CN112136062A - Method, system and related equipment for positioning movable object - Google Patents

Method, system and related equipment for positioning movable object Download PDF

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Publication number
CN112136062A
CN112136062A CN201980030359.4A CN201980030359A CN112136062A CN 112136062 A CN112136062 A CN 112136062A CN 201980030359 A CN201980030359 A CN 201980030359A CN 112136062 A CN112136062 A CN 112136062A
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CN
China
Prior art keywords
movable object
state data
movable
movement state
navigation information
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Pending
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CN201980030359.4A
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Chinese (zh)
Inventor
马建云
应佳行
商志猛
张华森
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication of CN112136062A publication Critical patent/CN112136062A/en
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    • 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
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
    • 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
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]

Abstract

A method, system and related apparatus for locating a movable object, wherein the method may include: acquiring movement state data of each of a plurality of movable objects (S601); determining relative navigation information between the plurality of movable objects based on the movement state data of each movable object (S602); relative navigation information is transmitted to at least one movable object among the plurality of movable objects (S603). The method can improve the accuracy and reliability of relative navigation information between movable objects.

Description

Method, system and related equipment for positioning movable object
Technical Field
The present application relates to the field of navigation technologies, and in particular, to a method, a system, and a related device for positioning a movable object.
Background
Navigation positioning technology is widely applied to military, science and daily life of people as a technology for guaranteeing the moving safety and accuracy of movable objects (such as vehicles).
For example, in the case of a vehicle, when automatic navigation is performed, if navigation information of the vehicle is to be acquired, data measured by each of a plurality of sensors included in the vehicle may be fused, so as to estimate more accurate information such as a position and a speed. The radar, which is a relatively critical sensor of various sensors, may be used in processes such as obstacle detection, detection of relative navigation information (e.g., relative position, relative speed, etc.) between movable objects, and the like. However, the radar measurement method is very susceptible to interference from factors such as the measurement environment, and therefore the accuracy and reliability of the relative navigation information between the movable objects measured by the radar are low.
Disclosure of Invention
The embodiment of the application discloses a method, a system and related equipment for positioning movable objects, which can improve the accuracy and reliability of relative navigation information between the movable objects.
In a first aspect, an embodiment of the present application provides a method for locating a movable object, which is applied to a control terminal, and the method includes:
acquiring movement state data of each of a plurality of movable objects;
determining relative navigation information between a plurality of movable objects according to the movement state data of each movable object;
sending the relative navigation information to at least one of the movable objects in a plurality of the movable objects.
In a second aspect, embodiments of the present application further provide a method for positioning a movable object, which is applied to the movable object, the method including:
acquiring movement state data of each of the plurality of movable objects;
sending the movement state data of each movable object to a control terminal so that the control terminal determines relative navigation information among a plurality of movable objects according to the movement state data of each movable object;
and receiving the relative navigation information sent by the control terminal.
In a third aspect, an embodiment of the present application further provides a method for positioning a movable object, which is applied to a positioning system, where the system includes the movable object and a control terminal, and the method includes:
the movable object acquires movement state data of the movable object, wherein the movable object is any one of a plurality of movable objects;
the movable object sends the movement state data of the movable object to the control terminal;
the control terminal receives the movement state data of the movable object;
the control terminal determines relative navigation information among the movable objects according to the received movement state data of each movable object in the movable objects;
the control terminal transmitting the relative navigation information to at least one of the movable objects;
at least one of the movable objects receives the relative navigation information.
In a fourth aspect, an embodiment of the present application provides an apparatus for positioning a movable object, which is applied to a control terminal, and the apparatus includes:
an acquisition module configured to acquire movement state data of each of a plurality of movable objects;
the determining module is used for determining relative navigation information among a plurality of movable objects according to the movement state data of each movable object;
a sending module for sending the relative navigation information to at least one of the plurality of movable objects.
In a fifth aspect, embodiments of the present application further provide an apparatus for positioning a movable object, where the apparatus is applied to the movable object, and the apparatus includes:
an acquisition module configured to acquire movement state data of each of the plurality of movable objects;
the sending module is used for sending the movement state data of each movable object to the control terminal so that the control terminal can determine relative navigation information among a plurality of movable objects according to the movement state data of each movable object;
and the receiving module is used for receiving the relative navigation information sent by the control terminal.
In a sixth aspect, an embodiment of the present application provides a control terminal, where the control terminal includes a processor, a communication interface, and a memory;
the memory for storing a computer program comprising program instructions;
the processor is used for executing the following steps when calling the program instruction:
acquiring movement state data of each of a plurality of movable objects;
determining relative navigation information between a plurality of movable objects according to the movement state data of each movable object;
transmitting the relative navigation information to at least one of the plurality of movable objects through the communication interface.
In a seventh aspect, an embodiment of the present application provides a movable object, including a processor, a communication interface, and a memory;
the memory for storing a computer program comprising program instructions;
the processor is used for executing the following steps when calling the program instruction:
acquiring movement state data of each of the plurality of movable objects;
sending the movement state data of each movable object to a control terminal through the communication interface, so that the control terminal determines relative navigation information among a plurality of movable objects according to the movement state data of each movable object;
and receiving the relative navigation information sent by the control terminal through the communication interface.
In an eighth aspect, an embodiment of the present application provides a positioning system, including a movable object and a control terminal, where:
the movable object is used for acquiring the movement state data of the movable object, and the movable object is any one of a plurality of movable objects;
the movable object is also used for sending the movement state data of the movable object to the control terminal;
the control terminal is used for receiving the movement state data of the movable object;
the control terminal is further used for determining relative navigation information among the plurality of movable objects according to the received movement state data of each movable object in the plurality of movable objects;
the control terminal is further configured to send the relative navigation information to at least one of the plurality of movable objects;
at least one of the movable objects for receiving the relative navigation information.
In a ninth aspect, the present application provides a computer-readable storage medium, which stores a computer program, the computer program comprising program instructions, which when executed by a processor, cause the processor to implement the method for positioning a movable object according to any one of the first, second and third aspects.
In the embodiment of the application, the control terminal may obtain the movement state data of each of the plurality of movable objects, determine the relative navigation information between the plurality of movable objects according to the movement state data of each of the plurality of movable objects, and further may send the relative navigation information to at least one of the plurality of movable objects. Compared with the mode that relative navigation information is measured by a radar of a movable object in the prior art, the method and the device for measuring the relative navigation information between the movable objects can enable the determined relative navigation information between the movable objects to be more accurate and reliable.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
Fig. 1 is a schematic diagram of a positioning system according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a data acquisition terminal according to an embodiment of the present application;
fig. 3 is a schematic diagram of a process of issuing relative navigation information according to an embodiment of the present application;
FIG. 4 is a schematic view of a scene for positioning a movable object according to an embodiment of the present disclosure;
FIG. 5 is a schematic view of another scenario for positioning a movable object according to an embodiment of the present application;
FIG. 6 is a schematic flow chart of a method for positioning a movable object according to an embodiment of the present disclosure;
fig. 7 is a schematic diagram of moving state data that is not subjected to time alignment processing according to an embodiment of the present application;
FIG. 8 is a schematic flow chart diagram illustrating another method for positioning a movable object according to an embodiment of the present disclosure;
FIG. 9 is a schematic flow chart diagram illustrating yet another method for positioning a movable object according to an embodiment of the present application;
FIG. 10 is a schematic structural diagram of an apparatus for positioning a movable object according to an embodiment of the present disclosure;
FIG. 11 is a schematic structural diagram of another apparatus for positioning a movable object according to an embodiment of the present disclosure;
fig. 12 is a schematic structural diagram of a control terminal according to an embodiment of the present application;
fig. 13 is a schematic structural diagram of a movable object according to an embodiment of the present disclosure.
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.
In order to solve the technical problems of low accuracy and low reliability of relative navigation information between movable objects measured by a radar in the prior art, embodiments of the present application provide a method, a system, and a related device for positioning the movable objects, which can easily obtain the relative navigation information between a plurality of movable objects according to movement state data of each of the plurality of movable objects, and can effectively ensure the accuracy and reliability of the relative navigation information between the movable objects. The movement state data mentioned in the embodiment of the present application may include navigation information, where the navigation information may be at least one of the following: position, velocity, and acceleration. Accordingly, the relative navigation information mentioned in the embodiment of the present application may include at least one of the following: relative position, relative velocity, and relative acceleration.
