CN111077557B - Positioning system and method for airport ground service vehicle - Google Patents
Positioning system and method for airport ground service vehicle Download PDFInfo
- Publication number
- CN111077557B CN111077557B CN202010000626.8A CN202010000626A CN111077557B CN 111077557 B CN111077557 B CN 111077557B CN 202010000626 A CN202010000626 A CN 202010000626A CN 111077557 B CN111077557 B CN 111077557B
- Authority
- CN
- China
- Prior art keywords
- positioning
- module
- ground service
- beidou
- service vehicle
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000000007 visual effect Effects 0.000 claims abstract description 21
- 230000010365 information processing Effects 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims abstract description 14
- 230000004927 fusion Effects 0.000 claims abstract description 9
- 238000012806 monitoring device Methods 0.000 claims description 8
- 238000001914 filtration Methods 0.000 claims description 4
- 238000013441 quality evaluation Methods 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000003384 imaging method Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000013507 mapping Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The invention discloses a positioning system for airport ground service vehicles, which comprises a Beidou positioning module, an INS inertial positioning module, a video positioning module, an information processing module, a communication module and a three-dimensional visual map, wherein the Beidou positioning module is used for positioning the airport ground service vehicles; the Beidou positioning module is used for outputting the positioned vehicle information to the information processing module through the communication module; the INS inertial positioning module is used for outputting the measured vehicle information to the information processing module through the communication module; the video positioning module is used for outputting the positioning information of the ground service vehicle to the information processing module through the communication module; the information processing module is used for adaptively matching threshold fusion positioning results to the received vehicle position information, and finally obtaining positioning results of the ground service vehicles and outputting the positioning results to the three-dimensional visual map; and the three-dimensional visual map is used for providing map display for the positioning result of the ground service vehicle. The invention also discloses a positioning method for the airport ground service vehicle, and the positioning method can accurately position the airport ground service vehicle.
Description
Technical Field
The invention relates to the technical field of navigation and positioning, in particular to a positioning system and a method for airport ground service vehicles.
Background
According to data display of '2018 civil aviation airport production statistics bulletin': in 2018, the transport volume of passengers in airports in China all year round exceeds 12 hundred million people, which is increased by 10.2% compared with the last year, and the finished goods transport volume is 1674 ten thousand tons, which is increased by 3.5% compared with the last year. With the continuous increase of air transportation traffic, the guarantee capability of most hub airports and trunk airports in China face greater and greater pressure, so that the time slot resources of the airports are used in a short time, air traffic jam is caused, flight delay is serious, and the service quality is reduced. According to incomplete statistics, the direct loss of each year of Chinese flight delay exceeds 500 billion yuan. Among the controllable factors influencing flight delay, the problems of incapability of guaranteeing service on the ground of an airport, urgent need for improving the service capacity of the airport and the like exist. This is mainly due to the fact that airports have a small number of ground service vehicles, and the service schedules of the ground service vehicles are not good. To improve the scheduling execution degree, it is necessary to first acquire an accurate position of the vehicle and track the vehicle in real time, and therefore, high-precision and reliable position information of the ground service vehicle is particularly important.
The working environment of airport ground service vehicles can be generally divided into outdoor environment, semi-indoor environment and indoor environment. Outdoor environment is relatively spacious, satellite signal is relatively better, and half indoor environment and indoor environment are relatively complicated, and satellite signal is sheltered from easily, and positioning deviation is great. At present, no system capable of meeting the requirement of high-precision positioning of airport ground service vehicles in different working environments exists. The ground service vehicle has the problem that the positioning result precision is not high in the semi-indoor and indoor environments.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art and provide a positioning system and a method for airport ground service vehicles.
