CN110702145A - Map error compensation method and system of two-dimensional navigation system - Google Patents
Map error compensation method and system of two-dimensional navigation system Download PDFInfo
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- CN110702145A CN110702145A CN201911173060.2A CN201911173060A CN110702145A CN 110702145 A CN110702145 A CN 110702145A CN 201911173060 A CN201911173060 A CN 201911173060A CN 110702145 A CN110702145 A CN 110702145A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The invention discloses a map error compensation method and a map error compensation system of a two-dimensional navigation system. The method comprises the following steps: obtaining three coordinate points p under a standard plane rectangular coordinate systema、pbAnd pc(ii) a Moving the navigation device to coordinate points p, respectivelya、pbAnd pcObtaining three coordinate points under the coordinate system of the navigation system
According to pa、pbAnd pcAnd
calculating an origin offset vector; obtaining two coordinate points p under a standard plane rectangular coordinate systemdAnd pe(ii) a Moving the navigation device to coordinate points p, respectivelydAnd peObtaining two coordinate points under the coordinate system of the navigation system
And
according to pd、pe、
Calculating a base transformation matrix by using the origin offset vector; and compensating the coordinate points to be compensated under the coordinate system of the navigation system according to the origin offset vector and the base transformation matrix to obtain compensated coordinates. By adopting the method and the system, the navigation positioning precision can be improved.
Description
Technical Field
The invention relates to the technical field of two-dimensional navigation, in particular to a map error compensation method and a map error compensation system of a two-dimensional navigation system.
Background
Two-dimensional navigation systems are widely used in the fields of industry and service industry, such as Automated Guided Vehicles (AGVs) and service robots. The navigation device collects the characteristic data of the reference object of the surrounding environment in real time, compares the characteristic data with a navigation system map, and continuously outputs navigation data such as current coordinates, angles and the like through calculation. Under some severe production conditions, the positioning accuracy is often required to be less than ± 1 cm. In the process of deploying the navigation system, firstly, a coordinate system of the navigation system needs to be established, and because field manual calibration is needed, complete coincidence with a standard plane rectangular coordinate system cannot be achieved, and errors are generated between actual navigation coordinates and theoretical coordinates.
Disclosure of Invention
The invention aims to provide a map error compensation method and a map error compensation system of a two-dimensional navigation system, which can improve positioning accuracy.
In order to achieve the purpose, the invention provides the following scheme:
a map error compensation method of a two-dimensional navigation system includes:
obtaining three coordinate points p under a standard plane rectangular coordinate systema、pbAnd pc(ii) a Wherein p isaDistance p between point and origin of rectangular coordinate system of standard planeaThe distance between the point and the origin of the rectangular coordinate system of the standard plane and pcThe distances between the point and the origin of the standard plane rectangular coordinate system are smaller than a first preset threshold;
moving the navigation device to coordinate points p, respectivelya、pbAnd pcObtaining three coordinate points under the coordinate system of the navigation system
And
according to pa、pbAnd pcAnd
and
calculating an origin offset vector;
obtaining two coordinate points p under a standard plane rectangular coordinate systemdAnd pe(ii) a Wherein, the origin of the rectangular coordinate system of the standard plane is taken as a vertex, pd、peAnd the origin of the standard plane rectangular coordinate system forms an angle alpha, 90-alpha < epsilon, epsilon > 0, and pdDistance from the origin of the rectangular coordinate system of the standard plane and peDistances between the standard plane rectangular coordinate system and the origin of the standard plane rectangular coordinate system are larger than a second preset threshold, and the second preset threshold is larger than the first preset threshold;
moving the navigation device to coordinate points p, respectivelydAnd peObtaining two coordinate points under the coordinate system of the navigation system
And
according to pd、pe、
And calculating a basis transformation matrix by the origin offset vector;
and compensating the coordinate points to be compensated under the coordinate system of the navigation system according to the origin offset vector and the base transformation matrix to obtain compensated coordinates.
Optionally, said is according to pa、pbAnd pcAnd
and
calculating an origin offset vector, specifically comprising:
calculating an origin offset vector according to the following formula
Optionally, said is according to pd、pe、
And the calculating of the origin offset vector basis transformation matrix specifically comprises:
the basis transform matrix a is calculated according to the following formula:
optionally, the compensating the coordinate point to be compensated in the navigation system coordinate system according to the origin offset vector and the basis transformation matrix specifically includes:
calculating compensated coordinates according to the following formula
Wherein the content of the first and second substances,
and representing coordinate points to be compensated in a coordinate system of the navigation system.