In one embodiment, the method for positioning the movable object provided by the embodiment of the application can be applied to a control terminal. The control terminal may be, for example, any one of the following: remote controller, smart mobile phone, panel computer, server. The server may be a server or a server cluster. In one embodiment, the control terminal may also be a notebook computer, a desktop computer, or other electronic devices. In the embodiment of the application, on one hand, the control terminal can acquire the movement state data of each movable object in a plurality of movable objects; on one hand, relative navigation information among a plurality of movable objects can be determined according to the movement state data of each movable object; an aspect may send the relative navigation information to at least one of the movable objects in the plurality of movable objects.
In one embodiment, the method for positioning a movable object provided by the embodiment of the present application can also be applied to a movable object. The movable object can realize the functions of data acquisition, data transmission and data processing. In one embodiment, the movable object may implement the function of relative navigation information calculation. The movable object may be, for example, any one of the following: aircraft (including unmanned vehicles), vehicles (including unmanned vehicles), robots. In one embodiment, the movable object may be for any one of a plurality of the movable objects, or may also be for one of a plurality of the movable objects.
Please refer to fig. 1, which is a schematic diagram of a positioning system according to an embodiment of the present disclosure. The system shown in fig. 1 may include a vehicle 11, a vehicle 12, a vehicle 13, and a server 21. Among them, the vehicle 11, the vehicle 12, and the vehicle 13 may respectively acquire respective moving state data and respectively transmit the respective moving state data to the server 21. The server 21 may receive the movement state data transmitted by the vehicles 11, 12, and 13, respectively, and may determine the relative navigation information among the vehicles 11, 12, and 13 according to the received movement state data of the vehicles 11, 12, and 13. The server 21 may transmit the relative navigation information to at least one of the vehicle 11, the vehicle 12, and the vehicle 13.
The manner in which the vehicle acquires the moving state data will be briefly described below.
For example, taking the vehicle 11 as an example, the process of acquiring the moving state data may be as follows: the vehicle 11 collects its own movement state data by using a data collection terminal. The manner in which the vehicle 12 and the vehicle 13 acquire the moving state data may refer to the vehicle 11. In one embodiment, as shown in fig. 2, the data collection terminal may include at least one of: satellite positioning equipment, a data processor and a communication device. Satellite positioning equipment may be used to acquire the position and velocity of a movable object; and/or the data processor may be operable to process the position and velocity of the movable object to generate movement state data; and/or the communication device may be configured to transmit the mobility state data. For example, the satellite Positioning device may be a Real-time kinematic (RTK) carrier-phase differential Positioning device, a Global Positioning System (GPS) Positioning device, or the like. The data processor may be a Micro Controller Unit (MCU), a single chip, or the like, and the communication device may be a 4G communication module, a bluetooth communication module, a wireless communication module, or the like. The connection between the satellite positioning device, the data processor and the communication means includes, but is not limited to, establishing a connection through a Universal Asynchronous Receiver Transmitter (UART) communication link.
The process of the server 21 determining the relative navigation information will be briefly described below.
In one embodiment, the server 21 may specifically determine the relative navigation information between the plurality of vehicles by: the server 21 may pre-process the received movement state data of each of the vehicle 11, the vehicle 12, and the vehicle 13 according to a preset rule to obtain a pre-processing result, and may determine the relative navigation information between the vehicle 11, the vehicle 12, and the vehicle 13 according to the pre-processing result. By adopting the mode, the accuracy of the determined relative navigation information can be improved.
In one embodiment, the server 21 may calculate relative navigation information between at least two vehicles of the plurality of vehicles. Specifically, the server 21 may determine the relative navigation information between at least two of the vehicle 11, the vehicle 12, and the vehicle 13 from the received movement state data of each of the vehicle 11, the vehicle 12, and the vehicle 13. For example, referring to fig. 3, the server 21 may determine relative navigation information between the vehicle 11 and the vehicle 12, may also determine relative navigation information between the vehicle 11 and the vehicle 13, and may also determine relative navigation information between the vehicle 12 and the vehicle 13. At this time, the aforementioned preprocessing of the moving state data of each of the vehicle 11, the vehicle 12, and the vehicle 13 by the server 21 according to the preset rule may be preprocessing of the moving state data of each of at least two of the vehicle 11, the vehicle 12, and the vehicle 13 by the server 21 according to the preset rule.
In one embodiment, the server 21 determines the relative navigation information between at least two of the vehicles 11, 12, and 13 based on the received movement state data of each of the vehicles 11, 12, and 13, and may determine the relative navigation information between a specified one of the vehicles 11, 12, and 13 and at least one other vehicle for the server 21 based on the received movement state data of each of the vehicles 11, 12, and 13. Wherein the designated vehicle may refer to one of the vehicle 11, the vehicle 12, and the vehicle 13. The specified one of the vehicles 11, 12, and 13 may correspond to a second specified movable object of the plurality of movable objects mentioned in the embodiments of the present application, for example, if the specified vehicle is the vehicle 12 and the at least one other vehicle includes the vehicle 11 and the vehicle 13, the server 21 may determine the relative navigation information between the vehicle 12 and the vehicle 11 and the relative navigation information between the vehicle 12 and the vehicle 13 according to the received movement state data of each of the vehicle 11, the vehicle 12, and the vehicle 13.
The issuing strategy of the relative navigation information by the server 21 will be briefly described below.
In one embodiment, the server 21 may transmit the relative navigation information to a first target vehicle, which is one of the vehicles 11, 12, and 13 for receiving the relative navigation information. The first target vehicle may correspond to the first target movable object mentioned in the embodiments of the present application. For example, referring to fig. 3, the server 21 may send relative navigation information between the vehicle 11 and the vehicle 12 to the vehicle 11, and/or send relative navigation information between the vehicle 11 and the vehicle 13 to the vehicle 11, and/or send relative navigation information between the vehicle 12 and the vehicle 11 to the vehicle 12, and/or send relative navigation information between the vehicle 12 and the vehicle 13 to the vehicle 12, and/or send relative navigation information between the vehicle 13 and the vehicle 11 to the vehicle 13, and/or send relative navigation information between the vehicle 13 and the vehicle 12 to the vehicle 13.
In one embodiment, the relative navigation information may be relative navigation information between the first target vehicle and the second target vehicle. The second target vehicle may correspond to the second target movable object mentioned in the embodiments of the present application. The server 11 may determine a vehicle having a distance from the first target vehicle within a preset distance range, and determine the vehicle as the second target vehicle. For example, the first target vehicle is the vehicle 11, the second target vehicle is the vehicle 12, and the server 21 may transmit the relative navigation information between the vehicle 11 and the vehicle 12 to the vehicle 11. By adopting the method, the server 21 can send the relative navigation information between the vehicle 11 and the vehicle which is close to the vehicle 11, so that the moving safety of the vehicle 11 is ensured.
The processing of the received relative navigation information by the vehicle will be briefly described below.
In one embodiment, taking the vehicle 11 as an example, if the vehicle 11 receives the relative navigation information issued by the server 21, the vehicle 11 may control its own moving state, such as acceleration or deceleration, according to the relative navigation information. For example, if the relative navigation information is relative navigation information between the vehicle 11 and the vehicle 12, which indicates that the vehicle 11 and the vehicle 12 are approaching gradually and the distance between the two is less than the preset safe distance, the vehicle 11 may control itself to accelerate to maintain the safe distance with the vehicle 12.
In one embodiment, taking the vehicle 11 as an example, if the vehicle 11 receives the relative navigation information issued by the server 21, the vehicle 11 may acquire the sensing data of the sensing system of the vehicle 11 and control the moving state thereof according to the relative navigation information and the sensing data. In one embodiment, the vehicle 11 may fuse the relative navigation information and the perception data and control the movement state thereof based on the fusion result. Or, the vehicle 11 may also control the moving state of itself with the relative navigation information as the absolute reference data with respect to the perception data.
In one embodiment, instead of introducing a control terminal in the system to determine the relative navigation information, the control terminal may not be introduced and instead the movable object itself determines the relative navigation information. For example, the movable object may acquire movement state data of each of a plurality of the movable objects; relative navigation information between a plurality of the movable objects is determined according to the movement state data of each of the movable objects. In one embodiment, the movable object may also transmit the relative navigation information to at least one other of the movable objects in the plurality of movable objects.
In one embodiment, the movable object may receive movement status data broadcast by other movable objects of the plurality of moving objects.
