CN111397594A - Global initialization positioning method and device, electronic equipment and storage medium - Google Patents
Global initialization positioning method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the application provides a global initialization positioning method and device, electronic equipment and a storage medium, and relates to the technical field of robot positioning. The method comprises the following steps: acquiring a current radar data point, and extracting a blank safe area; controlling an automatic guiding device to move towards the safe area; judging the convergence degree of the preset positioning nodes to determine the final initialization position of the automatic guiding device according to the convergence degree of each positioning node; the data updating is carried out along with the movement of the automatic guiding device by the preset positioning node, and the problem that automatic and accurate initialization cannot be carried out at any position after the conventional AGV is started is solved.
Description
Technical Field
The present disclosure relates to the field of robot positioning technologies, and in particular, to a global initialization positioning method, apparatus, electronic device, and storage medium.
Background
After a conventional AGV (Automated Guided Vehicle) is started, position initialization requires manually setting a position, that is, an operator compares a corresponding position and a corresponding direction on a map according to an actual position of the AGV, and manually marks the position and the direction of the AGV on the map by using an arrow. This operation is difficult and confusing for ordinary non-developers, and it is also very difficult for the AGVs to start at any position and automatically perform their tasks.
Disclosure of Invention
An object of the embodiments of the present application is to provide a global initialization positioning method and apparatus, an electronic device, and a storage medium, which solve the problem that the existing AGV cannot automatically and accurately initialize at any position after being started.
The embodiment of the application provides a global initialization positioning method, which comprises the following steps:
acquiring a current radar data point, and extracting a blank safe area;
controlling an automatic guiding device to move towards the safe area;
judging the convergence degree of the preset positioning nodes to determine the final initialization position of the automatic guiding device according to the convergence degree of each positioning node; and the preset positioning node updates data along with the movement of the automatic guiding device.
In the implementation process, in the process that the automatic guiding device moves to the safe area, each positioning node updates data in real time, and the convergence degree changes constantly, so that the position with high convergence degree, namely the position with the highest matching score with the map position, can be extracted according to the convergence process of each positioning node to serve as the final initialization position of the automatic guiding device, the initialization positioning of any position based on the combination of target point matching and positioning algorithms is achieved, and the problem that automatic and accurate initialization cannot be carried out at any position after the existing AGV is started is solved.
Further, before the step of determining the convergence degree of the preset positioning node, the method further includes acquiring the preset positioning node, where the step of acquiring the preset positioning node includes:
acquiring laser radar data, and filtering the laser radar data to obtain an initial template;
rotating the initial template for multiple times according to a preset angle to obtain a template series;
traversing and matching the template series in a map to obtain candidate position points in the map;
and taking the candidate position points as initial position points and respectively creating positioning nodes, wherein the positioning nodes are self-adaptive Monte Carlo positioning nodes.
In the implementation process, the initial template is rotated by multiple angles to obtain a plurality of rotated templates, namely the template series, each template in the template series is respectively traversed and matched in a map to obtain candidate position points so as to obtain the position range of automatic positioning of an automatic guiding device such as an AGV, and the positioning nodes can adopt self-adaptive Monte Carlo positioning nodes to realize the initial positioning of any position based on the combination of target point matching and AMC L.
Further, the rotating the initial template for multiple times according to a preset angle to obtain a template series includes:
setting the preset angle as n Step, wherein Step is the Step number, Delta is 360/Step, n is 1,2,3 …, Step;
and sequentially rotating the initial template by the angle of n Delta to respectively generate templates corresponding to each rotation angle and form a template series.
In the implementation process, the rotation angle of the initial template is given, the initial template is rotated for multiple times through a preset angle, and the rotated templates are obtained to obtain a template series.
Further, the step of performing traversal matching on the template series in the map to obtain candidate position points in the map includes:
acquiring a matching value of each position coordinate in a map;
taking the map position with the matching value larger than the matching threshold value as a candidate position point;
wherein, the calculation formula of the matching value is as follows:
where T denotes intensity data of the normalized radar data point, I denotes the normalized map, (I, j) denotes a position coordinate on the map, p denotes a serial number of the radar data point, and (m, n) denotes a radar position point that is new on the map when each template in the template series is moved entirely to the (I, j) position of the map, and x is 1,2, …, m, y is 1,2, …, n.
In the implementation process, the matching degree of each template in the template series and each point on the map is measured through the matching value, and the corresponding coordinate position on the map with the matching value larger than the matching threshold value is used as a candidate position point.