The present invention also provides a map error compensation system of a two-dimensional navigation system, comprising:
a first coordinate point obtaining module under the standard plane rectangular coordinate system, which is used for obtaining three coordinate points p under the standard plane rectangular coordinate systema、pbAnd pc(ii) a Wherein p isaDistance p between point and origin of rectangular coordinate system of standard planeaThe distance between the point and the origin of the rectangular coordinate system of the standard plane and pcThe distances between the point and the origin of the standard plane rectangular coordinate system are smaller than a first preset threshold;
a first coordinate point acquisition module in the coordinate system of the navigation system, which is used for respectively moving the navigation equipment to the coordinate points pa、pbAnd pcObtaining three coordinate points under the coordinate system of the navigation system
And
an origin offset vector calculation module for calculating the offset vector according to pa、pbAnd pcAnd
and
calculating an origin offset vector;
a second coordinate point obtaining module under the standard plane rectangular coordinate system, which is used for obtaining two coordinate points p under the standard plane rectangular coordinate systemdAnd pe(ii) a Wherein, the origin of the rectangular coordinate system of the standard plane is taken as a vertex, pd、peAnd the origin of the standard plane rectangular coordinate system forms an angle alpha, 90-alpha < epsilon, epsilon > 0, and pdDistance from the origin of the rectangular coordinate system of the standard plane and peWith origin of said rectangular coordinate system of reference planeThe distances are all larger than a second preset threshold value, and the second preset threshold value is larger than the first preset threshold value;
a second coordinate point acquisition module in the coordinate system of the navigation system, for moving the navigation device to the coordinate point p respectivelydAnd peObtaining two coordinate points under the coordinate system of the navigation systemAnd
a basis transformation matrix calculation module for calculating a basis transformation matrix according to pd、pe、
And calculating a basis transformation matrix by the origin offset vector;
and the compensation module is used for compensating the coordinate points to be compensated under the coordinate system of the navigation system according to the origin offset vector and the base transformation matrix to obtain compensated coordinates.
Optionally, the origin offset vector calculating module specifically includes:
an origin offset vector calculating unit for calculating an origin offset vector according to the following formula
Optionally, the basis transformation matrix calculation module specifically includes:
a basis transformation matrix calculation unit for calculating a basis transformation matrix a according to the following formula:
optionally, the compensation module specifically includes:
a compensation unit for calculating compensated coordinates according to the following formula
Wherein the content of the first and second substances,
and representing coordinate points to be compensated in a coordinate system of the navigation system.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a map error compensation method and a map error compensation system for a two-dimensional navigation systema、pbAnd pcWhen, p needs to be ensureda、pbAnd pcThe distance from the origin is short; since the main component of the navigation error is the angle deviation when the navigation error is far away from the origin, p is obtained under the standard plane rectangular coordinate systemdAnd peWhen the coordinate point is pointed, p needs to be ensureddAnd peFar from the origin while ensuring pd、peThe angle formed with the origin is approximately 90. The coordinate point to be compensated under the coordinate system of the navigation system is compensated by calculating the origin offset vector and the basis transformation matrix, so that the positioning precision can be effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic diagram of a map error compensation of a two-dimensional navigation system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a deviation between a rectangular coordinate system of a standard plane and a coordinate system of a navigation system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of two coordinate systems obtained by translation according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of two coordinate systems obtained by rotation in an embodiment of the present invention;
FIG. 5 is a schematic diagram of error as a function of distance from the origin in an embodiment of the present invention;
FIG. 6 is a diagram illustrating the ratio of two types of errors in the total error according to an embodiment of the present invention;
FIG. 7 is a flowchart of a map error compensation method of a two-dimensional navigation system according to an embodiment of the present invention;
FIG. 8 is a diagram illustrating an implementation of data compensation in an embodiment of the present invention;
FIG. 9 is a block diagram of a map error compensation system of a two-dimensional navigation system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and 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.
The invention aims to provide a map error compensation method and a map error compensation system of a two-dimensional navigation system, which can improve positioning accuracy.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Examples
In the navigation system deployment process, errors are generated between actual navigation coordinates and theoretical coordinates due to the fact that a coordinate system is manually calibrated on site, the errors are composed of a coordinate system origin offset vector and a coordinate system angle offset, the forming reasons of the errors between the navigation system coordinate system and a standard plane rectangular coordinate system are described, the error components are analyzed, and error compensation method steps and an error compensation formula are given.
The standard plane rectangular coordinate system provided by the invention is as follows: before the navigation system is deployed, an operation map is drawn based on a civil engineering CAD drawing according to actual working requirements, namely, theoretical calibration is carried out on multiple points in space. The coordinate system of the map is called a standard plane rectangular coordinate system.
