CN109827569A - Unmanned vehicle localization method and system - Google Patents
Unmanned vehicle localization method and system Download PDFInfo
- Publication number
- CN109827569A CN109827569A CN201910128546.8A CN201910128546A CN109827569A CN 109827569 A CN109827569 A CN 109827569A CN 201910128546 A CN201910128546 A CN 201910128546A CN 109827569 A CN109827569 A CN 109827569A
- Authority
- CN
- China
- Prior art keywords
- unmanned vehicle
- measurement unit
- inertial measurement
- acceleration
- coordinate system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000004807 localization Effects 0.000 title abstract description 3
- 230000001133 acceleration Effects 0.000 claims abstract description 131
- 238000005259 measurement Methods 0.000 claims abstract description 69
- 230000000007 visual effect Effects 0.000 claims description 75
- 238000001914 filtration Methods 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 12
- 239000011159 matrix material Substances 0.000 claims description 11
- 230000009466 transformation Effects 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 4
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Landscapes
- Navigation (AREA)
Abstract
The present invention relates to a kind of unmanned vehicle localization method and systems, belong to Vehicle Engineering technical field, the unmanned vehicle positioning system includes: vision positioning device and inertial navigation unit, inertial navigation unit includes Inertial Measurement Unit, inertial navigation unit is used to obtain the status information of Inertial Measurement Unit, and the status information is sent to vision positioning device, which includes the Eulerian angles of specific force acceleration and Inertial Measurement Unit of the Inertial Measurement Unit under carrier coordinate system；Vision positioning device is used to determine the estimated value of specific force acceleration, and the linear acceleration of Inertial Measurement Unit is determined according to the estimated value of the specific force acceleration and Eulerian angles, the location information of unmanned vehicle is determined further according to the linear acceleration of Inertial Measurement Unit, solve the problems, such as that unmanned vehicle positioning accuracy is lower in the related technology, the location information of unmanned vehicle is determined by vision positioning device and inertial navigation unit, positioning accuracy is improved, for positioning to unmanned vehicle.
Description
Technical Field
The invention relates to the technical field of vehicle engineering, in particular to a method and a system for positioning an unmanned vehicle.
Background
An unmanned vehicle (hereinafter referred to as an unmanned vehicle) is an intelligent vehicle, and is also called a wheeled mobile robot. The unmanned vehicle senses the surrounding environment of the vehicle based on the vehicle-mounted navigation system, and controls the steering and the speed of the vehicle according to the road, the vehicle position and the obstacle information obtained by sensing, so that the vehicle can safely and reliably run on the road. The positioning technology is a key technology of a vehicle-mounted navigation System, positioning of an unmanned vehicle is usually achieved by a Global Navigation Satellite System (GNSS), the GNSS can provide Global and high-precision positioning services, but is affected by satellite orbit errors, clock errors, signal propagation errors and the like, positioning precision of the GNSS can only reach a meter level, and positioning precision is low. Although positioning accuracy can be improved to centimeter level by the carrier phase differential technology, in urban areas with dense buildings, GNSS often cannot meet positioning requirements of unmanned vehicles due to blockage of satellite signals and interference of other factors of multipath effects.
In the related art, in order to compensate for the defects of the GNSS, an autonomous positioning method based on dead reckoning is often used to improve the positioning accuracy and robustness of the vehicle navigation System, in the method, an inertial sensor in an Inertial Navigation System (INS) is used to measure the angular velocity and acceleration of a carrier relative to an inertial space, and the measured values are integrated to calculate the navigation parameters of the carrier, and then the position information of the unmanned vehicle is obtained based on the navigation parameters. However, in the area where the GNSS signals are interfered, the errors of the combined system of the GNSS and the INS gradually accumulate with time, resulting in low positioning accuracy.
Disclosure of Invention
The embodiment of the invention provides a method and a system for positioning an unmanned vehicle, which can solve the problem of low positioning precision of the unmanned vehicle in the related technology. The technical scheme is as follows:
according to a first aspect of embodiments of the present invention, there is provided an unmanned vehicle positioning system, comprising: a visual positioning device and an inertial navigation device, the inertial navigation device comprising an inertial measurement unit,
the inertial navigation device is used for acquiring state information of the inertial measurement unit and sending the state information to the visual positioning device, wherein the state information comprises specific force acceleration of the inertial measurement unit under a carrier coordinate system and an Euler angle of the inertial measurement unit, and the Euler angle comprises a roll angle, a pitch angle and a course angle;
the visual positioning device is used for determining an estimated value of the specific acceleration and determining the linear acceleration of the inertial measurement unit according to the estimated value of the specific acceleration and the Euler angle;
the visual positioning device is further used for determining the position information of the unmanned vehicle according to the linear acceleration of the inertial measurement unit.