Further, the obtaining of the current radar data point and the extracting of the blank safety area include:
sequentially connecting current radar data points to form a polygonal area;
performing morphological closing operation on the polygonal area, and acquiring a first maximum inscribed rotation rectangle of the polygonal area;
subtracting the first maximum inscribed rotation rectangle from the polygonal area to obtain a residual area;
and acquiring a second maximum inscribed rotation rectangle of the residual region, and setting the second maximum inscribed rotation rectangle as a target region.
In the implementation process, all current radar data points are connected to form a polygonal area, morphological closing operation and a maximum inscribed rotation rectangle are sequentially carried out on the area, the two are subtracted to obtain a residual area, a second maximum inscribed rotation rectangle of the residual area is obtained, and the second maximum inscribed rotation rectangle is used as a target area, namely a blank safety area.
An embodiment of the present application further provides a global initialization positioning apparatus, where the apparatus includes:
the safety region extraction module is used for acquiring a current radar data point and extracting a blank safety region;
the movement control module is used for controlling the automatic guiding device to move towards the safe area;
the convergence judging module is used for judging the convergence degree of the preset positioning nodes so as to determine the final initialization position of the automatic guiding device according to the convergence degree of each positioning node; and the preset positioning node updates data along with the movement of the automatic guiding device.
In the implementation process, the automatic guiding device is controlled to move towards the safe area, in the process, the data of each positioning node is updated in real time, the convergence degree is changed accordingly, accurate positioning of the initialization position is achieved through comprehensive judgment of the convergence degree, and the problem that automatic and accurate initialization cannot be carried out at any position after the existing AGV is started is solved.
Further, the apparatus further comprises a positioning node obtaining module:
the initial template acquisition module is used for acquiring laser radar data and filtering the laser radar data to obtain an initial template;
the rotating module is used for rotating the initial template for multiple times according to a preset angle so as to obtain a template series;
the candidate position point acquisition module is used for traversing and matching the template series in a map to acquire candidate position points in the map;
and the positioning node creating module is used for taking the candidate position points as initial position points and respectively creating positioning nodes, and the positioning nodes are self-adaptive Monte Carlo positioning nodes.
In the implementation process, the candidate position points can be obtained through rotation and traversal matching, and positioning nodes are created in the candidate position points and used for judging the convergence degree of the candidate position points.
Further, the secure area extraction module includes:
the system comprises a polygonal area acquisition module, a data acquisition module and a data acquisition module, wherein the polygonal area acquisition module is used for sequentially connecting current radar data points and forming a polygonal area;
the first maximum inscribed rotation rectangle acquisition module is used for performing morphological closing operation on the polygonal area and acquiring a first maximum inscribed rotation rectangle of the polygonal area;
a residual region obtaining module, configured to subtract the first maximum inscribed rotation rectangle from the polygonal region to obtain a residual region;
and the target area acquisition module is used for acquiring a second maximum inscribed rotation rectangle of the residual area and setting the second maximum inscribed rotation rectangle as a target area.
In the implementation process, the target area is positioned according to the current radar data point, the accuracy of initial positioning is improved, and the automatic guiding device can automatically acquire the current actual position when being started at any position under the condition that a plurality of local environments in a global environment are the same.
An embodiment of the present application further provides an electronic device, where the electronic device includes a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to enable the computer device to execute any one of the above global initial positioning methods.
An embodiment of the present application further provides a readable storage medium, where computer program instructions are stored, and when the computer program instructions are read and executed by a processor, the global initialization positioning method described in any of the above is executed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a flowchart of a global initialization positioning method according to an embodiment of the present application;
FIG. 2 is a flow chart of an algorithm implementation provided by an embodiment of the present application;
fig. 3 is a specific flowchart for acquiring a secure area according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a current radar data point provided by an embodiment of the present application;
FIG. 5 is a schematic diagram of a polygonal region origin provided in an embodiment of the present application;
FIG. 6 illustrates an area formed after a morphological close operation as provided by an embodiment of the present application;
fig. 7 is a schematic diagram of a first maximum inscribed rotation rectangle Rect provided in the embodiment of the present application;
FIG. 8 is a schematic diagram of a remaining area provided by an embodiment of the present application;
fig. 9 is a schematic diagram of a second maximum inscribed rotation rectangle Target provided in the embodiment of the present application;
fig. 10 is a flowchart of acquiring a preset positioning node according to an embodiment of the present application;
fig. 11 is a flowchart for acquiring a candidate location point in a map according to an embodiment of the present disclosure;
fig. 12 is a block diagram illustrating a global initialization positioning apparatus according to an embodiment of the present disclosure;
fig. 13 is a specific structural block diagram of a global initialization positioning device according to an embodiment of the present application.