The coordinate system of the navigation system provided by the invention is as follows: when the navigation system is deployed, a navigation system map needs to be constructed on an actual working site, and a coordinate system of the map is called as a navigation system coordinate system.
FIG. 1 is a schematic diagram of map error compensation of a two-dimensional navigation system according to an embodiment of the present invention, where as shown in FIG. 1, a point in a physical space is theoretically calibrated, a coordinate in a standard plane rectangular coordinate system is set as p, and a coordinate in a navigation system coordinate system is set as pThe invention aims to obtain compensated coordinates
So that
Approximately equal to p.
First, the error formation cause analysis is performed, fig. 2 is a schematic diagram of the deviation between the standard plane rectangular coordinate system and the navigation system coordinate system in the embodiment of the invention, as shown in fig. 2, T1Is a standard plane rectangular coordinate system, T2Is a navigation system coordinate system; o is1、O2Respectively, the origin of the two coordinate systems, and P is a certain point in the actual space.
Is T1、T2An origin offset vector; ang is T1、T2The angular deviation of (3). Because of T2Needs manual calibration and can be matched with T1There is a certain deviation, so that point P is at T1、T2Next, there will be 2 different coordinates, which are respectively designated as p1、
Fig. 3 and fig. 4 can be obtained by respectively translating and rotating fig. 2, fig. 3 is a schematic diagram of two coordinate systems obtained by translating, and fig. 4 is a schematic diagram of two coordinate systems obtained by rotating, so as to finally realize the coincidence of the two coordinate systems.
Then, an error component analysis is performed to construct the error shown in FIG. 2 as T1、T2Offset vector of origin
And T1、T2The angular deviation ang of the two parts is taken
The ang is 0.08, the error changes along with the distance from the origin as shown in fig. 5, and the length of the error vector gradually increases along with the increase of the distance from the origin; the abscissa and ordinate in fig. 5 have the unit of (meter). The two types of errors in fig. 5 are compared in the total error as shown in fig. 6, and as the distance from the origin increases, the percentage of the error in the origin gradually decreases, and the percentage of the error in the angle gradually increases, and the unit of the abscissa in fig. 6 is (meter). It can therefore be concluded that: the error is mainly composed of the deviation of the origin when the error is close to the origin, and the deviation of the angle when the error is far from the origin.
According to the above conclusion, the present invention provides a map error compensation method of a two-dimensional navigation system, as shown in fig. 7, the method comprising:
step 101: obtaining three coordinate points p under a standard plane rectangular coordinate systema、pbAnd pc(e.g. p)a＝(0,1)，pb＝(1,0)，pc(1, 1)). Wherein p isaDistance p from point to origin of rectangular coordinate system of standard planeaDistance between point and origin of rectangular coordinate system of standard plane and pcPoint and markDistances between origin points of the quasi-planar rectangular coordinate system are smaller than a first preset threshold, and p is required to be ensured when the first preset threshold is selecteda、pbAnd pcAnd the standard plane rectangular coordinate system is close to the origin so as to eliminate the origin deviation.
Step 102: moving the navigation device to coordinate points p, respectivelya、pbAnd pcObtaining three coordinate points under the coordinate system of the navigation system
Step 103: according to pa、pbAnd pcAnd
an origin offset vector is calculated.
Step 103, specifically comprising:
calculating an origin offset vector according to the following formula
Step 104: obtaining two coordinate points p under a standard plane rectangular coordinate systemdAnd pe(e.g. p)d＝(10,120)，pe(200, 20)). Wherein, the origin of the rectangular coordinate system of the standard plane is taken as the vertex, pd、peAnd the origin of the standard plane rectangular coordinate system forms an angle alpha, 90-alpha < epsilon, epsilon > 0, and pdDistance from origin of rectangular coordinate system of standard plane and peDistances between the standard plane rectangular coordinate system and the origin are larger than a second preset threshold, the second preset threshold is larger than the first preset threshold, and p is required to be ensured when the second preset threshold is selecteddAnd peAnd the distance is far from the origin of the standard plane rectangular coordinate system so as to eliminate the angular deviation.
Step 105: moving the navigation device to coordinate points p, respectivelydAnd peObtaining two coordinate points under the coordinate system of the navigation system
And
step 106: according to pd、pe、
And calculating a base transformation matrix by the origin offset vector.
Step 106, specifically comprising:
the basis transform matrix a is calculated according to the following formula:
step 107: and compensating the coordinate points to be compensated under the coordinate system of the navigation system according to the origin offset vector and the base transformation matrix to obtain compensated coordinates.