In one embodiment, the movable object may acquire identification information of other movable objects in the plurality of movable objects, and may select a movable object for which communication needs to be established according to the identification information, and the movable object may transmit a movement state data acquisition instruction to the movable object for which communication is established, and may receive movement state data transmitted by the movable object for which communication is established. In one embodiment, the movable object may perform an identification information selection operation, and may establish communication with the movable object corresponding to the identification information according to the identification information indicated by the identification information selection operation.
In one embodiment, the movable object may control the movement state of the movable object and/or control the movement state of other ones of the plurality of movable objects based on the relative navigation information.
In one embodiment, the movable object may further acquire sensing data of a sensing system of the movable object, and control the movement state of the movable object and/or control the movement state of other movable objects of the plurality of movable objects according to the relative navigation information and the sensing data.
An application scenario for determining relative navigation information for a movable object will be described below.
In an application scenario, referring to fig. 4, the target vehicle may acquire its own movement state data, including information such as position and speed, and send its own movement state data to the test vehicle. The test vehicle may receive the movement status data sent by the target vehicle. The vehicle-mounted positioning data terminal of the test vehicle, namely the data acquisition terminal can send the moving state data of the target vehicle and the moving state data (including information such as position, speed and the like) of the test vehicle to the navigation system, so that the navigation system determines the relative navigation information between the test vehicle and the target vehicle according to the moving state data of the target vehicle and the moving state data of the test vehicle. After the navigation system determines the relative navigation information, the navigation system can send a control instruction to the control system, so that the control system controls the running of the vehicle according to the control instruction, and the moving state of the test vehicle is controlled. In the application scenario, the vehicle-mounted positioning data terminal can replace a perception system to acquire moving state data. Of course, the vehicle-mounted positioning data terminal may also perform data fusion with the data acquired by the sensing system to acquire more accurate and reliable moving state data, which is not limited herein.
In still another application scenario, referring to fig. 5, a plurality of reference vehicles may be provided, for example, in the embodiment of fig. 5, three reference vehicles are provided, namely, a reference vehicle 1, a reference vehicle 2, and a reference vehicle 3. Of course, in other application scenarios, the number of reference vehicles is not limited. After the data acquisition terminal of the test vehicle receives the movement state data of each reference vehicle, the data acquisition terminal can send an instruction to control the test vehicle to move correspondingly, such as but not limited to active lane changing, vehicle tracking and the like, for example, when the distance between the reference vehicle 1 and the test vehicle is smaller than a preset value, the test vehicle actively changes lanes to enable the distance between the test vehicle and the reference vehicle to be within a safe range, and danger is prevented; alternatively, the test vehicle may perform tracking driving on the reference vehicle, and the like, which is not limited herein.
Further, the reference vehicle 1, the reference vehicle 2, and the reference vehicle 3 may respectively acquire their own movement state data, such as position and speed information, and the test vehicle may receive the movement state data respectively transmitted by the reference vehicle 1, the reference vehicle 2, and the reference vehicle 3. The vehicle-mounted positioning data terminal of the test vehicle, namely the data acquisition terminal can send the moving state data of each reference vehicle and the moving state data of the test vehicle, such as the position, the speed and other information to the sensing system. The perception system may acquire perception data such as movement state data of the test vehicle measured by the perception system, for example, the perception data may include movement state data of the reference vehicle 1, movement state data of the reference vehicle 2, and movement state data of the reference vehicle 3. The sensing system can send a plurality of moving state data and sensing data acquired by the vehicle-mounted positioning data terminal to the navigation system. The navigation system can determine relative navigation information among the test vehicle, the reference vehicle 1, the reference vehicle 2 and the reference vehicle 3 according to the movement state data acquired by the vehicle-mounted positioning data terminal, and fuses the relative navigation information with the perception data of the perception system, so that a control instruction is sent to the control system based on the fusion result, and the control system controls the vehicle to run according to the control instruction to control the movement state of the test vehicle. Or the navigation system can analyze the accuracy of the sensing data of the sensing system by utilizing a plurality of moving state data acquired by the vehicle-mounted positioning data terminal, and relative navigation information determined according to the plurality of moving state data acquired by the vehicle-mounted positioning data terminal is absolute reference data to send a control instruction to the control system, so that the control system controls the running of the vehicle according to the control instruction to control the moving state of the test vehicle.
A method for positioning a movable object and a related apparatus provided by the embodiments of the present application will be described in detail below. Please refer to fig. 6, which is a flowchart illustrating a method for positioning a movable object according to an embodiment of the present application. The method may be applied in the aforementioned control terminal. Specifically, the method may comprise the steps of:
s601, obtaining the movement state data of each movable object in a plurality of movable objects.
In one embodiment, the movement state data of each of the movable objects is collected by a data collection terminal on each of the movable objects.
In one embodiment, the manner in which the control terminal acquires the movement state data of each of the plurality of movable objects may be: the control terminal receives movement state data of each of the plurality of movable objects transmitted by a first designated movable object, wherein the first designated movable object is one of the plurality of movable objects for collecting movement state data of other movable objects. For example, in addition to the aforementioned transmission of the respective moving state data to the server 21 by the vehicle 11, the vehicle 12, and the vehicle 13, the moving state data of the vehicle 12 and the moving state data of the vehicle 13 may be acquired by the vehicle 11, and the moving state data of the vehicle 11, the moving state data of the vehicle 12, and the moving state data of the vehicle 13 may be transmitted to the server 21 by the vehicle 11. The server 21 may receive the movement state data of the vehicle 11, the movement state data of the vehicle 12, and the movement state data of the vehicle 13 transmitted by the vehicle 11.
In one embodiment, in addition to the aforementioned transmission manner, a part of the movement state data of each of the plurality of movable objects may be transmitted by the first movable object, and another part of the movement state data may be transmitted by the second movable object. The first movable object is a movable object that transmits the part of the movement state data among the plurality of movable objects. The second movable object is a movable object that transmits the other part of the movement state data among the plurality of movable objects. In an embodiment, according to a difference of a data transmission object, the embodiment of the present application may further include a third movable object, a fourth movable object, a fifth movable object, and so on, which are not limited herein.
S602, determining relative navigation information among a plurality of movable objects according to the movement state data of each movable object.
In one embodiment, the manner of determining, by the control terminal, the relative navigation information between a plurality of the movable objects according to the movement state data of each of the movable objects may be: the control terminal preprocesses the movement state data of each movable object according to a preset rule to obtain at least one group of preprocessed movement state data, and determines relative navigation information among a plurality of movable objects according to the at least one group of preprocessed movement state data. The mobile state data are preprocessed, and then the preprocessed at least one group of mobile state data are used for determining the relative navigation information, so that the accuracy of the determined relative navigation information can be improved. For example, referring to fig. 1, the server 21 may preprocess the movement state data of the vehicle 11, the movement state data of the vehicle 12, and the movement state data of the vehicle 13 to obtain at least one set of preprocessed movement turn table data, and determine the relative navigation information among the vehicle 11, the vehicle 12, and the vehicle 13 according to the at least one set of preprocessed movement state data.
In consideration of the influence of network delay and other factors, the sequence in which the control terminal receives the movement state data of each of the plurality of movable objects may be sequential, which may cause that the plurality of movement state data received by the control terminal at the same time may not be measured values at the same time point. For example, as can be seen from fig. 7, the server 21 receives the movement state data of the vehicle 11 earlier and receives the movement state data of the vehicle 13 later. If the relative navigation information among a plurality of vehicles is calculated by adopting a plurality of pieces of movement state data received at the same time, the determined relative navigation information is deviated and is not accurate enough. Therefore, in order to avoid this situation, the embodiments of the present application provide a time alignment rule for determining relative navigation information, which may improve the accuracy of the determined relative navigation information.
In an embodiment, the preset rule may include a time alignment rule, the movement state data of each movable object may include acquisition time indication information, and the manner in which the control terminal preprocesses the movement state data of each movable object according to the preset rule to obtain at least one group of preprocessed movement state data may be as follows: and the control terminal performs time alignment processing on the movement state data of each movable object according to the time alignment rule according to acquisition time indication information included in the movement state data of each movable object to obtain at least one group of movement state data after the time alignment processing. In one embodiment, the acquisition Time indication information may include Universal Coordinated Time (UTC). For example, taking fig. 7 as an example, if the server 21 needs to calculate the relative navigation information between the vehicle 11 and the vehicle 12, the moving state data with the UTC of 12:00:01 of the vehicle 11 and the moving state data with the UTC of 12:00:01 of the vehicle 12 may be time-aligned, and the moving state data with the UTC of 12:00:02 of the vehicle 11 and the moving state data with the UTC of 12:00:02 of the vehicle 12 may be aligned.
