CN111025339B

CN111025339B - Method, device, equipment and computer readable storage medium for determining positioning delay

Info

Publication number: CN111025339B
Application number: CN201811173852.5A
Authority: CN
Inventors: 芮晓飞; 宋适宇; 彭亮
Original assignee: Baidu Online Network Technology Beijing Co Ltd
Current assignee: Baidu Online Network Technology Beijing Co Ltd
Priority date: 2018-10-09
Filing date: 2018-10-09
Publication date: 2022-04-15
Anticipated expiration: 2038-10-09
Also published as: CN111025339A

Abstract

Embodiments of the present disclosure relate to methods, apparatuses, devices and computer-readable storage media for determining positioning latency. In the method, a first time of arrival of the carrier at a first position is determined, the carrier being provided with a positioning system, wherein the carrier starts from a second position and rests in the second position before starting. Positioning data is acquired relating to the first position and the second position, the positioning data indicating positions of the carrier measured by the positioning system at different times. Based on the positioning data and the distance between the first position and the second position, a second time at which the carrier arrives at the first position is determined. Based on the first time and the second time, a time delay of the positioning system is determined.

Description

Method, device, equipment and computer readable storage medium for determining positioning delay

Technical Field

Embodiments of the present disclosure relate generally to positioning systems and, more particularly, relate to methods, apparatuses, devices, and computer-readable storage media for determining latency of positioning systems.

Background

Various real-time positioning systems, such as Global Navigation Satellite Systems (GNSS), have very specific requirements on positioning accuracy. According to the high-precision test equipment and the measurement method, the position precision indexes of various positioning systems can be scientifically evaluated. However, due to the complexity of time errors, there is no easy-to-implement measurement method for the delay index of the real-time positioning system, so that the delay of the positioning system cannot be precisely and scientifically evaluated. This becomes a difficult point in the evaluation of location results and also presents a risk to various location-based services.

It is therefore desirable to provide a solution for determining a positioning delay of a positioning system that at least partially solves the above technical problem.

Disclosure of Invention

According to an embodiment of the present disclosure, a scheme for determining a positioning delay of a positioning system is provided.

In a first aspect of the disclosure, a method for determining a latency of a positioning system is provided. The method comprises the following steps: determining a first time of arrival of a carrier at a first location, the carrier configured with the positioning system, wherein the carrier departs from a second location and rests at the second location prior to departure; acquiring positioning data relating to the first and second positions, the positioning data indicating positions of the carrier measured by the positioning system at different times; determining a second time for the carrier to reach the first location based on the positioning data and a distance between the first location and the second location; and determining a delay time of the positioning system based on the first time and the second time.

In a second aspect of the disclosure, an apparatus for determining latency of a positioning system is provided. The device includes: a first determination module configured to determine a first time at which a carrier arrives at a first location, the carrier being configured with the positioning system, wherein the carrier departs from a second location and rests at the second location before departing; an acquisition module configured to acquire positioning data relating to the first and second positions, the positioning data indicating positions of the carrier measured by the positioning system at different times; a second determining module configured to determine a second time at which the carrier arrives at the first location based on the positioning data and a distance between the first location and the second location; and a third determining module configured to determine a latency of the positioning system based on the first time and the second time.

In a third aspect of the disclosure, an electronic device is provided. The electronic device includes: one or more processors; and memory for storing one or more programs that, when executed by the one or more processors, cause an electronic device to implement a method in accordance with the first aspect of the disclosure.

In a fourth aspect of the present disclosure, a computer readable medium is provided, having stored thereon a computer program, which when executed by a processor, implements a method according to the first aspect of the present disclosure.

It should be understood that the statements herein reciting aspects are not intended to limit the critical or essential features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like or similar reference characters designate like or similar elements, and wherein:

FIG. 1 illustrates a schematic diagram of an exemplary environment in which embodiments of the present disclosure can be implemented;

FIG. 2 illustrates a flow chart of a method of determining latency of a positioning system according to some embodiments of the present disclosure;

FIG. 3 illustrates a schematic diagram of a system for determining latency of a positioning system, in accordance with some embodiments of the present disclosure;

FIG. 4 illustrates a schematic diagram of a system for determining latency of a positioning system, in accordance with some embodiments of the present disclosure;

FIG. 5 illustrates a graph that determines latency of a positioning system according to some embodiments of the present disclosure;

fig. 6 illustrates a block diagram of an apparatus for determining latency of a positioning system in accordance with some embodiments of the present disclosure; and

fig. 7 illustrates a block diagram of an electronic device capable of implementing some embodiments of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.