Optionally, the visual positioning device is configured to:
determining the speed of the inertial measurement unit under a navigation coordinate system by adopting a speed calculation formula according to the estimated value of the specific acceleration and the Euler angle;
determining the linear acceleration of the inertial measurement unit according to the speed of the inertial measurement unit in a navigation coordinate system;
the speed calculation formula is as follows:said n representing a navigational coordinate system, said b
Representing a carrier coordinate system, saidFor the velocity of the inertial measurement unit in the navigational coordinate system, fbIs the estimated value of the specific force acceleration of the inertial measurement unit under a carrier coordinate system, gnIs the gravity acceleration of the inertial measurement unit under a navigation coordinate system, theIs a transformation matrix of the Euler angles of the inertial measurement units from a carrier coordinate system to a navigation coordinate system,
wherein,α is roll angle, β is pitch angle, and gamma is course angle.
Optionally, the inertial navigation device is further configured to determine driving information of the unmanned vehicle, and send the driving information to the visual positioning device, where the driving information includes position information of the unmanned vehicle in a navigation coordinate system, a driving speed of the unmanned vehicle, and a linear acceleration of the unmanned vehicle;
the visual positioning device is used for estimating the position information of the unmanned vehicle according to the linear acceleration of the inertial measurement unit and the running information of the unmanned vehicle determined by the inertial navigation device.
Optionally, the inertial navigation device is configured to:
and determining the running information of the unmanned vehicle by adopting a Kalman filtering algorithm according to the last determined running information of the unmanned vehicle.
Optionally, the visual positioning device is configured to:
and determining the estimated value of the specific acceleration through one-time Kalman filtering according to the specific acceleration and the moving average parameter in the autoregressive moving average model.
According to a second aspect of the embodiments of the present invention, there is provided an unmanned vehicle positioning method for an unmanned vehicle positioning system, the unmanned vehicle positioning system including: a visual positioning device and an inertial navigation device, the visual positioning device and the inertial navigation device being electrically connected, the inertial navigation device comprising an inertial measurement unit, the method comprising:
the inertial navigation device acquires state information of the inertial measurement unit and sends the state information to the visual positioning device, wherein the state information comprises specific force acceleration of the inertial measurement unit under a carrier coordinate system and an Euler angle of the inertial measurement unit, and the Euler angle comprises a roll angle, a pitch angle and a course angle;
the vision positioning device determines an estimated value of the specific acceleration and determines the linear acceleration of the inertial measurement unit according to the estimated value of the specific acceleration and the Euler angle;
and the visual positioning device determines the position information of the unmanned vehicle according to the linear acceleration of the inertial measurement unit.
Optionally, the visual positioning device determines the linear acceleration of the inertial measurement unit according to the estimated value of the specific acceleration and the euler angle, and comprises:
the visual positioning device determines the speed of the inertial measurement unit in a navigation coordinate system by adopting a speed calculation formula according to the estimated value of the specific acceleration and the Euler angle;
the visual positioning device determines the linear acceleration of the inertial measurement unit according to the speed of the inertial measurement unit in a navigation coordinate system;
the speed calculation formula is as follows:said n denotes a navigation coordinate system, said b denotes a carrier coordinate system, saidFor the velocity of the inertial measurement unit in the navigational coordinate system, fbIs the estimated value of the specific force acceleration of the inertial measurement unit under a carrier coordinate system, gnIs the gravity acceleration of the inertial measurement unit under a navigation coordinate system, theIs a transformation matrix of the Euler angles of the inertial measurement units from a carrier coordinate system to a navigation coordinate system,
wherein,α is roll angle, β is pitch angle, and gamma is course angle.
Optionally, the method further comprises:
the inertial navigation device determines the running information of the unmanned vehicle and sends the running information to the visual positioning device, wherein the running information comprises the position information of the unmanned vehicle under a navigation coordinate system, the running speed of the unmanned vehicle and the linear acceleration of the unmanned vehicle;
the visual positioning device determines the position information of the unmanned vehicle according to the linear acceleration of the inertial measurement unit, and the method comprises the following steps:
and the visual positioning device estimates the position information of the unmanned vehicle according to the linear acceleration of the inertial measurement unit and the running information of the unmanned vehicle determined by the inertial navigation device.