Based on this, the control terminal determines the relative navigation information between the plurality of movable objects according to the at least one set of movement state data after the preprocessing, and specifically, the control terminal determines the relative navigation information between the plurality of movable objects according to the at least one set of movement state data after the time alignment processing. According to the embodiment of the application, the relative navigation information among the movable objects is determined by adopting at least one group of movement state data after time alignment, so that the accuracy of the determined relative navigation information can be improved, and the problem that the determined relative navigation information is inaccurate and inaccurate due to the fact that the relative navigation information among the vehicles is calculated by adopting the plurality of movement state data received at the same moment is solved.
In other embodiments, the movement state data of each movable object may also be preprocessed according to other preset rules, for example, the coordinate system where each movable object is located may be mapped in the same coordinate system, and data filtering processing may also be performed, which is not limited herein.
In one embodiment, the control terminal may determine the relative navigation information between the second specified movable object and at least one other of the movable objects based on the movement state data of each of the movable objects. Wherein the second designated movable object is one of the plurality of movable objects. In one embodiment, at least one of the other movable objects may be designated by the second designated movable object. Or, at least one of the other movable objects may also be a movable object in the same movement area as the second specified movable object, e.g. located on the same driving road.
In one embodiment, the second designated movable object may also be the aforementioned first designated movable object.
S603, sending the relative navigation information to at least one movable object in the plurality of movable objects.
In one embodiment, the relative navigation information may be used to control the movement state of the movable object. Or, the relative navigation information may be fused with sensing data of a sensing system of the movable object and used for controlling the moving state of the movable object. In one embodiment, the relative navigation information may be used as absolute reference data for controlling the movement state of the movable object.
In one embodiment, the relative navigation information sent by the control terminal to at least one of the movable objects may include relative navigation information associated with each of the at least one of the movable objects. For example, referring to fig. 3, the server 21 may transmit the relative navigation information between the vehicle 11 and the vehicle 12, and the relative navigation information between the vehicle 11 and the vehicle 13 to the vehicle 11; the server 21 may also transmit to the vehicle 12 relative navigation information between the vehicle 12 and the vehicle 11, and relative navigation information between the vehicle 12 and the vehicle 13; the server 21 may also transmit relative navigation information between the vehicle 13 and the vehicle 11, and relative navigation information between the vehicle 13 and the vehicle 12 to the vehicle 13.
In an embodiment, the control terminal sends the relative navigation information to at least one of the plurality of movable objects, and may specifically be configured to send the relative navigation information to a first target movable object, where the first target movable object is a movable object used for receiving the relative navigation information in the plurality of movable objects.
In one embodiment, the relative navigation information sent by the control terminal to the first target movable object may include relative navigation information associated with the first target movable object. In addition, in some specific scenarios, the relative navigation information that the control terminal sends to at least one of the first target movable objects may also include relative navigation information that is not related to the first target movable object. For example, the relative navigation information transmitted by the server 21 to the vehicle 11 may also include relative navigation information between the vehicle 12 and the vehicle 13.
In one embodiment, the first target movable object may include a first specified movable object, or may include a second specified movable object.
As can be seen, in the embodiment shown in fig. 6, the control terminal may obtain the movement state data of each of the plurality of movable objects, determine the relative navigation information between the plurality of movable objects according to the movement state data of each of the plurality of movable objects, and further may send the relative navigation information to at least one of the plurality of movable objects. By adopting the process, the determined relative navigation information is more accurate and reliable.
Referring to fig. 8, another method for positioning a movable object according to an embodiment of the present application is provided, and the method can be applied to a movable object. The movable object may be understood as each of a plurality of movable objects or may also be one of a plurality of movable objects. Specifically, the method may comprise the steps of:
s801, acquiring movement state data of each movable object in a plurality of movable objects.
In one embodiment, the manner in which the movable object acquires the movement state data of each of the plurality of movable objects may be as follows: the movable object acquires the movement state data of each of the plurality of movable objects by using the data acquisition terminal.
S802, sending the movement state data of each movable object to a control terminal, so that the control terminal determines relative navigation information among a plurality of movable objects according to the movement state data of each movable object.
And S803, receiving the relative navigation information sent by the control terminal.
In steps S802-S803, the movable objects may transmit movement state data of each of the movable objects to the control terminal. The control terminal may determine relative navigation information between a plurality of the movable objects based on the movement state data of each of the movable objects, and the movable objects may receive the relative navigation information transmitted from the control terminal.
In one embodiment, the movable object may control the moving state of other movable objects in the plurality of movable objects, such as controlling the moving states of other movable objects associated with the relative navigation information, in addition to controlling the moving state of the movable object itself in a specific application scenario. For example, the vehicle 11 may control the movement state of the vehicle 12 according to the relative navigation information between the vehicle 11 and the vehicle 12, in addition to the movement state of the vehicle 11 according to the relative navigation information between the vehicle 11 and the vehicle 12. Even further, the vehicle 11 may control the moving state of the vehicle 12 and/or the moving state of the vehicle 13 according to the relative navigation information between the vehicle 12 and the vehicle 13.
It can be seen that in the embodiment shown in fig. 8, the movable object may acquire the movement state data of each of the plurality of movable objects, and send the movement state data of each of the plurality of movable objects to the control terminal, so that the control terminal determines the relative navigation information between the plurality of movable objects according to the movement state data of each of the plurality of movable objects, and receives the relative navigation information sent by the control terminal. By adopting the mode, the relative navigation information obtained by the movable object is more accurate and reliable.
Please refer to fig. 9, which is a flowchart illustrating a method for positioning a movable object according to an embodiment of the present application. The method can be applied to a positioning system. The system may include a movable object and a control terminal. Specifically, the method may comprise the steps of:
s901, the movable object acquires the movement state data of the movable object, wherein the movable object is any one of a plurality of movable objects.
For example, taking fig. 1 as an example, the vehicle 11, the vehicle 12, and the vehicle 13 may respectively acquire respective moving state data.
S902, the movable object sends the moving state data of the movable object to the control terminal.
And S903, the control terminal receives the moving state data of the movable object.
For example, taking fig. 1 as an example, the vehicle 11, the vehicle 12, and the vehicle 13 may transmit respective movement state data to the server 21, and the control terminal may receive the respective movement state data transmitted by the vehicle 11, the vehicle 12, and the vehicle 13, respectively.
S904, the control terminal determines relative navigation information among the movable objects according to the received movement state data of each movable object in the movable objects.
For example, taking fig. 1 as an example, the server 21 may determine the relative navigation information between the vehicle 11, the vehicle 12, and the vehicle 13 according to the received movement state data of each of the vehicle 11, the vehicle 12, and the vehicle 13.
For another example, taking fig. 1 as an example, the server 21 may perform preprocessing on the received movement state data of each of the vehicle 11, the vehicle 12, and the vehicle 13 according to a preset rule to obtain at least one set of preprocessed movement state data. The server 21 may determine the relative navigation information among the vehicle 11, the vehicle 12, and the vehicle 13 according to the preprocessed at least one set of moving state data.
S905, the control terminal sends the relative navigation information to at least one of the movable objects.
For example, taking fig. 1 as an example, the server 21 may transmit the relative navigation information to at least one of the vehicle 11, the vehicle 12, and the vehicle 13.
As another example, taking fig. 1 as an example, the server 21 may transmit relative navigation information between the vehicle 11 and the vehicle 12 to the vehicle 11, and/or may also transmit relative navigation information between the vehicle 11 and the vehicle 13 to the vehicle 11, and/or may also transmit relative navigation information between the vehicle 12 and the vehicle 13 to the vehicle 11.
As another example, referring to fig. 1 and 3, the server 21 may transmit the relative navigation information between the vehicle 11 and the vehicle 12, and the relative navigation information between the vehicle 11 and the vehicle 13 to the vehicle 11; the server 21 may also transmit to the vehicle 12 relative navigation information between the vehicle 12 and the vehicle 11, and relative navigation information between the vehicle 12 and the vehicle 13; the server 21 may also transmit to the vehicle 13 relative navigation information between the vehicle 13 and the vehicle 11, and relative navigation information between the vehicle 13 and the vehicle 12.
S906, at least one movable object receives the relative navigation information.
At least one movable object can receive the relative navigation information, store the relative navigation information, control the movement according to the relative navigation information, or prompt the navigation according to the relative navigation information.