Step 107, specifically including:
calculating compensated coordinates according to the following formula
Wherein the content of the first and second substances,
and the coordinate point to be compensated in the navigation system coordinate system is represented, and the coordinate point of a certain point P in the actual space in the standard plane rectangular coordinate system is represented.
FIG. 8 shows dataThe implementation of the compensation is schematically shown in FIG. 8, and A are obtained from the above steps
Real-time output data of navigation system
After data compensation, obtaining
Will be provided with
As input for a subsequent navigation data application module.
As shown in fig. 9, the present invention provides a map error compensation system of a two-dimensional navigation system, including:
a first coordinate point obtaining module 201 in the rectangular coordinate system of the standard plane, configured to obtain three coordinate points p in the rectangular coordinate system of the standard planea、pbAnd pc. Wherein p isaDistance p from point to origin of rectangular coordinate system of standard planeaDistance between point and origin of rectangular coordinate system of standard plane and pcThe distances between the point and the origin of the standard plane rectangular coordinate system are smaller than a first preset threshold, and when the first preset threshold is selected, p is required to be ensureda、pbAnd pcAnd the standard plane rectangular coordinate system is close to the origin so as to eliminate the origin deviation.
A first coordinate point obtaining module 202 under the navigation system coordinate system, configured to move the navigation devices to coordinate points p respectivelya、pbAnd pcObtaining three coordinate points under the coordinate system of the navigation system
An origin offset vector calculation module 203 for calculating the offset vector according to pa、pbAnd pcAnd
an origin offset vector is calculated.
The origin offset vector calculating module 203 specifically includes:
an origin offset vector calculating unit for calculating an origin offset vector according to the following formula
A second coordinate point obtaining module 204 under the rectangular coordinate system of the standard plane, configured to obtain two coordinate points p under the rectangular coordinate system of the standard planedAnd pe. Wherein, the origin of the rectangular coordinate system of the standard plane is taken as the vertex, pd、peAnd the origin of the standard plane rectangular coordinate system forms an angle alpha, 90-alpha is less than epsilon, epsilon is more than 0, pdDistance from origin of rectangular coordinate system of standard plane and peDistances between the standard plane rectangular coordinate system and the origin are larger than a second preset threshold, the second preset threshold is larger than the first preset threshold, and p is required to be ensured when the second preset threshold is selecteddAnd peAnd the distance is far from the origin of the standard plane rectangular coordinate system so as to eliminate the angular deviation.
A second coordinate point obtaining module 205 in the coordinate system of the navigation system, configured to move the navigation device to the coordinate points p respectivelydAnd peObtaining two coordinate points under the coordinate system of the navigation systemAnd
a basis transformation matrix calculation module 206 for calculating a basis transformation matrix according to pd、pe、
And calculating a base transformation matrix by the origin offset vector.
The basis transformation matrix calculation module 206 specifically includes:
a basis transformation matrix calculation unit for calculating a basis transformation matrix a according to the following formula:
and the compensation module 207 is configured to compensate the coordinate point to be compensated in the navigation system coordinate system according to the origin offset vector and the basis transformation matrix, so as to obtain a compensated coordinate.
The compensation module 207 specifically includes:
a compensation unit for calculating compensated coordinates according to the following formula
Wherein the content of the first and second substances,
and representing coordinate points to be compensated in a coordinate system of the navigation system.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In summary, this summary should not be construed to limit the present invention.
Claims (8)
1. A map error compensation method of a two-dimensional navigation system, comprising:
obtaining three coordinate points p under a standard plane rectangular coordinate systema、pbAnd pc(ii) a Wherein p isaDistance p between point and origin of rectangular coordinate system of standard planeaPoint and said markDistance of origin of quasi-planar rectangular coordinate system and pcThe distances between the point and the origin of the standard plane rectangular coordinate system are smaller than a first preset threshold;
moving the navigation device to coordinate points p, respectivelya、pbAnd pcObtaining three coordinate points under the coordinate system of the navigation system
And
according to pa、pbAnd pcAnd
and
calculating an origin offset vector;
obtaining two coordinate points p under a standard plane rectangular coordinate systemdAnd pe(ii) a Wherein, the origin of the rectangular coordinate system of the standard plane is taken as a vertex, pd、peAnd the origin of the standard plane rectangular coordinate system forms an angle alpha, 90-alpha < epsilon, epsilon > 0, and pdDistance from the origin of the rectangular coordinate system of the standard plane and peDistances between the standard plane rectangular coordinate system and the origin of the standard plane rectangular coordinate system are larger than a second preset threshold, and the second preset threshold is larger than the first preset threshold;
moving the navigation device to coordinate points p, respectivelydAnd peObtaining two coordinate points under the coordinate system of the navigation system
And
according to pd、pe、And calculating a basis transformation matrix by the origin offset vector;
and compensating the coordinate points to be compensated under the coordinate system of the navigation system according to the origin offset vector and the base transformation matrix to obtain compensated coordinates.