Optionally, the inertial navigation device determining driving information of the unmanned vehicle comprises:
and the inertial navigation device determines the running information of the unmanned vehicle by adopting a Kalman filtering algorithm according to the last determined running information of the unmanned vehicle.
Optionally, the visual positioning device determines the estimate of the specific acceleration, comprising:
and the visual positioning device determines the estimated value of the specific acceleration through one-time Kalman filtering according to the specific acceleration and the moving average parameter in the autoregressive moving average model.
The technical scheme provided by the embodiment of the invention at least comprises the following beneficial effects:
the inertial navigation device is used for obtaining state information of the IMU, the state information comprises specific acceleration and Euler angle of the IMU, the visual positioning device is used for determining an estimated value of the specific acceleration, the linear acceleration of the IMU is determined according to the estimated value of the specific acceleration and the Euler angle, the position information of the unmanned vehicle is determined according to the linear acceleration, the unmanned vehicle positioning system integrates the inertial navigation device and the visual positioning device to determine the position information of the unmanned vehicle, and compared with a combined system of GNSS and INS, the unmanned vehicle positioning system avoids error accumulation, improves positioning accuracy of the unmanned vehicle, and is low in positioning cost.
Drawings
In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the invention, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort.
FIG. 1 is a schematic structural diagram of an unmanned vehicle positioning system according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for locating an unmanned vehicle according to an embodiment of the present invention;
FIG. 3 is a flow chart of determining the linear acceleration of the IMU according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of an unmanned vehicle positioning system according to an embodiment of the present invention, and as shown in fig. 1, the unmanned vehicle positioning system 100 includes: a visual positioning device 110 and an Inertial navigation device 120, the Inertial navigation device 120 comprising an Inertial Measurement Unit (IMU) 121.
The inertial navigation device 120 is configured to obtain status information of the IMU121, and send the status information to the visual positioning device 110, where the status information includes a specific force acceleration of the IMU121 in the carrier coordinate system and an euler angle of the IMU 121. The euler angles of the IMU121 include the roll angle, pitch angle, and heading angle of the IMU 121. The specific force acceleration of the IMU121 in the carrier coordinate system is projection data of the rotational angular velocity of the IMU121 relative to the centroid inertial coordinate system in the carrier coordinate system.
The visual localization apparatus 110 is configured to determine an estimate of the specific acceleration and determine the linear acceleration of the IMU121 based on the estimate of the specific acceleration and the euler angle of the IMU 121.
The visual positioning device 110 is also used to determine the position information of the unmanned vehicle based on the linear acceleration of the IMU 121.
In the unmanned vehicle positioning system provided by the embodiment of the invention, the inertial navigation device is used for acquiring the state information of the IMU, the state information comprises the specific acceleration and the Euler angle of the IMU, the visual positioning device is used for determining the estimated value of the specific acceleration, the linear acceleration of the IMU is determined according to the estimated value of the specific acceleration and the Euler angle, and the position information of the unmanned vehicle is determined according to the linear acceleration.
Optionally, the visual positioning apparatus 110 is specifically configured to: and determining an estimated value of the specific acceleration through one-time Kalman filtering according to the specific acceleration and the moving average parameter in the autoregressive moving average model. The specific process of determining the estimated value of the specified data through one-time kalman filtering according to the moving average parameter in the autoregressive moving average model may refer to the correlation technique.
Optionally, in determining the linear acceleration of the IMU121, the visual positioning apparatus 110 is specifically configured to:
determining the velocity of the IMU121 in a navigation coordinate system by adopting a velocity calculation formula according to the estimated value of the specific force acceleration and the Euler angle;
determining the linear acceleration a of the IMU121 from the velocity of the IMU121 in the navigational coordinate systemIMU。
The derivative of the velocity with respect to time is a linear acceleration. Specifically, after obtaining the velocity of the IMU121 in the navigational coordinate system, the visual positioning apparatus 110 may derive the velocity to obtain the linear acceleration.
The velocity calculation formula for determining the velocity of the IMU121 in the navigational coordinate system is:n denotes the navigation coordinate system, b denotes the carrier seatThe mark is a mark which is a mark of,for the velocity of the IMU in the navigation coordinate system, fbIs an estimated value of specific force acceleration g of the IMU under a carrier coordinate systemnIs the gravitational acceleration of the IMU under the navigation coordinate system,is a transformation matrix from the carrier coordinate system to the navigation coordinate system for the euler angles of the IMU,also known as the pose matrix of the IMU.