As can be seen, in the embodiment shown in fig. 9, the movable object may acquire the movement state data of the movable object and may transmit the movement state data of the movable object to the control terminal; the control terminal can receive the movement state data of the movable objects and determine relative navigation information among the plurality of movable objects according to the received movement state data of each movable object in the plurality of movable objects; the control terminal can also send relative navigation information to at least one movable object in the plurality of movable objects, and the at least one movable object can receive the relative navigation information.
Please refer to fig. 10, which is a schematic structural diagram of an apparatus for positioning a movable object according to an embodiment of the present application. The device can be applied to a control terminal. Specifically, the apparatus may include:
an obtaining module 1001 is configured to obtain movement state data of each of a plurality of movable objects.
A determining module 1002, configured to determine relative navigation information between a plurality of movable objects according to the movement state data of each movable object.
A sending module 1003, configured to send the relative navigation information to at least one of the movable objects.
In an alternative embodiment, the movement status data comprises at least one of: position, velocity, and acceleration.
In an alternative embodiment, the relative navigation information comprises at least one of: relative position, relative velocity, and relative acceleration.
In an optional implementation manner, the obtaining module 1001 is specifically configured to receive movement state data sent by each of a plurality of movable objects.
In an optional implementation manner, the obtaining module 1001 is specifically configured to receive movement state data of each of the plurality of movable objects sent by a first specified movable object, where the first specified movable object is a movable object used to collect movement state data of other movable objects in the plurality of movable objects.
In an optional implementation manner, the determining module 1002 is specifically configured to perform preprocessing on the movement state data of each movable object according to a preset rule, so as to obtain at least one group of preprocessed movement state data; and determining relative navigation information among a plurality of movable objects according to the preprocessed at least one group of movement state data.
In an optional implementation manner, the preset rule includes a time alignment rule, the movement state data of each movable object includes acquisition time indication information, the determining module 1002 preprocesses the movement state data of each movable object according to the preset rule to obtain at least one set of movement state data after the preprocessing, specifically, according to the acquisition time indication information included in the movement state data of each movable object, performs time alignment processing on the movement state data of each movable object according to the time alignment rule to obtain at least one set of movement state data after the time alignment processing.
In an alternative embodiment, the determining module 1002 determines the relative navigation information between a plurality of movable objects according to the at least one set of movement state data after the preprocessing, specifically, determines the relative navigation information between a plurality of movable objects according to the at least one set of movement state data after the time alignment processing.
In an alternative embodiment, the determining module 1002 is specifically configured to determine the relative navigation information between at least two of the movable objects in the plurality of movable objects according to the movement state data of each movable object.
In an alternative embodiment, the determining module 1002 determines the relative navigation information between at least two of the movable objects in the plurality of movable objects according to the movement state data of each movable object, and specifically determines the relative navigation information between a second specific movable object and at least one other movable object according to the movement state data of each movable object, wherein the second specific movable object is one of the movable objects in the plurality of movable objects.
In an optional implementation, the sending module 1003 is specifically configured to send the relative navigation information to a first target movable object, where the first target movable object is a movable object used to receive the relative navigation information in a plurality of movable objects.
In an optional embodiment, the relative navigation information is relative navigation information between the first target movable object and a second target movable object, where the second target movable object is a movable object in the plurality of movable objects whose distance from the first target movable object is within a preset distance range.
In an alternative embodiment, the movement state data of each of the movable objects is collected by a data collecting terminal on each of the movable objects.
In an optional embodiment, the data acquisition terminal includes at least one of the following: satellite positioning equipment, a data processor and a communication device.
In an alternative embodiment, the satellite positioning device is used to acquire the position and velocity of the movable object; and/or the data processor is for processing the position and velocity of the movable object to generate movement state data; and/or the communication device is configured to transmit the mobility state data.
In an alternative embodiment, the satellite positioning device is a real-time dynamic carrier-phase differential positioning device.
In an alternative embodiment, the relative navigation information is used to control the movement state of the movable object.
In an alternative embodiment, the relative navigation information is fused with sensing data of a sensing system of the movable object, and is used for controlling the moving state of the movable object.
In an alternative embodiment, the movable object comprises one or more of an unmanned vehicle, a drone, and a robot.
In an optional embodiment, the control terminal comprises any one of the following: remote controller, smart mobile phone, panel computer, server.
It can be seen that, in the embodiment shown in fig. 10, the apparatus may acquire the movement state data of each of the plurality of movable objects, determine the relative navigation information between the plurality of movable objects according to the movement state data of each of the plurality of movable objects, and further may send the relative navigation information to at least one of the plurality of movable objects. By adopting the process, the determined relative navigation information is more accurate and reliable.
Fig. 11 is a schematic structural diagram of another apparatus for positioning a movable object according to an embodiment of the present invention. The device may be applied to a movable object. Specifically, the apparatus may include:
an obtaining module 1101, configured to obtain movement state data of each of the plurality of movable objects.
A sending module 1102, configured to send the movement state data of each movable object to a control terminal, so that the control terminal determines, according to the movement state data of each movable object, relative navigation information between multiple movable objects.
A receiving module 1103, configured to receive the relative navigation information sent by the control terminal.
In an alternative embodiment, the movement status data comprises at least one of: position, velocity, and acceleration.
In an alternative embodiment, the relative navigation information comprises at least one of: relative position, relative velocity, and relative acceleration.
In an optional implementation manner, the obtaining module 1101 is specifically configured to collect, by using a data collecting terminal, movement state data of each of a plurality of movable objects.
In an optional embodiment, the data acquisition terminal includes at least one of the following: satellite positioning equipment, a data processor and a communication device.
In an alternative embodiment, the satellite positioning device is used to acquire the position and velocity of the movable object; and/or the data processor is for processing the position and velocity of the movable object to generate movement state data; and/or the communication device is configured to transmit the mobility state data.
In an alternative embodiment, the satellite positioning device is a real-time dynamic carrier-phase differential positioning device.
In an alternative embodiment, the apparatus further includes a control module 1104.
In an alternative embodiment, the control module 1104 is configured to, after the receiving module 1103 receives the relative navigation information sent by the control terminal, control the moving state of the movable object according to the relative navigation information.
In an optional implementation manner, the control module 1104 is further configured to, after the receiving module 1103 receives the relative navigation information sent by the control terminal, obtain sensing data of a sensing system of the movable object; and controlling the moving state of the movable object according to the relative navigation information and the perception data.
It can be seen that, in the embodiment shown in fig. 11, the apparatus may acquire the movement state data of each of the plurality of movable objects, and send the movement state data of each of the movable objects to the control terminal, so that the control terminal determines the relative navigation information between the plurality of movable objects according to the movement state data of each of the movable objects, and receives the relative navigation information sent by the control terminal. By adopting the mode, the relative navigation information obtained by the movable object is more accurate and reliable.
Please refer to fig. 12, which is a schematic structural diagram of a control terminal according to an embodiment of the present application. The control terminal may include a processor 1201, a communication interface 1202, and a memory 1203. The processor 1201, the communication interface 1202, and the memory 1203 may be connected by a bus or other means. Wherein:
the memory 1203 is configured to store a computer program, which includes program instructions;
the processor 1201, when calling the program instruction, is configured to perform:
acquiring movement state data of each of a plurality of movable objects;
determining relative navigation information between a plurality of movable objects according to the movement state data of each movable object;
the relative navigation information is sent to at least one of the movable objects in the plurality of movable objects through communication interface 1202.
In an alternative embodiment, the movement status data comprises at least one of: position, velocity, and acceleration.
In an alternative embodiment, the relative navigation information comprises at least one of: relative position, relative velocity, and relative acceleration.
In an optional implementation manner, the processor 1201 acquires movement state data of each of a plurality of movable objects, and is specifically configured to:
the movement state data transmitted by each of the plurality of movable objects is received through the communication interface 1202.
In an optional implementation manner, the processor 1201 acquires movement state data of each of a plurality of movable objects, and is specifically configured to:
the movement state data of each of the plurality of movable objects transmitted by a first designated movable object is received through the communication interface 1202, wherein the first designated movable object is a movable object used for gathering the movement state data of other movable objects in the plurality of movable objects.
In an optional implementation manner, the processor 1201 determines, according to the movement state data of each movable object, relative navigation information between a plurality of movable objects, which is specifically used for:
preprocessing the movement state data of each movable object according to a preset rule to obtain at least one group of preprocessed movement state data;
and determining relative navigation information among a plurality of movable objects according to the preprocessed at least one group of movement state data.