As mentioned above, there is currently no solution for simply and efficiently determining the latency of a positioning system. In response to the above problems, as well as other potential problems, embodiments of the present disclosure provide a solution for determining latency of a positioning system. In this solution, a first time of arrival at a first location of a carrier provided with a positioning system is determined, wherein the carrier departs from a second location and rests in the second location before departure. Positioning data is acquired relating to the first position and the second position, the positioning data indicating positions of the carrier measured by the positioning system at different times. Based on the positioning data and the distance between the first position and the second position, a second time at which the carrier arrives at the first position is determined. Based on the first time and the second time, a time delay of the positioning system is determined. In this way, the delay of the positioning system can be determined simply and efficiently. It should be understood that the term "time" may refer to absolute time as well as to relative time that is synchronized. For example, the first time and the second time may both represent absolute times. In another embodiment, the first time and the second time may represent relative times that are synchronized with respect to the same time reference.

Embodiments of the present disclosure are described in detail below in conjunction with fig. 1-5.

FIG. 1 illustrates a schematic diagram of an exemplary environment 100 in which embodiments of the present disclosure can be implemented. As shown in fig. 1, vehicle 102 is traveling on road 106, and vehicle 102 may be an autonomous vehicle. The vehicle 102 is provided with a positioning system (not shown), which may be a Global Navigation Satellite System (GNSS), such as a global positioning satellite system (GPS), a beidou navigation system, or the like. Alternatively, the positioning system may be other real-time positioning systems such as a laser positioning system. It should be appreciated that although the vehicle 102 is described herein as an example, embodiments of the present disclosure may be applied to any other suitable type of carrier, such as a drone or the like.

The vehicle 102 is also provided with a photosensor 104, which may be any suitable type of photosensor. The photosensor 104 may emit light in a predetermined direction and detect the reflected light. In fig. 1, the photosensor 104 may emit light toward the roadside and detect light reflected by an object on the roadside. If the photoelectric sensor 104 detects the reflected light signal, an object disposed on the roadside is detected. Thus, the photoelectric sensor 104 may be used to measure the time that the vehicle 102 reaches a particular location. For example, one side of the roadway 106 may be provided with

objects

108 and 110, which may be posts. It should be understood that

objects

108 and 110 are provided by way of example only, that more or fewer objects may be provided on both sides of the roadway, and that various shapes may be provided.

For example, the photosensor 104 may be a laser sensor that can emit laser light and detect the laser light reflected by an object on the roadside. The laser has better collimation and higher intensity, so the laser has higher detection precision. It should be understood that although various components are described above in connection with fig. 1, in some embodiments, one or more components may be omitted or replaced without departing from the principles of the present disclosure.

Fig. 2 illustrates a flow diagram of a method 200 for determining a latency of a positioning system, in accordance with some embodiments of the present disclosure. The method 200 may be implemented at least in part by the vehicle 102 shown in fig. 1, and in particular the electronics in the vehicle 102.

At block 202, a first time at which a carrier arrives at a first location is determined. For example, the first time may be determined by means of a marker as a reference time for the positioning. The carrier may be a vehicle 102 as shown in fig. 1, but may also be any other suitable type of carrier, such as a drone. As shown in fig. 4, the first position may correspond to a position at which the object 110 is located. As shown in FIG. 3, the vehicle 102 departs from a second position corresponding to where the object 108 is located and rests in the second position prior to departure.

In some embodiments, the first time may be determined in various ways. For example, the first time may be determined by the photosensor 104 as shown in FIG. 1. For example, if the photosensor 104 receives a reflected light signal reflected by the object 110, a first time at which the carrier reaches the first position is determined. The reflected light signal is generated by the object 110 reflecting light emitted by the photosensor 104. Although the above is combined with the determination of the first position by means of a marker, alternatively, the first time at which the carrier reaches the first position may be determined by means of other suitable timers or timing means.

At block 204, positioning data relating to the first location and the second location is acquired, the positioning data indicating locations of the carrier measured by the positioning system at different times. For example, the positioning data may indicate the position of the vehicle 102 at a plurality of different times as measured by a positioning system, such as a GPS, that indicates the position of the vehicle 102 versus time. For example, this relationship may be represented by a time-dependent curve of the position of the vehicle 102, as shown in the graph of fig. 5, where the horizontal axis t represents time and the vertical axis S represents the position of the vehicle 102. It should be appreciated that although fig. 5 illustrates the position of the vehicle 102 versus time when the vehicle 102 is moving at a constant velocity, the present application is not so limited. For example, the vehicle 102 may also be moving in an accelerating manner, a decelerating manner, or other manners.