Wherein,α is roll angle, β is pitch angle, and γ is heading angle.
Optionally, in one implementation, the inertial navigation device 120 is further configured to determine driving information of the unmanned vehicle and send the driving information to the visual positioning device 110. The driving information of the unmanned vehicle comprises position information of the unmanned vehicle under a navigation coordinate system, driving speed of the unmanned vehicle and linear acceleration of the unmanned vehicle. Accordingly, the visual positioning device 110 is configured to estimate the position information of the unmanned vehicle based on the linear acceleration of the IMU121 and the travel information of the unmanned vehicle determined by the inertial navigation device 120.
Specifically, when determining the driving information of the unmanned vehicle, the inertial navigation device 120 is configured to determine the driving information of the unmanned vehicle by using a kalman filter algorithm according to the driving information of the unmanned vehicle determined last time. For example, the inertial navigation device 120 is configured to determine the travel information of the unmanned vehicle using a first determination formula:
w represents process noise, W is normally distributed white noise, P (W) N(0, Q), W obeys a normal distribution with a mean of 0 and covariance of Q, which is the process excitation noise covariance matrix. k denotes a cycle number. T is a time interval between the kth period and the (k-1) th period, and may be 10ms (milliseconds), for example. X (k-1) is the traveling information of the unmanned vehicle that was last determined by inertial navigation device 120. In the first determination formula, X ═ pva]TP is the position information of the unmanned vehicle in the navigation coordinate system, v is the running speed of the unmanned vehicle, and a is the linear acceleration of the unmanned vehicle. The manner in which the inertial navigation device 120 first determines the travel information of the unmanned vehicle may refer to the related art.
The inertial navigation device 120 is configured to obtain the driving information of the unmanned vehicle by using the first determination formula, that is, obtain the position information of the unmanned vehicle in the navigation coordinate system, the driving speed of the unmanned vehicle, and the linear acceleration of the unmanned vehicle.
Optionally, the visual positioning device 110 is configured to estimate the position information of the unmanned vehicle according to the linear acceleration of the IMU121 and the driving information of the unmanned vehicle determined by the inertial navigation device 120, using a second determination formula:
v represents observation noise, V is normally distributed white noise, V and W in the first determination formula are mutually independent normally distributed white noise, P (V) -N (0, R), V obeys normal distribution with mean value of 0 and covariance of R, and R is an observation noise covariance matrix. k denotes a cycle number. X (k) is the travel information of the unmanned vehicle determined by the inertial navigation device 120. Z (k) ═ pvision,0,aIMU]T，pvisionFor estimated position information of the unmanned vehicle, aIMUIs the linear acceleration of the IMU. The visual positioning device 110 is used for estimating the position information p of the unmanned vehicle by adopting a second determination formulavision。
In an embodiment of the present invention, the visual positioning device 110 may include a visual sensor, and the inertial navigation device 120 may be an inertial navigation system.
The unmanned vehicle positioning system provided by the embodiment of the invention is an unmanned vehicle space position combined positioning system based on a visual positioning device and an inertial navigation device, the system can enable the unmanned vehicle to determine information such as driving speed, driving direction, driving path and the like, and the system combines the visual positioning device and the inertial navigation device, so that the defect of single sensor performance can be compensated.
In summary, in the unmanned vehicle positioning system provided in the embodiment of the present invention, the inertial navigation device is configured to obtain state information of the IMU, where the state information includes a specific acceleration and an euler angle of the IMU, the visual positioning device is configured to determine an estimated value of the specific acceleration, determine a linear acceleration of the IMU according to the estimated value of the specific acceleration and the euler angle, and determine the position information of the unmanned vehicle according to the linear acceleration, and the unmanned vehicle positioning system integrates the inertial navigation device and the visual positioning device to determine the position information of the unmanned vehicle.
Fig. 2 shows a flowchart of an unmanned vehicle positioning method according to an embodiment of the present invention. The unmanned vehicle positioning method can be used for the unmanned vehicle positioning system 100 shown in fig. 1, and as shown in fig. 1, the unmanned vehicle positioning system 100 includes: the visual positioning device 110 and the inertial navigation device 120, the visual positioning device 110 and the inertial navigation device 120 being electrically connected, the inertial navigation device 120 comprising an IMU 121.