In an optional implementation manner, the preset rule includes a time alignment rule, the movement state data of each movable object includes acquisition time indication information, and the processor 1201 preprocesses the movement state data of each movable object according to the preset rule to obtain at least one group of preprocessed movement state data, which is specifically used for:
according to acquisition time indication information included in the movement state data of each movable object, performing time alignment processing on the movement state data of each movable object according to the time alignment rule to obtain at least one group of movement state data after time alignment processing;
the processor 1201 determines, according to the at least one group of preprocessed moving state data, relative navigation information between the plurality of movable objects, which is specifically used for:
and determining relative navigation information among a plurality of movable objects according to at least one set of movement state data after the time alignment processing.
In an optional implementation manner, the processor 1201 determines, according to the movement state data of each movable object, relative navigation information between a plurality of movable objects, which is specifically used for:
relative navigation information between at least two of the movable objects in the plurality of movable objects is determined from the movement state data for each of the movable objects.
In an optional implementation manner, the processor 1201 determines, according to the movement state data of each movable object, relative navigation information between at least two movable objects in the plurality of movable objects, specifically to:
relative navigation information between a second designated movable object and at least one other movable object is determined according to the movement state data of each movable object, wherein the second designated movable object is one of the plurality of movable objects.
In an optional implementation manner, the processor 1201 is specifically configured to:
the relative navigation information is sent to a first target movable object through the communication interface 1202, where the first target movable object is a movable object of the plurality of movable objects for receiving the relative navigation information.
In an optional embodiment, the relative navigation information is relative navigation information between the first target movable object and a second target movable object, where the second target movable object is a movable object in the plurality of movable objects whose distance from the first target movable object is within a preset distance range.
In an alternative embodiment, the movement state data of each of the movable objects is collected by a data collecting terminal on each of the movable objects.
In an optional embodiment, the data acquisition terminal includes at least one of the following: satellite positioning equipment, a data processor and a communication device.
In an alternative embodiment, the satellite positioning device is used to acquire the position and velocity of the movable object; and/or the data processor is for processing the position and velocity of the movable object to generate movement state data; and/or the communication device is configured to transmit the mobility state data.
In an alternative embodiment, the satellite positioning device is a real-time dynamic carrier-phase differential positioning device.
In an alternative embodiment, the relative navigation information is used to control the movement state of the movable object.
In an alternative embodiment, the relative navigation information is fused with sensing data of a sensing system of the movable object, and is used for controlling the moving state of the movable object.
In an alternative embodiment, the movable object comprises one or more of an unmanned vehicle, a drone, and a robot.
In an optional embodiment, the control terminal comprises any one of the following: remote controller, smart mobile phone, panel computer, server.
Please refer to fig. 13, which is a schematic structural diagram of a movable object according to an embodiment of the present disclosure. The movable object may include a processor 1301, a communication interface 1302 and a memory 1303, the processor 1301, the communication interface 1302 and the memory 1303 may be connected by a bus or other means, wherein:
the memory 1303 is used for storing a computer program, and the computer program comprises program instructions;
the processor 1301, when calling the program instructions, is configured to perform:
acquiring movement state data of each of the plurality of movable objects;
sending the movement state data of each movable object to a control terminal through a communication interface 1302, so that the control terminal determines relative navigation information among a plurality of movable objects according to the movement state data of each movable object;
the relative navigation information sent by the control terminal is received through the communication interface 1302.
In an alternative embodiment, the movement status data comprises at least one of: position, velocity, and acceleration.
In an alternative embodiment, the relative navigation information comprises at least one of: relative position, relative velocity, and relative acceleration.
In an optional implementation manner, the processor 1301 acquires movement state data of each of the plurality of movable objects, specifically, the movement state data is used for:
and acquiring the movement state data of each movable object in the plurality of movable objects by using a data acquisition terminal.
In an optional embodiment, the data acquisition terminal includes at least one of the following: satellite positioning equipment, a data processor and a communication device.
In an alternative embodiment, the satellite positioning device is used to acquire the position and velocity of the movable object; and/or the data processor is for processing the position and velocity of the movable object to generate movement state data; and/or the communication device is configured to transmit the mobility state data.
In an alternative embodiment, the satellite positioning device is a real-time dynamic carrier-phase differential positioning device.
In an alternative embodiment, the processor 1301 is further configured to control the movement state of the movable object according to the relative navigation information.
In an alternative embodiment, the processor 1301 is further configured to obtain sensing data of a sensing system of the movable object; and controlling the moving state of the movable object according to the relative navigation information and the perception data.
It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the order of acts described, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in this specification are preferred embodiments and that the acts and modules involved are not necessarily required for this application.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, which may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The foregoing detailed description is directed to a method, system, and related apparatus for positioning a movable object according to embodiments of the present application, and the principles and implementations of the present application are described herein using specific examples, which are provided only to help understand the method and its core ideas of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims (90)

1. A method for positioning a movable object, applied to a control terminal, the method comprising:
acquiring movement state data of each of a plurality of movable objects;
determining relative navigation information between a plurality of movable objects according to the movement state data of each movable object;
sending the relative navigation information to at least one of the movable objects in a plurality of the movable objects.
2. The method of claim 1, wherein the mobility state data comprises at least one of: position, velocity, and acceleration.
3. The method according to claim 1 or 2, wherein the relative navigation information comprises at least one of: relative position, relative velocity, and relative acceleration.
4. The method according to claim 1 or 2, wherein the acquiring movement state data of each of the plurality of movable objects comprises:
and receiving the movement state data transmitted by each of the plurality of movable objects.
5. The method according to claim 1 or 2, wherein the acquiring movement state data of each of the plurality of movable objects comprises:
receiving movement state data of each of the plurality of movable objects transmitted by a first designated movable object, wherein the first designated movable object is a movable object used for gathering movement state data of other movable objects in the plurality of movable objects.
6. The method according to claim 1 or 2, wherein determining relative navigation information between a plurality of the movable objects from the movement state data of each of the movable objects comprises:
preprocessing the movement state data of each movable object according to a preset rule to obtain at least one group of preprocessed movement state data;
and determining relative navigation information among a plurality of movable objects according to the preprocessed at least one group of movement state data.
7. The method of claim 6, wherein the preset rules include time alignment rules, the movement state data of each of the movable objects includes acquisition time indication information, and the preprocessing the movement state data of each of the movable objects according to the preset rules to obtain at least one group of preprocessed movement state data includes:
according to acquisition time indication information included in the movement state data of each movable object, performing time alignment processing on the movement state data of each movable object according to the time alignment rule to obtain at least one group of movement state data after time alignment processing;
wherein the determining relative navigation information between the plurality of movable objects according to the preprocessed at least one set of movement state data comprises:
and determining relative navigation information among a plurality of movable objects according to at least one set of movement state data after the time alignment processing.
8. The method according to claim 1 or 2, wherein determining relative navigation information between a plurality of the movable objects from the movement state data of each of the movable objects comprises:
relative navigation information between at least two of the movable objects in the plurality of movable objects is determined from the movement state data for each of the movable objects.
9. The method of claim 8, wherein determining relative navigation information between at least two of the plurality of movable objects based on the movement state data for each of the movable objects comprises:
relative navigation information between a second designated movable object and at least one other movable object is determined according to the movement state data of each movable object, wherein the second designated movable object is one of the plurality of movable objects.
10. The method of claim 1 or 2, wherein said transmitting said relative navigation information to at least one of said plurality of said movable objects comprises:
transmitting the relative navigation information to a first target movable object, wherein the first target movable object is a movable object used for receiving the relative navigation information in the plurality of movable objects.
11. The method according to claim 10, wherein the relative navigation information is relative navigation information between the first target movable object and a second target movable object, wherein the second target movable object is a movable object of the plurality of movable objects whose distance from the first target movable object is within a preset distance range.
12. The method according to claim 1 or 2, wherein the movement state data of each of the movable objects is collected by a data collection terminal on each of the movable objects.
13. The method of claim 12, wherein the data collection terminal comprises at least one of: satellite positioning equipment, a data processor and a communication device.
14. The method of claim 13,
the satellite positioning equipment is used for acquiring the position and the speed of the movable object; and/or
The data processor is used for processing the position and the speed of the movable object to generate movement state data; and/or
The communication device is configured to send the mobility state data.
15. The method according to claim 13 or 14, wherein the satellite positioning device is a real-time dynamic carrier-phase differential positioning device.
