 2022-07-01 | 景网技术有限公司 | GPS system debugging method and device |
| CN116164747A (en) * | 2022-12-15 | 2023-05-26 | 广东智能无人系统研究院(南沙) | Positioning and navigation method and system for underwater robot |
| CN116164747B (en) * | 2022-12-15 | 2023-09-05 | 广东智能无人系统研究院(南沙) | Positioning and navigation method and system for underwater robot |
| CN116576866A (en) * | 2023-07-13 | 2023-08-11 | 荣耀终端有限公司 | Navigation method and device |
| CN116576866B (en) * | 2023-07-13 | 2023-10-27 | 荣耀终端有限公司 | Navigation method and device |
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