The invention adopts the following technical scheme for solving the technical problems:
the positioning system for the airport ground service vehicle comprises a Beidou positioning module, an INS inertial positioning module, a video positioning module, an information processing module, a communication module and a three-dimensional visual map; the video positioning module comprises a plurality of camera monitoring devices, and the camera monitoring devices are distributed at the peripheral positions of the terminal building; the two Beidou satellite receiving antennas are fixed at the top end of the airport ground service vehicle in tandem, and the distance between the two Beidou satellite receiving antennas is at least 1 meter; the INS inertial positioning module is installed on an airport ground service vehicle; wherein,
the Beidou positioning module is used for outputting the positioned vehicle information to the information processing module through the communication module;
the INS inertial positioning module is used for outputting the measured vehicle information to the information processing module through the communication module;
the video positioning module is used for outputting the positioning information of the ground service vehicle to the information processing module through the communication module;
the information processing module is used for adaptively matching threshold fusion positioning results to the vehicle position information calculated by the Beidou positioning module, the INS inertial positioning module and the video positioning module, and finally obtaining positioning results of ground service vehicles and outputting the positioning results to the three-dimensional visual map;
and the three-dimensional visual map is used for providing map display for the positioning result of the ground service vehicle.
According to the positioning system for the airport ground service vehicle, the overlapping area of the visual field ranges captured by two adjacent camera monitoring devices is not less than 10% of the visual field, and the combined imaging pictures of all the camera monitoring devices can cover the working range of the airport ground service vehicle on the airport terminal building.
Method based on a positioning system for airport ground service vehicles, comprising the following steps:
s1: carrying out primary positioning on the ground service vehicle according to the Beidou positioning module;
s2: determining the range of the airport air side area where the ground service vehicle is located according to the primary positioning result, wherein the range is divided into a capture area and a non-capture area of the video positioning device;
s3: meanwhile, the positioning quality of the initial positioning result of the Beidou positioning module is evaluated in two aspects, on one hand, the distance between two receiving antennas is calculated according to the position information calculated by the two Beidou receivers and compared with the actual distance of the two antennas; on the other hand, whether the Beidou satellite positioning RTK has a fixed solution or not is judged;
s4: according to the region where the ground service vehicle is located and the information of satellite positioning quality evaluation, weights are given to the Beidou satellite positioning method, the video positioning method and the INS inertial positioning method;
s5: performing fusion positioning by combining three positioning methods according to positioning weight and adopting a self-adaptive filtering fusion algorithm;
s6: obtaining a high-frequency centimeter-level positioning and orienting result according to a filtering algorithm;
s7: and feeding back the positioning result to the INS inertial positioning module for correcting the INS inertial positioning module.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
(1) the monocular camera device is adopted to accurately position the ground service vehicles in the airport in indoor and semi-indoor areas;
(2) evaluating the reliability of the positioning information by adopting a Beidou double-antenna positioning result;
(3) and setting weight according to a reliability evaluation result, and adaptively fusing the Beidou, inertia and vision three positioning methods to improve positioning accuracy and reliability.
Drawings
FIG. 1 is a diagram of a method of operation of a positioning system for airport ground service vehicles.
Fig. 2 is a schematic diagram of a method for positioning airport ground service vehicles by a monocular camera device.
Fig. 3 is a partially enlarged view of a method for positioning airport ground service vehicles by a monocular camera device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a diagram of a method of operation of a positioning system for airport ground service vehicles; the method comprises the following specific steps:
The target object positioning is performed according to the camera linear imaging principle, as shown in figure 2,
wherein the gray plane in the figure is the ground surface in the view field, O w x w y w z w As a world coordinate system, O c x c y c z c Is a camera coordinate system o' i Is the origin of the imaging coordinate system, i.e. the central pixel point, u, of the imaging plane i ,v i Coordinate axes of an image coordinate system are respectively; c i For the position of the ith camera, h i Height of camera from ground, z ch For camera C i Perpendicular to the ground in the field of view o i The central pixel point of the imaging picture shot by the camera is also o' i Mapping points of points in the real world,/ i As a range camera and a mapping point o i Horizontal distance ofSeparating; b is a mixture of 1 For vehicle front-end Beidou positioning antenna, b 2 Is a vehicle rear-end Beidou positioning antenna, b' 1 And b' 2 The points are respectively the vertical points from the front and rear end antennas of the vehicle to the ground of the visual field, h b For the height from the Beidou antenna to the ground, the mapping relation between points in a camera coordinate system and an image coordinate system is as follows: point b 1 And point d 1 Coincidence is mapped to a point d' 1 Point b of 2 And point d 2 Coincidence map is point d' 2 。
Vehicle Beidou antenna b is caught to camera device 1 Rear, i.e. d 'on the camera image plane' 1 And calculating pixel points in an image coordinate system, and converting the coordinate information into coordinates in an imaging coordinate system.