16. The method of claim 1, wherein the relative navigation information is used to control a movement state of the movable object.
17. The method of claim 1, wherein the relative navigation information is fused with perception data of a perception system of the movable object for controlling a movement state of the movable object.
18. The method of claim 1, wherein the movable object comprises one or more of an unmanned vehicle, a drone, and a robot.
19. The method of claim 1, wherein the control terminal comprises any one of: remote controller, smart mobile phone, panel computer, server.
20. A method for positioning a movable object, applied to the movable object, the method comprising:
acquiring movement state data of each of the plurality of movable objects;
sending the movement state data of each movable object to a control terminal so that the control terminal determines relative navigation information among a plurality of movable objects according to the movement state data of each movable object;
and receiving the relative navigation information sent by the control terminal.
21. The method of claim 20, wherein the mobility state data comprises at least one of: position, velocity, and acceleration.
22. The method according to claim 20 or 21, wherein the relative navigation information comprises at least one of: relative position, relative velocity, and relative acceleration.
23. The method according to claim 20 or 21, wherein said acquiring movement state data of each of said plurality of said movable objects comprises:
and acquiring the movement state data of each movable object in the plurality of movable objects by using a data acquisition terminal.
24. The method of claim 23, wherein the data collection terminal comprises at least one of: satellite positioning equipment, a data processor and a communication device.
25. The method of claim 24,
the satellite positioning equipment is used for acquiring the position and the speed of the movable object; and/or
The data processor is used for processing the position and the speed of the movable object to generate movement state data; and/or
The communication device is configured to send the mobility state data.
26. The method according to claim 24 or 25, wherein the satellite positioning device is a real-time dynamic carrier-phase differential positioning device.
27. The method according to claim 20, wherein after receiving the relative navigation information sent by the control terminal, the method further comprises:
and controlling the moving state of the movable object according to the relative navigation information.
28. The method according to claim 20, wherein after receiving the relative navigation information sent by the control terminal, the method further comprises:
acquiring perception data of a perception system of the movable object;
and controlling the moving state of the movable object according to the relative navigation information and the perception data.
29. A method for positioning a movable object, applied to a positioning system, characterized in that the system comprises a movable object and a control terminal, the method comprising:
the movable object acquires movement state data of the movable object, wherein the movable object is any one of a plurality of movable objects;
the movable object sends the movement state data of the movable object to the control terminal;
the control terminal receives the movement state data of the movable object;
the control terminal determines relative navigation information among the movable objects according to the received movement state data of each movable object in the movable objects;
the control terminal transmitting the relative navigation information to at least one of the movable objects;
at least one of the movable objects receives the relative navigation information.
30. The method of claim 29, wherein the mobility state data comprises at least one of: position, velocity, and acceleration.
31. The method according to claim 29 or 30, wherein the relative navigation information comprises at least one of: relative position, relative velocity, and relative acceleration.
32. The method according to claim 29 or 30, wherein the determining, by the control terminal, the relative navigation information between the plurality of movable objects according to the received movement state data of each of the plurality of movable objects comprises:
the control terminal preprocesses the received movement state data of each movable object in the plurality of movable objects according to a preset rule to obtain at least one group of preprocessed movement state data;
and the control terminal determines relative navigation information among a plurality of movable objects according to the at least one group of preprocessed moving state data.
33. The method according to claim 32, wherein the preset rules include time alignment rules, the movement state data of each of the movable objects includes acquisition time indication information, and the control terminal preprocesses the received movement state data of each of the movable objects according to the preset rules to obtain at least one group of preprocessed movement state data, including:
the control terminal carries out time alignment processing on the movement state data of each movable object according to the time alignment rule according to the acquisition time indication information included in the received movement state data of each movable object in the plurality of movable objects, and at least one group of movement state data after time alignment processing is obtained;
wherein, the control terminal determines the relative navigation information among a plurality of movable objects according to the at least one group of preprocessed moving state data, and the method comprises the following steps:
and the control terminal determines relative navigation information among a plurality of movable objects according to at least one group of movement state data after the time alignment processing.
34. The method according to claim 29 or 30, wherein the determining, by the control terminal, the relative navigation information between the plurality of movable objects according to the received movement state data of each of the plurality of movable objects comprises:
the control terminal determines relative navigation information between at least two of the plurality of movable objects according to the received movement state data of each of the plurality of movable objects.
35. The method according to claim 34, wherein the determining, by the control terminal, the relative navigation information between at least two of the plurality of movable objects based on the received movement state data of each of the plurality of movable objects comprises:
the control terminal determines relative navigation information between a second designated movable object and at least one other movable object according to the received movement state data of each of the plurality of movable objects, wherein the second designated movable object is one of the plurality of movable objects.
36. The method according to claim 29 or 30, wherein the controlling terminal sends the relative navigation information to at least one of the plurality of movable objects, comprising:
and the control terminal sends the relative navigation information to a first target movable object, wherein the first target movable object is a movable object used for receiving the relative navigation information in the plurality of movable objects.
37. The method of claim 36, wherein the relative navigation information is relative navigation information between the first target movable object and a second target movable object, wherein the second target movable object is a movable object of the plurality of movable objects that is within a preset distance range from the first target movable object.
38. The method of claim 29 or 30, wherein the movable object acquiring movement state data of the movable object comprises:
the movable object utilizes a data acquisition terminal to acquire the movement state data of the movable object.
39. The method of claim 38, wherein the data collection terminal comprises at least one of: satellite positioning equipment, a data processor and a communication device.
40. The method of claim 39,
the satellite positioning equipment is used for acquiring the position and the speed of the movable object; and/or
The data processor is used for processing the position and the speed of the movable object to generate movement state data; and/or
The communication device is configured to send the mobility state data.
41. The method of claim 39, wherein the satellite positioning device is a real-time dynamic carrier-phase differential positioning device.
42. The method of claim 29, wherein after the at least one movable object receives the relative navigation information sent by the control terminal, the method further comprises:
and the movable object controls the moving state of the movable object according to the relative navigation information.
43. The method of claim 29, wherein after the at least one movable object receives the relative navigation information sent by the control terminal, the method further comprises:
the movable object acquires perception data of a perception system of the movable object;
and the movable object controls the moving state of the movable object according to the relative navigation information and the perception data.
44. The method of claim 29, wherein the movable object comprises one or more of an unmanned vehicle, a drone, and a robot.
45. The method according to claim 29, wherein the control terminal comprises any one of: remote controller, smart mobile phone, panel computer, server.
46. A control terminal, characterized in that the control terminal comprises a processor, a communication interface and a memory;
the memory for storing a computer program comprising program instructions;
the processor is used for executing the following steps when calling the program instruction:
acquiring movement state data of each of a plurality of movable objects;
determining relative navigation information between a plurality of movable objects according to the movement state data of each movable object;
transmitting the relative navigation information to at least one of the plurality of movable objects through the communication interface.
47. The control terminal of claim 46, wherein the mobility state data comprises at least one of: position, velocity, and acceleration.
48. The control terminal of claim 46 or 47, wherein the relative navigation information comprises at least one of: relative position, relative velocity, and relative acceleration.
49. The control terminal according to claim 46 or 47, wherein the processor obtains movement state data for each of a plurality of movable objects, in particular for:
and receiving the movement state data transmitted by each movable object in the plurality of movable objects through the communication interface.
50. The control terminal according to claim 46 or 47, wherein the processor obtains movement state data for each of a plurality of movable objects, in particular for:
receiving, through the communication interface, movement state data of each of the plurality of movable objects sent by a first designated movable object, where the first designated movable object is a movable object of the plurality of movable objects for gathering movement state data of other movable objects.
51. The control terminal according to claim 46 or 47, wherein the processor determines relative navigation information between a plurality of the movable objects based on the movement state data of each of the movable objects, in particular for:
preprocessing the movement state data of each movable object according to a preset rule to obtain at least one group of preprocessed movement state data;
and determining relative navigation information among a plurality of movable objects according to the preprocessed at least one group of movement state data.
52. The control terminal according to claim 51, wherein the preset rules include time alignment rules, the movement state data of each of the movable objects includes acquisition time indication information, and the processor preprocesses the movement state data of each of the movable objects according to the preset rules to obtain at least one group of preprocessed movement state data, which is specifically configured to:
according to acquisition time indication information included in the movement state data of each movable object, performing time alignment processing on the movement state data of each movable object according to the time alignment rule to obtain at least one group of movement state data after time alignment processing;
wherein the processor determines relative navigation information between the plurality of movable objects according to the at least one set of preprocessed movement state data, and is specifically configured to:
and determining relative navigation information among a plurality of movable objects according to at least one set of movement state data after the time alignment processing.