As shown in fig. 2, the unmanned vehicle positioning method includes:
step 210, the inertial navigation device obtains the status information of the IMU.
The IMU state information comprises specific force acceleration of the IMU under a carrier coordinate system and Euler angles of the IMU, and the Euler angles of the IMU comprise a roll angle, a pitch angle and a course angle of the IMU.
The specific force acceleration of the IMU in the carrier coordinate system is projection data of the IMU in the carrier coordinate system relative to the rotation angular velocity of the earth center inertial coordinate system.
Step 220, the inertial navigation device sends the status information of the IMU to the visual positioning device.
And step 230, the vision positioning device determines an estimated value of the specific acceleration, and determines the linear acceleration of the IMU according to the estimated value of the specific acceleration and the Euler angle.
Wherein the determining of the estimate of the specific force acceleration by the visual positioning apparatus may comprise: and the visual positioning device determines the estimated value of the specific acceleration through one-time Kalman filtering according to the specific acceleration and the moving average parameter in the autoregressive moving average model. The specific process of determining the estimated value of the specified data through one-time kalman filtering according to the moving average parameter in the autoregressive moving average model may refer to the correlation technique.
As shown in fig. 3, the determining the linear acceleration of the IMU by the visual positioning apparatus according to the estimated value of the specific force acceleration and the euler angle may include:
and 231, determining the velocity of the IMU in the navigation coordinate system by the visual positioning device by adopting a velocity calculation formula according to the estimated value of the specific acceleration and the Euler angle.
The velocity calculation formula is:n denotes the navigation coordinate system, b denotes the carrier coordinate system,for the velocity of the IMU in the navigation coordinate system, fbIs an estimated value of specific force acceleration g of the IMU under a carrier coordinate systemnIs the gravitational acceleration of the IMU under the navigation coordinate system,a transformation matrix from the carrier coordinate system to the navigation coordinate system for the euler angles of the IMU.
α is roll angle, β is pitch angle, and γ is heading angle.
Step 232, the visual positioning device determines the linear acceleration of the IMU according to the velocity of the IMU in the navigation coordinate system.
The visual positioning apparatus determines the IMU velocity in the navigational coordinate system based on step 231Determining linear acceleration a of an IMUIMU. Specifically, the visual positioning device 110 is used to derive the velocity to obtain the linear acceleration.
And step 240, the inertial navigation device determines the driving information of the unmanned vehicle.
The driving information of the unmanned vehicle comprises position information of the unmanned vehicle under a navigation coordinate system, driving speed of the unmanned vehicle and linear acceleration of the unmanned vehicle.
Wherein step 240 may comprise: and the inertial navigation device determines the running information of the unmanned vehicle by adopting a Kalman filtering algorithm according to the last determined running information of the unmanned vehicle.
Specifically, the inertial navigation device may determine the travel information of the unmanned vehicle using a first determination formula:
w represents process noise, W is normally distributed white noise, P (W) N (0, Q), W follows a normal distribution with a mean of 0 and a covariance of Q, Q is the process excitation noise covariance matrix. k denotes a cycle number. T is the time interval between the kth cycle and the (k-1) th cycle. X (k-1) is the driving information of the unmanned vehicle determined last time by the inertial navigation device. In the first determination formula, X ═ pva]TP is the position information of the unmanned vehicle in the navigation coordinate system, vThe running speed of the unmanned vehicle and a is the linear acceleration of the unmanned vehicle.
And step 250, the inertial navigation device sends the running information of the unmanned vehicle to the visual positioning device.
And step 260, the visual positioning device estimates the position information of the unmanned vehicle according to the linear acceleration of the IMU and the running information of the unmanned vehicle determined by the inertial navigation device.
Specifically, the visual positioning device may estimate the position information of the unmanned vehicle according to the linear acceleration of the IMU and the travel information of the unmanned vehicle determined by the inertial navigation device using a second determination formula:
v represents observation noise, V is normally distributed white noise, V and W in the first determination formula are mutually independent normally distributed white noise, P (V) -N (0, R), V obeys normal distribution with mean value of 0 and covariance of R, and R is an observation noise covariance matrix. k denotes a cycle number. X (k) is the traveling information of the unmanned vehicle determined by the inertial navigation device. Z (k) ═ pvision,0,aIMU]T，pvisionFor estimated position information of the unmanned vehicle, aIMUIs the linear acceleration of the IMU, i.e., the linear acceleration of the IMU determined in step 230.
Further, the next time the position information of the unmanned vehicle is estimated, in step 240, the inertial navigation device may base its position information p estimated in step 260 on the unmanned vehiclevisionAnd obtaining the driving information of the unmanned vehicle, and further enabling the visual positioning device to estimate the position information of the unmanned vehicle according to the linear acceleration of the IMU and the driving information of the unmanned vehicle determined by the inertial navigation device.
In summary, in the unmanned vehicle positioning method provided in the embodiment of the present invention, the inertial navigation device can obtain the state information of the inertial measurement unit, where the state information includes the specific acceleration and the euler angle, the visual positioning device determines the estimated value of the specific acceleration, determines the linear acceleration of the inertial measurement unit according to the estimated value of the specific acceleration and the euler angle, and then determines the position information of the unmanned vehicle according to the linear acceleration.
It should be noted that the sequence of the steps of the unmanned vehicle positioning method provided by the embodiment of the present invention may be appropriately adjusted, and the steps of the unmanned vehicle positioning method may also be increased or decreased according to the situation. Any method that can be easily conceived by those skilled in the art within the technical scope of the present disclosure is covered by the protection scope of the present disclosure, and thus, the detailed description thereof is omitted.
It is clear to those skilled in the art that, for convenience and brevity of description, specific steps of the method described above may refer to specific working processes of the system and the apparatus in the foregoing embodiment of the apparatus, and will not be described herein again.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (10)
1. An unmanned vehicle positioning system, comprising: a visual positioning device and an inertial navigation device, the inertial navigation device comprising an inertial measurement unit,
the inertial navigation device is used for acquiring state information of the inertial measurement unit and sending the state information to the visual positioning device, wherein the state information comprises specific force acceleration of the inertial measurement unit under a carrier coordinate system and an Euler angle of the inertial measurement unit, and the Euler angle comprises a roll angle, a pitch angle and a course angle;
the visual positioning device is used for determining an estimated value of the specific acceleration and determining the linear acceleration of the inertial measurement unit according to the estimated value of the specific acceleration and the Euler angle;
the visual positioning device is further used for determining the position information of the unmanned vehicle according to the linear acceleration of the inertial measurement unit.
2. The system of claim 1, wherein the visual positioning device is configured to:
determining the speed of the inertial measurement unit under a navigation coordinate system by adopting a speed calculation formula according to the estimated value of the specific acceleration and the Euler angle;
determining the linear acceleration of the inertial measurement unit according to the speed of the inertial measurement unit in a navigation coordinate system;
the speed calculation formula is as follows:said n denotes a navigation coordinate system, said b denotes a carrier coordinate system, saidFor the velocity of the inertial measurement unit in the navigational coordinate system, fbIs the estimated value of the specific force acceleration of the inertial measurement unit under a carrier coordinate system, gnIs the gravity acceleration of the inertial measurement unit under a navigation coordinate system, theIs a transformation matrix of the Euler angles of the inertial measurement units from a carrier coordinate system to a navigation coordinate system,
wherein,α is roll angle, β is pitch angle, and gamma is course angle.
3. The system of claim 1,
the inertial navigation device is further used for determining the driving information of the unmanned vehicle and sending the driving information to the visual positioning device, wherein the driving information comprises the position information of the unmanned vehicle in a navigation coordinate system, the driving speed of the unmanned vehicle and the linear acceleration of the unmanned vehicle;
the visual positioning device is used for estimating the position information of the unmanned vehicle according to the linear acceleration of the inertial measurement unit and the running information of the unmanned vehicle determined by the inertial navigation device.
4. The system of claim 3, wherein the inertial navigation device is configured to:
and determining the running information of the unmanned vehicle by adopting a Kalman filtering algorithm according to the last determined running information of the unmanned vehicle.
5. The system of claim 1, wherein the visual positioning device is configured to:
and determining the estimated value of the specific acceleration through one-time Kalman filtering according to the specific acceleration and the moving average parameter in the autoregressive moving average model.
6. An unmanned vehicle positioning method, for use in an unmanned vehicle positioning system, the unmanned vehicle positioning system comprising: a visual positioning device and an inertial navigation device, the visual positioning device and the inertial navigation device being electrically connected, the inertial navigation device comprising an inertial measurement unit, the method comprising:
the inertial navigation device acquires state information of the inertial measurement unit and sends the state information to the visual positioning device, wherein the state information comprises specific force acceleration of the inertial measurement unit under a carrier coordinate system and an Euler angle of the inertial measurement unit, and the Euler angle comprises a roll angle, a pitch angle and a course angle;
the vision positioning device determines an estimated value of the specific acceleration and determines the linear acceleration of the inertial measurement unit according to the estimated value of the specific acceleration and the Euler angle;
and the visual positioning device determines the position information of the unmanned vehicle according to the linear acceleration of the inertial measurement unit.
7. The method of claim 6, wherein the visual positioning device determines the linear acceleration of the inertial measurement unit from the estimate of the specific acceleration and the euler angle, comprising:
the visual positioning device determines the speed of the inertial measurement unit in a navigation coordinate system by adopting a speed calculation formula according to the estimated value of the specific acceleration and the Euler angle;
the visual positioning device determines the linear acceleration of the inertial measurement unit according to the speed of the inertial measurement unit in a navigation coordinate system;
the speed calculation formula is as follows:said n denotes a navigation coordinate system, said b denotes a carrier coordinate system, saidFor the velocity of the inertial measurement unit in the navigational coordinate system, fbIs the estimated value of the specific force acceleration of the inertial measurement unit under a carrier coordinate system, gnIs the gravity acceleration of the inertial measurement unit under a navigation coordinate system, theIs a transformation matrix of the Euler angles of the inertial measurement units from a carrier coordinate system to a navigation coordinate system,
wherein,α is roll angle, β is pitch angle, and gamma is course angle.
8. The method of claim 6, further comprising:
the inertial navigation device determines the running information of the unmanned vehicle and sends the running information to the visual positioning device, wherein the running information comprises the position information of the unmanned vehicle under a navigation coordinate system, the running speed of the unmanned vehicle and the linear acceleration of the unmanned vehicle;
the visual positioning device determines the position information of the unmanned vehicle according to the linear acceleration of the inertial measurement unit, and the method comprises the following steps:
and the visual positioning device estimates the position information of the unmanned vehicle according to the linear acceleration of the inertial measurement unit and the running information of the unmanned vehicle determined by the inertial navigation device.
9. The method of claim 8, wherein the inertial navigation device determines travel information for the unmanned vehicle, comprising:
and the inertial navigation device determines the running information of the unmanned vehicle by adopting a Kalman filtering algorithm according to the last determined running information of the unmanned vehicle.
10. The method of claim 6, wherein the visual positioning device determines the estimate of the specific acceleration, comprising:
and the visual positioning device determines the estimated value of the specific acceleration through one-time Kalman filtering according to the specific acceleration and the moving average parameter in the autoregressive moving average model.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910128546.8A CN109827569A (en) | 2019-02-21 | 2019-02-21 | Unmanned vehicle localization method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910128546.8A CN109827569A (en) | 2019-02-21 | 2019-02-21 | Unmanned vehicle localization method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109827569A true CN109827569A (en) | 2019-05-31 |
Family
ID=66864033
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910128546.8A Pending CN109827569A (en) | 2019-02-21 | 2019-02-21 | Unmanned vehicle localization method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109827569A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114008410A (en) * | 2019-06-14 | 2022-02-01 | 赛峰电子与防务公司 | Method for monitoring the performance of an inertial measurement unit |
| CN115103437A (en) * | 2022-04-27 | 2022-09-23 | 电子科技大学 | Bluetooth and inertial measurement unit tightly-coupled indoor positioning method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102538781A (en) * | 2011-12-14 | 2012-07-04 | 浙江大学 | Machine vision and inertial navigation fusion-based mobile robot motion attitude estimation method |
| CN102768042A (en) * | 2012-07-11 | 2012-11-07 | 清华大学 | Visual-inertial combined navigation method |
| CN103424114A (en) * | 2012-05-22 | 2013-12-04 | 同济大学 | Visual navigation/inertial navigation full combination method |
| CN106767791A (en) * | 2017-01-13 | 2017-05-31 | 东南大学 | A kind of inertia/visual combination air navigation aid using the CKF based on particle group optimizing |
| KR20170091199A (en) * | 2016-01-29 | 2017-08-09 | 한국기술교육대학교 산학협력단 | Apparatus and method of controlling self-driving car using inertial navigation system and global positioning system |