At block 206, a second time for the carrier to reach the first location is determined based on the positioning data and the distance between the first location and the second location. As shown in fig. 5, the curve represents positioning data, which represents a time-varying curve of the position of the vehicle 102. For example, from the positioning data, a time-invariant position of the vehicle 102 may be determined as a second position, which is represented by a on the vertical axis. Since the vehicle 102 is stationary at the second location before the departure, the data corresponding to the second location can be conveniently found in the positioning data. In positioning data, moving from the second position by a distance between the two positions (denoted by x), a first position may be determined, which is denoted by B on the vertical axis. From the positioning data, a time corresponding to the first position (denoted by B) may be determined as the second time, i.e., time T.

At block 208, a latency of the positioning system is determined based on the first time and the second time. For example, the difference between the first time and the second time is determined as the latency of the positioning system. As shown in fig. 5, T represents the second time, and if T0 is used to represent the first time, T0-T represents the delay time of the positioning system.

In some embodiments, the distance (represented by x) between the first location and the second location may be determined in various ways. For example, the distance may be measured using the photoelectric sensor 104. Specifically, if the photoelectric sensor 104 receives a reflected light signal reflected by the object 110, it is determined that the vehicle 102 has reached the first position. The reflected light signal is generated by object 110 reflecting light emitted by photoelectric sensor 104. If the photoelectric sensor 104 receives a reflected light signal reflected by the object 108, it is determined that the vehicle 102 is in the second position. The reflected light signal is generated by the object 108 reflecting light emitted by the photoelectric sensor 104. Then, a distance (denoted by x) between the first and second positions is determined based on the determined positions.

Alternatively, the distance may be determined by a simple ranging method. For example, a measuring tool such as a ruler may be used to measure the distance between the first and second locations.

According to embodiments of the present disclosure, the latency of the positioning system may be conveniently determined by comparing the time in the positioning system with a reference time when the carrier is at a certain position (e.g., the first position). The time of the positioning system may be determined by starting the carrier from a stationary position to determine a reference position (e.g. the second position) and by the distance between this position and the reference position to determine the time of arrival of the carrier at this position in the positioning system. In this way, the latency of the positioning system can be determined with lower computational resources.

Fig. 6 illustrates a block diagram of an apparatus 600 for determining latency of a positioning system, in accordance with some embodiments of the present disclosure. The apparatus 600 may be embodied by the vehicle 102 of fig. 1 (and in particular the electronic devices therein). It should be understood that any other suitable type of carrier may be used in place of the vehicle 102 as shown in fig. 1, for example, a drone. The vehicle 102 may be an autonomous vehicle.

As shown in fig. 6, the apparatus 600 comprises a first determination module 602, the first determination module 602 being configured to determine a first time at which a carrier arrives at a first location, the carrier being configured with a positioning system, wherein the carrier starts from a second location and rests at the second location before starting. For example, the positioning system may be a Global Navigation Satellite System (GNSS), such as GPS.

In some embodiments, the carrier is further configured with a photosensor, the first object is disposed at the first location, and the first determination module 602 comprises: a sixth determination module configured to determine a first time of arrival of the carrier at the first location in response to the photosensor receiving a reflected light signal reflected by the first object, the reflected light signal resulting from the first object reflecting light emitted by the photosensor. For example, the photosensor is a laser sensor.

The apparatus 600 comprises an obtaining module 604 configured to obtain positioning data relating to the first position and the second position, the positioning data comprising positions of the carrier measured by the positioning system at different times.

The apparatus 600 comprises a second determining module 606 configured to determine a second time of arrival of the carrier at the first location based on the positioning data and a distance between the first location and the second location.

In some embodiments, the second determining module 606 includes: a fourth determination module configured to determine a position of the carrier, which is invariant over time, as a second position from the positioning data; a movement module configured to move a distance from the second location in the positioning data to determine the first location; and a fifth determining module configured to determine a time corresponding to the first position as the second time from the positioning data.

The apparatus 600 includes a third determining module 608 configured to determine a delay time of the positioning system based on the first time and the second time.

In some embodiments, the carrier is further configured with a photosensor, the first object is disposed at the first location, the second object is disposed at the second location, and the apparatus further comprises a seventh determining module. The seventh determining module is configured to determine the distance by: determining that the carrier has reached the first location in response to the photosensor receiving a first reflected light signal reflected by the first object, the first reflected light signal resulting from the first object reflecting light emitted by the photosensor; determining that the carrier is in the second position in response to the photosensor receiving a second reflected light signal reflected by a second object, the second reflected light signal resulting from the second object reflecting light emitted by the photosensor; and determining a distance between the first location and the second location based on the first location and the second location.

FIG. 7 shows a schematic block diagram of an apparatus 700 that may be used to implement embodiments of the present disclosure. The device 700 may be used to implement, at least in part, the electronics in the vehicle 102 of fig. 1 for determining the latency of a positioning system. As shown in fig. 7, device 700 includes a Central Processing Unit (CPU)701 that may perform various appropriate actions and processes in accordance with computer program instructions stored in a Read Only Memory (ROM)702 or computer program instructions loaded from a storage unit 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.