Assuming physical dimensions of the imaging plane M and N, the resolution of the image is M N, M, N is u respectively i And v i Number of picture pixels in direction, thus d' 1 Coordinates (x) of the point in the imaging coordinate system b1 ,y b1 ) Can be expressed as:
wherein (u) 1i ，v 1i ) Is d' 1 And (4) corresponding pixel point coordinates in an image coordinate system.
Further, calculating the coordinate transformation formula between the imaging coordinate system and the camera coordinate system
Point d mapped in the camera coordinate system 1 Coordinates of (2)
Further in accordance with
At value of Rt Δ O c d 1 d 3 To obtain O c d 1 The distance of (c).
Further, from the figure, Δ O can be seen c z ch d 1 And Δ b 1 b 1 ′d 1 Is like a triangle, and h b Is known, point b 'can be found according to the principle of similar triangles' 1 Coordinates in the camera coordinate system
Further, b' 1 Coordinates of points under camera polar coordinate system
Plus the height h of the vehicle Beidou antenna from the ground in the z-axis direction b Can solve vehicle big dipper antenna b 1 Coordinates of points corresponding to the camera coordinate system
Further, points in the camera coordinate system can be calculated according to a coordinate conversion formula between the camera coordinate system and the world coordinate system
And the corresponding world coordinate under the world coordinate system is the accurate position of the Beidou antenna at the front end of the ground service vehicle under the world coordinate system.
In the same way, the ground service vehicle Beidou antenna b can be solved 2 The world coordinate system corresponding to the point.
Further, according to b 1 And b 2 Corresponding world coordinate combination b 1 And b 2 The spatial position of the ground service vehicle in the world coordinate system can be obtained relative to the position of the vehicle.
Further, by b 1 And b 2 Calculating the distance between two points according to the corresponding world coordinate positions, and combining the calculation result with b 1 And b 2 Comparing the actual distances between the points, the difference beingThe size can reflect the quality effect of visual positioning.
Fig. 3 is a partially enlarged view of a method for positioning airport ground service vehicles by a monocular camera device.
Embodiment 2 Multi-camera target positioning algorithm
When the ground service vehicle is in the overlapping area of the vision fields of the two cameras, the two cameras can capture the ground service vehicle and can calculate the positioning information. Since the view overlapping area is generally far from the imaging device and the calculated positional information error is large, it is conceivable to perform weighted fusion of the two camera positioning results to improve the accuracy. The invention adopts a weighted K-nearest neighbor (WKNN) method of multiple cameras to improve the positioning precision of the ground service vehicle.
The distance between the ground service vehicle and the camera device is in direct proportion to the error of the positioning result, so that the distance inverse proportion is set as a weighting item when multiple cameras are positioned.
The distance of the ground service vehicle from the camera can be equivalent to the distance of a target point on the imaging coordinate system from the coordinate origin, namely:
wherein (x) k ,y k ) And (4) imaging a target point of the ground service vehicle in a k-th camera device in a coordinate system.
According to the WKNN algorithm, the coordinates of the ground service vehicle in the world coordinate system under the K camera views are:
k∈[1,K] (5)
wherein (x) wk ,y wk ,z wk ) For the kth cameraCalculated coordinates of the ground service vehicle in the world coordinate system, W k As weighting coefficients of the WKNN algorithm, (x) w ,y w ,z w ) And finally positioning the ground service vehicle under a world coordinate system by the WKNN algorithm.
Embodiment 3 Beidou positioning and positioning quality evaluation
The Beidou positioning module comprises two Beidou satellite receiving antennas which are fixed at the front end and the rear end of the car roof respectively, the distance between the two satellite receiving antennas is not less than 1 meter, and the relative positions of the two satellite receiving antennas are known. The two Beidou satellite receiving antennas respectively correspond to the two Beidou satellite receivers, each Beidou receiver further comprises a communication module and a positioning board card, the communication module is used for receiving RTK differential correction data, and the positioning board card is used for resolving the position of each Beidou antenna in real time. The Beidou positioning module adopts a carrier phase difference technology, so that the positioning result can reach centimeter-level positioning accuracy.