Icon:
100-secure enclave extraction module; 101-a polygonal area acquisition module; 102-a first maximum inscribed rotation rectangle acquisition module; 103-a residual region acquisition module; 104-target area acquisition module; 200-a mobile control module; 300-convergence judging module; 301-positioning node acquisition module; 310-initial template acquisition module; 320-a rotation module; 321-an angle setting module; 322-template series generation module; 330-candidate location point obtaining module; 331-matching value calculation module; 332-candidate location point determination module; 340-positioning node creation module.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, fig. 1 is a flowchart of a global initialized positioning method provided by an embodiment of the present application, for example, a positioning algorithm adopted by the present application is based on an Adaptive Monte Carlo positioning algorithm AMC L (Adaptive Monte Carlo L optimization) in combination with target point matching, so as to implement initialized positioning at an arbitrary position, and solve the problem that an automatic guiding device, such as an AGV, starts to automatically acquire a current actual position at an arbitrary position in a global environment and a plurality of local environments are the same, as shown in fig. 2, the method is a flowchart implemented by an algorithm, and specifically includes the following steps:
step S100: acquiring a current radar data point, and extracting a blank safe area;
this step is for acquiring a movement target area of the automatic guiding apparatus, and is a specific flowchart for acquiring a safety area, as shown in fig. 3. The step may specifically include the following steps:
step S101: sequentially connecting current radar data points to form a polygonal area;
the current radar data points are all connected to form a polygonal region and named Original, as shown in fig. 4 and 5, which are schematic diagrams of the current radar data points and the polygonal region Original, respectively.
Step S102: performing morphological closing operation on the polygonal area, and acquiring a first maximum inscribed rotation rectangle of the polygonal area;
performing a morphological closing operation on the polygonal region Original, as shown in fig. 6, which is a region formed after the morphological closing operation; the first maximum inscribed rotation rectangle Rect of the polygonal region origin after the morphological closing operation is obtained again, as shown in fig. 7, wherein the black region is the first maximum inscribed rotation rectangle Rect.
Step S103: subtracting the first maximum inscribed rotation rectangle from the polygonal area to obtain a residual area;
the first maximum inscribed rotation rectangle Rect is subtracted from the polygonal region origin to obtain the residual region, which is shown in fig. 8 as a schematic diagram of the residual region.
Step S104: and acquiring a second maximum inscribed rotation rectangle of the remaining region, and setting the second maximum inscribed rotation rectangle as a target region.
And obtaining a second maximum inscribed rotation rectangle Target of the remaining region, where the second maximum inscribed rotation rectangle Target is the Target region, as shown in fig. 9, which is a schematic diagram of the second maximum inscribed rotation rectangle Target.
Step S200: controlling the automatic guiding device to move to a safe area;
for example, the automatic guiding device in the present application uses an AGV car, and other moving devices requiring positioning and position initialization by the automatic guiding device are within the scope of the present application.
Before the step of determining the convergence degree of the preset positioning node, the method further includes obtaining the preset positioning node, as shown in fig. 10, which is a flowchart for obtaining the preset positioning node. The step of obtaining the preset positioning node may specifically include:
step S310: acquiring laser radar data, and filtering the laser radar data to obtain an initial template;
in the process, the obtained laser radar data is subjected to filtering operation, part of scattered messy points are filtered to obtain final effective points, and the effective points are integrally used as an initial template.
Step S320: rotating the initial template for multiple times according to a preset angle to obtain a template series;
in this step, the specific step of obtaining the template series may include:
setting a preset angle as n Step, wherein Step is the Step number, Delta is 360/Step, n is 1,2,3 …, and Step;
and sequentially rotating the initial template by the angle of n Delta to respectively generate templates corresponding to each rotation angle and form a template series.
In the implementation process, the initial template is sequentially rotated by an angle of n × Delta, so as to form a series of templates, and the series of templates formed by rotating the initial template is called a template series.
Step S330: traversing and matching the template series in the map to obtain candidate position points in the map;
as shown in fig. 11, a flowchart for acquiring candidate location points in a map is shown. The specific step of acquiring the candidate position point may include:
step S331: acquiring a matching value of each position coordinate in a map;
step S332: taking the map position with the matching value larger than the matching threshold value as a candidate position point;
wherein, the calculation formula of the matching value is as follows:
where T denotes intensity data of the normalized radar data point, I denotes the normalized map, (I, j) denotes a position coordinate on the map, p denotes a serial number of the radar data point, and (m, n) denotes a radar position point that is new on the map when each template in the template series is moved entirely to the (I, j) position of the map, and x is 1,2, …, m, y is 1,2, …, n.