53. The control terminal according to claim 46 or 47, wherein the processor determines relative navigation information between a plurality of the movable objects based on the movement state data of each of the movable objects, in particular for:
relative navigation information between at least two of the movable objects in the plurality of movable objects is determined from the movement state data for each of the movable objects.
54. The control terminal of claim 53, wherein the processor determines relative navigation information between at least two of the plurality of movable objects based on the movement state data of each of the movable objects, in particular to:
relative navigation information between a second designated movable object and at least one other movable object is determined according to the movement state data of each movable object, wherein the second designated movable object is one of the plurality of movable objects.
55. The control terminal according to claim 46 or 47, wherein the processor is specifically configured to:
sending the relative navigation information to a first target movable object through the communication interface, wherein the first target movable object is a movable object used for receiving the relative navigation information in the plurality of movable objects.
56. The control terminal of claim 55, wherein the relative navigation information is relative navigation information between the first target movable object and a second target movable object, wherein the second target movable object is a movable object of the plurality of movable objects having a distance to the first target movable object within a preset distance range.
57. The control terminal according to claim 46 or 47, wherein the movement state data of each of the movable objects is collected by a data collection terminal on each of the movable objects.
58. The control terminal of claim 57, wherein the data collection terminal comprises at least one of: satellite positioning equipment, a data processor and a communication device.
59. The control terminal of claim 58,
the satellite positioning equipment is used for acquiring the position and the speed of the movable object; and/or
The data processor is used for processing the position and the speed of the movable object to generate movement state data; and/or
The communication device is configured to send the mobility state data.
60. The control terminal according to claim 58 or 59, wherein the satellite positioning device is a real-time dynamic carrier-phase differential positioning device.
61. The control terminal of claim 46, wherein the relative navigation information is used to control the movement state of the movable object.
62. The control terminal according to claim 46, wherein the relative navigation information is fused with perception data of a perception system of the movable object for controlling the movement state of the movable object.
63. The control terminal of claim 46, wherein the movable object comprises one or more of an unmanned vehicle, a drone, and a robot.
64. The control terminal according to claim 46, characterized in that the control terminal comprises any of the following: remote controller, smart mobile phone, panel computer, server.
65. A movable object, wherein the movable object comprises a processor, a communication interface, and a memory;
the memory for storing a computer program comprising program instructions;
the processor is used for executing the following steps when calling the program instruction:
acquiring movement state data of each of the plurality of movable objects;
sending the movement state data of each movable object to a control terminal through the communication interface, so that the control terminal determines relative navigation information among a plurality of movable objects according to the movement state data of each movable object;
and receiving the relative navigation information sent by the control terminal through the communication interface.
66. The movable object of claim 65, wherein the movement state data comprises at least one of: position, velocity, and acceleration.
67. The movable object of claim 65 or 66, wherein the relative navigation information comprises at least one of: relative position, relative velocity, and relative acceleration.
68. The movable object of claim 65 or 66, wherein the processor obtains movement state data for each of the plurality of movable objects, in particular for:
and acquiring the movement state data of each movable object in the plurality of movable objects by using a data acquisition terminal.
69. The movable object of claim 68, wherein the data acquisition terminal comprises at least one of: satellite positioning equipment, a data processor and a communication device.
70. The movable object of claim 69,
the satellite positioning equipment is used for acquiring the position and the speed of the movable object; and/or
The data processor is used for processing the position and the speed of the movable object to generate movement state data; and/or
The communication device is configured to send the mobility state data.
71. The movable object of claim 69 or 70, wherein the satellite positioning apparatus is a real-time dynamic carrier-phase differential positioning apparatus.
72. The movable object of claim 65, wherein the processor is further configured to control a state of movement of the movable object based on the relative navigation information.
73. The movable object of claim 65, wherein the processor is further configured to obtain perception data of a perception system of the movable object; and controlling the moving state of the movable object according to the relative navigation information and the perception data.
74. A positioning system, characterized in that the system comprises a movable object and a control terminal, wherein:
the movable object is used for acquiring the movement state data of the movable object, and the movable object is any one of a plurality of movable objects;
the movable object is also used for sending the movement state data of the movable object to the control terminal;
the control terminal is used for receiving the movement state data of the movable object;
the control terminal is further used for determining relative navigation information among the plurality of movable objects according to the received movement state data of each movable object in the plurality of movable objects;
the control terminal is further configured to send the relative navigation information to at least one of the plurality of movable objects;
at least one of the movable objects for receiving the relative navigation information.
75. The system according to claim 74, wherein the mobility state data comprises at least one of: position, velocity, and acceleration.
76. The system of claim 74 or 75, wherein the relative navigation information comprises at least one of: relative position, relative velocity, and relative acceleration.
77. The system according to claim 74 or 75, wherein the control terminal determines the relative navigation information between the plurality of movable objects according to the received movement state data of each of the plurality of movable objects, comprising:
the control terminal preprocesses the received movement state data of each movable object in the plurality of movable objects according to a preset rule to obtain at least one group of preprocessed movement state data;
and the control terminal determines relative navigation information among a plurality of movable objects according to the at least one group of preprocessed moving state data.
78. The system according to claim 77, wherein the preset rules comprise time alignment rules, the movement state data of each of the movable objects comprises acquisition time indication information, and the control terminal preprocesses the received movement state data of each of the movable objects according to the preset rules to obtain at least one group of preprocessed movement state data, comprising:
the control terminal carries out time alignment processing on the movement state data of each movable object according to the time alignment rule according to the acquisition time indication information included in the received movement state data of each movable object in the plurality of movable objects, and at least one group of movement state data after time alignment processing is obtained;
wherein, the control terminal determines the relative navigation information among a plurality of movable objects according to the at least one group of preprocessed moving state data, and the method comprises the following steps:
and the control terminal determines relative navigation information among a plurality of movable objects according to at least one group of movement state data after the time alignment processing.
79. The system according to claim 74 or 75, wherein the control terminal determines the relative navigation information between the plurality of movable objects according to the received movement state data of each of the plurality of movable objects, comprising:
the control terminal determines relative navigation information between at least two of the plurality of movable objects according to the received movement state data of each of the plurality of movable objects.
80. The system according to claim 79, wherein the control terminal determines the relative navigation information between at least two of the plurality of movable objects based on the received movement state data for each of the plurality of movable objects, comprising:
the control terminal determines relative navigation information between a second designated movable object and at least one other movable object according to the received movement state data of each of the plurality of movable objects, wherein the second designated movable object is one of the plurality of movable objects.
81. The system according to claim 74 or 75, wherein said control terminal sends said relative navigation information to at least one of said plurality of said movable objects, comprising:
and the control terminal sends the relative navigation information to a first target movable object, wherein the first target movable object is a movable object used for receiving the relative navigation information in the plurality of movable objects.
82. The system of claim 81, wherein the relative navigation information is relative navigation information between the first target movable object and a second target movable object, wherein the second target movable object is one of the plurality of movable objects that is within a predetermined distance range from the first target movable object.
83. The system of claim 74 or 75, wherein the movable object acquires movement state data of the movable object, comprising:
the movable object utilizes a data acquisition terminal to acquire the movement state data of the movable object.
84. The system of claim 83, wherein the data collection terminal comprises at least one of: satellite positioning equipment, a data processor and a communication device.
85. The system of claim 84,
the satellite positioning equipment is used for acquiring the position and the speed of the movable object; and/or
The data processor is used for processing the position and the speed of the movable object to generate movement state data; and/or
The communication device is configured to send the mobility state data.
86. The system according to claim 84, wherein said satellite positioning apparatus is a real-time dynamic carrier-phase differential positioning apparatus.
87. The system according to claim 74, wherein said at least one of said movable objects is further configured to control a state of movement of said movable object based on said relative navigational information.
88. The system according to claim 74, wherein said at least one of said movable objects is further configured to obtain perception data of a perception system of said movable object; and controlling the moving state of the movable object according to the relative navigation information and the perception data.
89. The system of claim 74, wherein the movable object comprises one or more of an unmanned vehicle, a drone, and a robot.
90. The system according to claim 74, wherein the control terminal comprises any one of: remote controller, smart mobile phone, panel computer, server.
CN201980030359.4A 2019-08-30 2019-08-30 Method, system and related equipment for positioning movable object Pending CN112136062A (en)

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