| CN107063246A (en) * | 2017-04-24 | 2017-08-18 | 齐鲁工业大学 | A kind of Loosely coupled air navigation aid of vision guided navigation/inertial navigation |
| CN109186597A (en) * | 2018-08-31 | 2019-01-11 | 武汉大学 | A kind of localization method of the indoor wheeled robot based on double MEMS-IMU |
-
2019
- 2019-02-21 CN CN201910128546.8A patent/CN109827569A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102538781A (en) * | 2011-12-14 | 2012-07-04 | 浙江大学 | Machine vision and inertial navigation fusion-based mobile robot motion attitude estimation method |
| CN103424114A (en) * | 2012-05-22 | 2013-12-04 | 同济大学 | Visual navigation/inertial navigation full combination method |
| CN102768042A (en) * | 2012-07-11 | 2012-11-07 | 清华大学 | Visual-inertial combined navigation method |
| KR20170091199A (en) * | 2016-01-29 | 2017-08-09 | 한국기술교육대학교 산학협력단 | Apparatus and method of controlling self-driving car using inertial navigation system and global positioning system |
| CN106767791A (en) * | 2017-01-13 | 2017-05-31 | 东南大学 | A kind of inertia/visual combination air navigation aid using the CKF based on particle group optimizing |
| CN107063246A (en) * | 2017-04-24 | 2017-08-18 | 齐鲁工业大学 | A kind of Loosely coupled air navigation aid of vision guided navigation/inertial navigation |
| CN109186597A (en) * | 2018-08-31 | 2019-01-11 | 武汉大学 | A kind of localization method of the indoor wheeled robot based on double MEMS-IMU |
Non-Patent Citations (1)
| Title |
|---|
| 高明: "基于视觉和惯性导航的水下机器人组合定位设计", 《中国优秀博硕士学位论文全文数据库(硕士)信息科技辑》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114008410A (en) * | 2019-06-14 | 2022-02-01 | 赛峰电子与防务公司 | Method for monitoring the performance of an inertial measurement unit |
| CN115103437A (en) * | 2022-04-27 | 2022-09-23 | 电子科技大学 | Bluetooth and inertial measurement unit tightly-coupled indoor positioning method |
| CN115103437B (en) * | 2022-04-27 | 2024-03-15 | 电子科技大学 | Tightly-coupled indoor positioning method of Bluetooth and inertial measurement unit |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9921065B2 (en) | Unit and method for improving positioning accuracy | |
| JP5036462B2 (en) | Navigation system and navigation method | |
| CN110779521A (en) | Multi-source fusion high-precision positioning method and device | |
| JP4964047B2 (en) | Position detection apparatus and position detection method | |
| US8775063B2 (en) | System and method of lane path estimation using sensor fusion | |
| JP5068073B2 (en) | Inertial GPS navigation system using input alignment data for inertial system | |
| JP5419665B2 (en) | POSITION LOCATION DEVICE, POSITION LOCATION METHOD, POSITION LOCATION PROGRAM, Velocity Vector Calculation Device, Velocity Vector Calculation Method, and Velocity Vector Calculation Program | |
| CN110914711B (en) | Positioning device | |
| CN104729506A (en) | Unmanned aerial vehicle autonomous navigation positioning method with assistance of visual information | |
| KR101878685B1 (en) | System and method for positioning vehicle using local dynamic map | |
| JP2008215917A (en) | Position detector and position detection method | |
| CN109059909A (en) | Satellite based on neural network aiding/inertial navigation train locating method and system | |
| WO2016203744A1 (en) | Positioning device | |
| JP2011185899A (en) | Position locating device, position locating method of position locating device and position locating program | |
| KR20220024791A (en) | Method and apparatus for determining the trajectory of a vehicle | |
| US20160231432A1 (en) | Method for determining a current position of a motor vehicle in a geodetic coordinate system and motor vehicle | |
| KR100525517B1 (en) | Car navigation system and control method thereof | |
| CN109186597A (en) | A kind of localization method of the indoor wheeled robot based on double MEMS-IMU | |
| CN114545472B (en) | Navigation method and device of GNSS/INS combined system | |
| CN109579870A (en) | The automatic aligning method and combined navigation device of Strapdown Inertial Navigation System | |
| CN115060257B (en) | Vehicle lane change detection method based on civil-grade inertia measurement unit | |
| JPH09189564A (en) | Traveling body position speed calculating device | |
| CN109827569A (en) | Unmanned vehicle localization method and system | |
| CN113008229B (en) | Distributed autonomous integrated navigation method based on low-cost vehicle-mounted sensor | |
| KR101639152B1 (en) | Method and Device for Estimating position of Vehicle Using Road Slope |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190531 |
|
| RJ01 | Rejection of invention patent application after publication |