And traversing and matching each template in the template series in the map, wherein the matching degree of each template and each point on the map is measured by a matching value.
Setting a matching threshold value as TScore, and extracting coordinates and angles of which the matching values are larger than the matching threshold value, namely D (i, j) > TScore as candidate position points.
Step S340: and taking the candidate position points as initial position points and respectively creating positioning nodes, wherein the positioning nodes are self-adaptive Monte Carlo positioning nodes.
Step S300: judging the convergence degree of the preset positioning nodes to determine the final initialization position of the automatic guiding device according to the convergence degree of each positioning node; and the preset positioning node updates data along with the movement of the automatic guiding device.
For example, the positioning node used in the present application is an AMC L node, the function package with two-dimensional laser positioning in AGV laser navigation is an AMC L function package, and the running program is an AMC L node.
The method comprises the steps of controlling the AGV to slowly move to a safe area, synchronously tracking the positions of a plurality of AMC L nodes, updating data in real time by each AMC L node along with the movement of the AGV, constantly changing convergence degree, performing convergence comprehensive judgment according to the convergence degree of each positioning node, determining the final initialization position of the automatic guiding device, extracting the position with high convergence degree, namely the position with the highest matching score with a map position according to the convergence process and the final convergence degree of each AMC L node, and taking the position as the final initialization position of the AGV.
Example 2
The embodiment of the present application further provides a global initialization positioning device, which corresponds to the global initialization positioning method in embodiment 1, and is a structural block diagram of the global initialization positioning device as shown in fig. 12. The device includes:
a safety region extraction module 100, configured to acquire a current radar data point and extract a blank safety region;
a movement control module 200 for controlling the automatic guiding apparatus to move to the safe area;
a convergence judging module 300, configured to judge a convergence degree of a preset positioning node, so as to determine a final initialization position of the automatic guiding apparatus according to the convergence degree of each positioning node; and the preset positioning node updates data along with the movement of the automatic guiding device.
Fig. 13 is a block diagram showing a specific structure of the global initialization positioning apparatus. The security area extraction module 100 includes:
a polygon area obtaining module 101, configured to connect current radar data points in sequence and form a polygon area;
a first maximum inscribed rotation rectangle obtaining module 102, configured to perform morphological closing operation on the polygonal area and obtain a first maximum inscribed rotation rectangle of the polygonal area;
a residual region obtaining module 103, configured to subtract the first maximum inscribed rotation rectangle from the polygon region to obtain a residual region;
a target area obtaining module 104, configured to obtain a second maximum inscribed rotation rectangle of the remaining area, and set the second maximum inscribed rotation rectangle as a target area.
The apparatus further includes a positioning node obtaining module 301:
an initial template obtaining module 310, configured to obtain lidar data and filter the lidar data to obtain an initial template;
the rotating module 320 is configured to rotate the initial template for multiple times according to a preset angle to obtain a template series;
the rotation module 320 may specifically include:
the angle setting module 321 is configured to set a preset angle as n × Step, where Step is a Step number, Delta is 360/Step, n is 1,2,3 …, and Step;
a template series generation module 322, which sequentially rotates the initial template by an angle of n × Delta, respectively generates a template corresponding to each rotation angle, and forms a template series;
a candidate position point obtaining module 330, configured to perform traversal matching on the template series in a map to obtain candidate position points in the map;
for example, the candidate location point obtaining module 330 includes:
a matching value calculation module 331, configured to obtain a matching value of each position coordinate in the map;
a candidate location point determining module 332, configured to use the map location with the matching value greater than the matching threshold as a candidate location point;
wherein, the calculation formula of the matching value is as follows:
where T denotes intensity data of the normalized radar data point, I denotes the normalized map, (I, j) denotes a position coordinate on the map, p denotes a serial number of the radar data point, and (m, n) denotes a radar position point that is new on the map when each template in the template series is moved entirely to the (I, j) position of the map, and x is 1,2, …, m, y is 1,2, …, n.
And a positioning node creating module 340, configured to use the candidate location points as initial location points and create positioning nodes respectively, where the positioning nodes are adaptive monte carlo positioning nodes.
Example 3
An embodiment of the present application further provides an electronic device, where the electronic device includes a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to enable the computer device to execute the global initial positioning method according to any one of embodiments 1.
An embodiment of the present application further provides a readable storage medium, where computer program instructions are stored, and when the computer program instructions are read and executed by a processor, the global initialization positioning method according to any one of embodiments 1 is executed.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, 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.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A global initialization positioning method, the method comprising:
acquiring a current radar data point, and extracting a blank safe area;
controlling an automatic guiding device to move towards the safe area;
judging the convergence degree of the preset positioning nodes to determine the final initialization position of the automatic guiding device according to the convergence degree of each positioning node; and the preset positioning node updates data along with the movement of the automatic guiding device.
2. The global initialized positioning method according to claim 1, wherein before the step of determining the convergence degree of the preset positioning node, the method further comprises obtaining the preset positioning node, and the step of obtaining the preset positioning node comprises:
acquiring laser radar data, and filtering the laser radar data to obtain an initial template;
rotating the initial template for multiple times according to a preset angle to obtain a template series;
traversing and matching the template series in a map to obtain candidate position points in the map;
and taking the candidate position points as initial position points and respectively creating positioning nodes, wherein the positioning nodes are self-adaptive Monte Carlo positioning nodes.
3. The global initial positioning method according to claim 2, wherein said rotating the initial template a plurality of times according to a preset angle to obtain a template series comprises:
setting the preset angle as n Step, wherein Step is the Step number, Delta is 360/Step, n is 1,2,3 …, Step;
and sequentially rotating the initial template by the angle of n Delta to respectively generate templates corresponding to each rotation angle and form a template series.
4. The global initialized location method according to claim 2, wherein said step of performing traversal matching on said template series in a map to obtain candidate location points in the map comprises:
acquiring a matching value of each position coordinate in a map;
taking the map position with the matching value larger than the matching threshold value as a candidate position point;
wherein, the calculation formula of the matching value is as follows:
where T denotes intensity data of the normalized radar data point, I denotes the normalized map, (I, j) denotes a position coordinate on the map, p denotes a serial number of the radar data point, and (m, n) denotes a radar position point that is new on the map when each template in the template series is moved entirely to the (I, j) position of the map, and x is 1,2, …, m, y is 1,2, …, n.
5. The global initialized location method according to claim 1, wherein the obtaining the current radar data point and extracting the blank safety area comprises:
sequentially connecting current radar data points to form a polygonal area;
performing morphological closing operation on the polygonal area, and acquiring a first maximum inscribed rotation rectangle of the polygonal area;
subtracting the first maximum inscribed rotation rectangle from the polygonal area to obtain a residual area;
and acquiring a second maximum inscribed rotation rectangle of the residual region, and setting the second maximum inscribed rotation rectangle as a target region.
6. A global initialization positioning apparatus, the apparatus comprising:
the safety region extraction module is used for acquiring a current radar data point and extracting a blank safety region;
the movement control module is used for controlling the automatic guiding device to move towards the safe area;
the convergence judging module is used for judging the convergence degree of the preset positioning nodes so as to determine the final initialization position of the automatic guiding device according to the convergence degree of each positioning node; and the preset positioning node updates data along with the movement of the automatic guiding device.
7. The global initialized locator device of claim 6, further comprising a locating node obtaining module:
the initial template acquisition module is used for acquiring laser radar data and filtering the laser radar data to obtain an initial template;
the rotating module is used for rotating the initial template for multiple times according to a preset angle so as to obtain a template series;
the candidate position point acquisition module is used for traversing and matching the template series in a map to acquire candidate position points in the map;
and the positioning node creating module is used for taking the candidate position points as initial position points and respectively creating positioning nodes, and the positioning nodes are self-adaptive Monte Carlo positioning nodes.
8. The global initialization positioning device as claimed in claim 6, wherein the secure enclave extraction module comprises:
the system comprises a polygonal area acquisition module, a data acquisition module and a data acquisition module, wherein the polygonal area acquisition module is used for sequentially connecting current radar data points and forming a polygonal area;
the first maximum inscribed rotation rectangle acquisition module is used for performing morphological closing operation on the polygonal area and acquiring a first maximum inscribed rotation rectangle of the polygonal area;
a residual region obtaining module, configured to subtract the first maximum inscribed rotation rectangle from the polygonal region to obtain a residual region;
and the target area acquisition module is used for acquiring a second maximum inscribed rotation rectangle of the residual area and setting the second maximum inscribed rotation rectangle as a target area.
9. An electronic device, characterized in that the electronic device comprises a memory for storing a computer program and a processor for executing the computer program to cause the computer device to perform the global initialized location method according to any of claims 1 to 5.
10. A readable storage medium, wherein computer program instructions are stored, and when read and executed by a processor, perform the global initialization positioning method of any one of claims 1 to 5.
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