The Beidou positioning module obtains positioning coordinates of the two Beidou satellite receiving antennas through resolving, calculates the relative position between the two Beidou satellite receiving antennas according to the coordinates, compares the calculation result with the actual relative position of the two Beidou satellite receiving antennas, and the difference value of the comparison result reflects the reliability of the Beidou satellite positioning effect.
Example 4 setting of weights for positioning methods
The setting of the weight of the positioning method is carried out by comprehensively considering the position of the airport where the ground service vehicle is positioned and the reliability of the three positioning methods.
The method comprises the steps that firstly, a ground service vehicle is preliminarily positioned through a Beidou positioning module, if the position of the ground service vehicle is located outside the visual field range of a video device, the weight of a visual positioning method is set to be zero, and only Beidou satellite positioning and inertial positioning methods are considered; if the position of the ground service vehicle is located in the vision field range of the video device, the positioning system comprehensively considers three methods of Beidou positioning, visual positioning and inertial positioning to fuse positioning results, wherein the weight setting of the visual positioning method is higher the distance between the ground service vehicle and the camera device is closer.
And setting fusion weight for the Beidou positioning method and the visual positioning method by comparing the difference value between the relative position information of the two Beidou positioning antennas calculated by the Beidou positioning method and the visual positioning method and the actual position information of the two Beidou positioning antennas. The larger the difference value is, the lower the positioning precision is, and the smaller the weight value setting is; conversely, the smaller the difference value is, the higher the positioning accuracy is, and the weight proportion setting should be larger.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (2)
1. A method for a positioning system of an airport ground service vehicle is characterized in that the positioning system for the airport ground service vehicle comprises a Beidou positioning module, an INS inertial positioning module, a video positioning module, an information processing module, a communication module and a three-dimensional visual map; the video positioning module comprises a plurality of camera monitoring devices, and the camera monitoring devices are distributed at the peripheral positions of the terminal building; the two Beidou satellite receiving antennas are fixed at the top end of the airport ground service vehicle in tandem, and the distance between the two Beidou satellite receiving antennas is at least 1 meter; the INS inertial positioning module is installed on an airport ground service vehicle; wherein,
the Beidou positioning module is used for outputting the positioned vehicle information to the information processing module through the communication module;
the INS inertial positioning module is used for outputting the measured vehicle information to the information processing module through the communication module;
the video positioning module is used for outputting the positioning information of the ground service vehicle to the information processing module through the communication module;
the information processing module is used for adaptively matching threshold fusion positioning results to the vehicle position information calculated by the Beidou positioning module, the INS inertial positioning module and the video positioning module, and finally obtaining positioning results of ground service vehicles and outputting the positioning results to the three-dimensional visual map;
the three-dimensional visual map is used for providing map display for the positioning result of the ground service vehicle;
the method of positioning a system comprises the steps of:
s1: carrying out primary positioning on the ground service vehicle according to the Beidou positioning module;
s2: determining the range of the airport air side area where the ground service vehicle is located according to the primary positioning result, wherein the range is divided into a capture area and a non-capture area of the video positioning device;
s3: meanwhile, the positioning quality of the initial positioning result of the Beidou positioning module is evaluated in two aspects, on one hand, the distance between two receiving antennas is calculated according to the position information calculated by the two Beidou receivers and compared with the actual distance of the two antennas; on the other hand, whether the Beidou satellite positioning RTK has a fixed solution or not is judged;
s4: according to the region where the ground service vehicle is located and the information of satellite positioning quality evaluation, weights are given to the Beidou satellite positioning method, the video positioning method and the INS inertial positioning method;
s5: performing fusion positioning by combining three positioning methods according to positioning weight and adopting a self-adaptive filtering fusion algorithm;
s6: obtaining high-frequency centimeter-level positioning and orientation results according to filtering algorithm
S7: and feeding back the positioning result to the INS inertial positioning module for correcting the INS inertial positioning module.