2. The map error compensation method of a two-dimensional navigation system according to claim 1, wherein the p-base is a function of a distance between the first and second pointsa、pbAnd pcAnd
and
calculating an origin offset vector, specifically comprising:
calculating an origin offset vector according to the following formula
3. The map error compensation method of a two-dimensional navigation system according to claim 2, wherein the p-base is a function of a distance between the first and second pointsd、pe、
And the calculating of the origin offset vector basis transformation matrix specifically comprises:
the basis transform matrix a is calculated according to the following formula:
4. the map error compensation method of the two-dimensional navigation system according to claim 3, wherein the compensating the coordinate point to be compensated in the navigation system coordinate system according to the origin offset vector and the basis transformation matrix specifically comprises:
calculating compensated coordinates according to the following formula
Wherein the content of the first and second substances,
and representing coordinate points to be compensated in a coordinate system of the navigation system.
5. A map error compensation system of a two-dimensional navigation system, comprising:
a first coordinate point obtaining module under the standard plane rectangular coordinate system, which is used for obtaining three coordinate points p under the standard plane rectangular coordinate systema、pbAnd pc(ii) a Wherein p isaDistance p between point and origin of rectangular coordinate system of standard planeaThe distance between the point and the origin of the rectangular coordinate system of the standard plane and pcThe distances between the point and the origin of the standard plane rectangular coordinate system are smaller than a first preset threshold;
a first coordinate point acquisition module in the coordinate system of the navigation system, which is used for respectively moving the navigation equipment to the coordinate points pa、pbAnd pcObtaining three coordinate points under the coordinate system of the navigation system
And
an origin offset vector calculation module for calculating the offset vector according to pa、pbAnd pcAnd
and
calculating an origin offset vector;
a second coordinate point obtaining module under the standard plane rectangular coordinate system, which is used for obtaining two coordinate points p under the standard plane rectangular coordinate systemdAnd pe(ii) a Wherein, the origin of the rectangular coordinate system of the standard plane is taken as a vertex, pd、peAnd the origin of the standard plane rectangular coordinate system forms an angle alpha, 90-alpha < epsilon, epsilon > 0, and pdDistance from the origin of the rectangular coordinate system of the standard plane and peDistances between the standard plane rectangular coordinate system and the origin of the standard plane rectangular coordinate system are larger than a second preset threshold, and the second preset threshold is larger than the first preset threshold;
a second coordinate point acquisition module in the coordinate system of the navigation system, for moving the navigation device to the coordinate point p respectivelydAnd peObtaining two coordinate points under the coordinate system of the navigation system
And
a basis transformation matrix calculation module for calculating a basis transformation matrix according to pd、pe、
And calculating a basis transformation matrix by the origin offset vector;
and the compensation module is used for compensating the coordinate points to be compensated under the coordinate system of the navigation system according to the origin offset vector and the base transformation matrix to obtain compensated coordinates.
6. The map error compensation system of claim 5, wherein the origin offset vector calculation module specifically comprises:
an origin offset vector calculating unit for calculating an origin offset vector according to the following formula
7. The map error compensation system of claim 6, wherein the basis transform matrix calculation module specifically comprises:
a basis transformation matrix calculation unit for calculating a basis transformation matrix a according to the following formula:
8. the map error compensation system of the two-dimensional navigation system according to claim 7, wherein the compensation module specifically comprises:
a compensation unit for calculating compensated coordinates according to the following formula
Wherein the content of the first and second substances,
and representing coordinate points to be compensated in a coordinate system of the navigation system.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112288834A (en) * | 2020-09-25 | 2021-01-29 | 华晟（青岛）智能装备科技有限公司 | RGV map point coordinate calculation method and system and map generation method and system |
| CN114706222A (en) * | 2022-03-31 | 2022-07-05 | 青岛虚拟现实研究院有限公司 | Optical assembly method of VR equipment lens |
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2019
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112288834A (en) * | 2020-09-25 | 2021-01-29 | 华晟（青岛）智能装备科技有限公司 | RGV map point coordinate calculation method and system and map generation method and system |
| CN114706222A (en) * | 2022-03-31 | 2022-07-05 | 青岛虚拟现实研究院有限公司 | Optical assembly method of VR equipment lens |
| CN114706222B (en) * | 2022-03-31 | 2023-09-01 | 青岛虚拟现实研究院有限公司 | Optical assembly method of VR equipment lens |
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