Various components in the device 700 are connected to the I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, or the like; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708 such as a magnetic disk, optical disk, or the like; and a communication unit 709 such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The various processes and processes described above, for example method 200, may be performed by processing unit 701. For example, in some embodiments, the method 200 may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 708. In some embodiments, part or all of a computer program may be loaded onto and/or installed onto device 700 via ROM 702 and/or communications unit 709. When the computer program is loaded into the RAM 703 and executed by the CPU 701, one or more steps of the method 200 described above may be performed. Alternatively, in other embodiments, the CPU 701 may be configured to perform the method 200 in any other suitable manner (e.g., by way of firmware).

The present disclosure may be methods, apparatus, systems, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for carrying out various aspects of the present disclosure.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the present disclosure by utilizing the state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).

Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processing unit of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processing unit of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for determining latency of a positioning system, comprising:

determining a first time of arrival of a carrier at a first location, the carrier configured with the positioning system, wherein the carrier departs from a second location and rests at the second location prior to departure;

acquiring positioning data relating to the first and second positions, the positioning data indicating positions of the carrier measured by the positioning system at different times;

determining a second time for the carrier to reach the first location based on the positioning data and a distance between the first location and the second location; and

determining a latency of the positioning system based on the first time and the second time.

2. The method of claim 1, wherein determining the second time comprises:

determining the position of the carrier unchanged with time from the positioning data as the second position;

moving the distance from the second location in the positioning data to determine the first location; and

determining, from the positioning data, a time corresponding to the first position as the second time.

3. The method of claim 1, wherein the carrier is further configured with a photosensor, the first location has a first object disposed therein, and determining the first time comprises:

determining the first time of arrival of the carrier at the first location in response to the photosensor receiving a reflected light signal reflected by the first object, the reflected light signal resulting from the first object reflecting light emitted by the photosensor.

4. The method of claim 1, wherein the carrier is further configured with a photosensor, a first object is disposed at the first location, a second object is disposed at the second location, and the method further comprises determining the distance, comprising:

determining that the carrier reaches the first position in response to the photosensor receiving a first reflected light signal reflected by the first object, the first reflected light signal resulting from the first object reflecting light emitted by the photosensor;

determining that the carrier is in the second position in response to the photosensor receiving a second reflected light signal reflected by the second object, the second reflected light signal resulting from the second object reflecting light emitted by the photosensor; and

determining a distance between the first location and the second location based on the first location and the second location.

5. The method of claim 3 or 4, wherein the photosensor is a laser sensor.

6. The method of claim 1, wherein the positioning system is a global satellite navigation system.

7. The method of claim 1, wherein the carrier is an autonomous vehicle or a drone.

8. An apparatus for determining a latency of a positioning system, comprising:

a first determination module configured to determine a first time at which a carrier arrives at a first location, the carrier being configured with the positioning system, wherein the carrier departs from a second location and rests at the second location before departing;

an acquisition module configured to acquire positioning data relating to the first and second positions, the positioning data indicating positions of the carrier measured by the positioning system at different times;

a second determining module configured to determine a second time at which the carrier arrives at the first location based on the positioning data and a distance between the first location and the second location; and

a third determination module configured to determine a latency of the positioning system based on the first time and the second time.

9. The apparatus of claim 8, wherein the second determining module comprises:

a fourth determining module configured to determine a position of the carrier that is invariant over time from the positioning data as the second position;

a movement module configured to move the distance from the second location in the positioning data to determine the first location; and

a fifth determining module configured to determine a time corresponding to the first position from the positioning data as the second time.

10. The apparatus of claim 8, wherein the carrier is further configured with a photosensor, a first object is disposed at the first location, and the first determining module comprises:

a sixth determining module configured to determine the first time at which the carrier reaches the first position in response to the photosensor receiving a reflected light signal reflected by the first object, the reflected light signal resulting from the first object reflecting light emitted by the photosensor.

11. The apparatus of claim 8, wherein the carrier is further configured with a photosensor, a first object is disposed at the first location, a second object is disposed at the second location, and the apparatus further comprises a seventh determination module configured to determine the distance by:

12. The apparatus of claim 10 or 11, wherein the photosensor is a laser sensor.

13. The apparatus of claim 8, wherein the positioning system is a global satellite navigation system.

14. The apparatus of claim 8, wherein the carrier is an autonomous vehicle or a drone.

15. An electronic device, the electronic device comprising:

one or more processors; and

memory storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the method of any of claims 1-7.

16. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-7.