2. The method as claimed in claim 1, wherein the overlapping area of the captured visual field ranges of two adjacent camera monitoring devices is not less than 10% of the visual field, and the combined images of all the camera monitoring devices can cover the working range of the airport ground service vehicle at airport terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010000626.8A CN111077557B (en) | 2020-01-02 | 2020-01-02 | Positioning system and method for airport ground service vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010000626.8A CN111077557B (en) | 2020-01-02 | 2020-01-02 | Positioning system and method for airport ground service vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111077557A CN111077557A (en) | 2020-04-28 |
| CN111077557B true CN111077557B (en) | 2022-09-23 |
Family
ID=70321631
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010000626.8A Active CN111077557B (en) | 2020-01-02 | 2020-01-02 | Positioning system and method for airport ground service vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111077557B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107024216B (en) * | 2017-03-14 | 2020-08-04 | 重庆邮电大学 | Intelligent vehicle fusion positioning system and method introducing panoramic map |
| CN107084727B (en) * | 2017-04-12 | 2021-01-19 | 武汉理工大学 | Visual positioning system and method based on high-precision three-dimensional map |
| CN207318731U (en) * | 2017-10-13 | 2018-05-04 | 天津市勘察院 | A kind of device for monitoring vehicle with Big Dipper positioning and directing |
| CN108802786A (en) * | 2018-07-20 | 2018-11-13 | 北斗星通（重庆）汽车电子有限公司 | A kind of vehicle positioning method |
| CN110632633A (en) * | 2019-09-29 | 2019-12-31 | 成都云科新能汽车技术有限公司 | Vehicle-mounted integrated high-precision positioning equipment and positioning method |
-
2020
- 2020-01-02 CN CN202010000626.8A patent/CN111077557B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111077557A (en) | 2020-04-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110926474B (en) | Satellite/vision/laser combined urban canyon environment UAV positioning and navigation method | |
| CN110859044B (en) | Integrated sensor calibration in natural scenes | |
| US10210401B2 (en) | Real time multi dimensional image fusing | |
| US9134127B2 (en) | Determining tilt angle and tilt direction using image processing | |
| EP3792660B1 (en) | Method, apparatus and system for measuring distance | |
| CN102353377B (en) | High altitude long endurance unmanned aerial vehicle integrated navigation system and navigating and positioning method thereof | |
| CN109212545A (en) | Multiple source target following measuring system and tracking based on active vision | |
| US20160238394A1 (en) | Device for Estimating Position of Moving Body and Method for Estimating Position of Moving Body | |
| CN110632589B (en) | Radar photoelectric information fusion technology | |
| JP7338369B2 (en) | Environment map adjustment value calculation method and environment map adjustment value calculation program | |
| CN103065323A (en) | Subsection space aligning method based on homography transformational matrix | |
| CN112666963A (en) | Road pavement crack detection system based on four-axis unmanned aerial vehicle and detection method thereof | |
| CN106370160A (en) | Robot indoor positioning system and method | |
| CN114034296B (en) | Navigation signal interference source detection and identification method and system | |
| CN115657101B (en) | Method for assisting GNSS-INS (Global navigation satellite System-inertial navigation System) high-precision navigation positioning by using fisheye camera | |
| CN114413958A (en) | Monocular vision distance and speed measurement method of unmanned logistics vehicle | |
| CN115164900A (en) | Omnidirectional camera based visual aided navigation method and system in urban environment | |
| CN113589848B (en) | Multi-unmanned aerial vehicle detection, positioning and tracking system and method based on machine vision | |
| CN109146936B (en) | Image matching method, device, positioning method and system | |
| CN111077557B (en) | Positioning system and method for airport ground service vehicle | |
| Jiang et al. | Multilayer map construction and vision-only multi-scale localization for intelligent vehicles in underground parking | |
| CN116026323A (en) | Positioning and regional error proofing method for engine oil filling machine | |
| CN112837343B (en) | Low-altitude unmanned-machine prevention and control photoelectric early warning identification method and system based on camera array | |
| CN113917875A (en) | Open universal intelligent controller, method and storage medium for autonomous unmanned system | |
| CN113808199A (en) | Positioning method, electronic equipment and positioning system |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |