CN112254722B - Vehicle positioning method based on QR code and inertial navigation fusion - Google Patents

Vehicle positioning method based on QR code and inertial navigation fusion Download PDF

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CN112254722B
CN112254722B CN202011519953.0A CN202011519953A CN112254722B CN 112254722 B CN112254722 B CN 112254722B CN 202011519953 A CN202011519953 A CN 202011519953A CN 112254722 B CN112254722 B CN 112254722B
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code
camera
codes
inertial navigation
point
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CN112254722A (en
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陈培俊
朱永东
赵旋
朱凯男
杨斌
刘云涛
时强
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Zhejiang Lab
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Zhejiang Lab
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    • 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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • 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
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
    • G06K7/1417—2D bar codes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration

Abstract

The invention discloses a vehicle positioning method based on QR code and inertial navigation fusion, which takes a QR code which is most easily identified in two-dimensional codes as a positioning reference, obtains the distance between a point to be positioned and a reference point by adding calibration parameters of a camera, and positions the position of a vehicle by two or more QR codes which are simultaneously identified. The QR code comprises geographic position, orientation, QR code physical width and height information, and the camera parameters comprise focal length and height. When the positioning fails through the QR code, transient transitional positioning is carried out by using the inertial navigation system, the problem of accumulated error of the inertial navigation system is effectively solved, and the continuous and accurate positioning of the vehicle is completed. The invention realizes continuous and accurate positioning by combining the low-cost QR code identification technology and a mature inertial navigation system, and can be widely applied to parking lots, various parks, indoor and underground scenes with poor GPS signal coverage and the like.

Description

Vehicle positioning method based on QR code and inertial navigation fusion
Technical Field
The invention belongs to the technical field of navigation positioning, and particularly relates to a vehicle positioning method based on QR code and inertial navigation fusion.
Background
The positioning technology simply tells a user the position information of an object by an informatization means. At present, the number of the existing positioning technologies is dozens, and each positioning technology has own advantages and disadvantages and suitable application scenes and has no absolute win-win.
The most specialized positioning systems belong to the satellite positioning systems, such as the Beidou system of China, the GPS of the United states, the GLONASS of Russia, the GALILEO of Europe, and the like. The satellite positioning system is wide in coverage and mature in technology, and is one of the most widely applied positioning technologies at the present stage, but the civil precision of satellite positioning is about 10 meters, and cannot meet the services with high precision requirements such as automatic driving, and the like, and the satellite signals cover blind spots, and cannot be used in most situations such as indoor scenes. In order to make up for the deficiency of satellite positioning, wireless positioning technology is widely applied to indoor scenes and the like, and a great variety of technologies, such as cellular network base station-based, Wi-Fi signal-based, bluetooth signal-based, UWB-based and the like, have been developed at present. The UWB positioning is a positioning technology with high precision by utilizing an ultra-wideband technology, can be applied to positioning of indoor static or moving objects and people, and can provide centimeter-level positioning precision, but the UWB technology is high in deployment cost at present and is easily shielded by barriers such as walls to cause inaccurate positioning. Inertial navigation systems can operate independently independent of external conditions, but they accumulate errors and are not suitable for long-term positioning.
Disclosure of Invention
The invention aims to provide a vehicle positioning method based on QR code and inertial navigation fusion aiming at the defects of the prior art.
The purpose of the invention is realized by the following technical scheme: a vehicle positioning method based on QR code and inertial navigation fusion is realized by a vehicle-mounted part and a road side part; the road side part consists of a plurality of QR codes distributed on two sides of a road; the method comprises the following steps:
1) the camera takes a picture to generate an image, and the image is sent to the computing unit to identify the QR code;
2) the calculation unit utilizes the candidate area of the QR code in the deep neural network positioning image to judge the number of the candidate areas:
2.1) if the candidate area is less than two, jumping to step 3);
2.2) if the number of the candidate areas is more than or equal to two, identifying the content of the QR code and calculating the pixel width in all the candidate areas, adding an identified list, and judging the number of the QR codes:
2.2.1) if the number n of the QR codes in the identified list is less than 2, jumping to the step 3);
2.2.2) if the number n of the QR codes in the identified list is more than or equal to 2, sequentially reading the QR codesiContent of codes, QRiThe codes represent the ith QR code in the identified list, i = 1-n; computing camera to QRiDistance r of code center on horizontal planeiUntil traversing the QR codes in the identified list; judging the number of the QR codes again:
2.2.2.1) if the number n =2 of QR codes in the identified list, calculate to QR1The center of the code is the center r1Circle of radius and in QR2The center of the code is the center r2Is the intersection of circles of radii; judging the number of the intersection points:
if two intersection points A and B exist, calculating the angle difference of the orientation angle of the A pointing to the B minus the orientation angle of any one of the two QR codes; if the angle difference is (-90 degrees and 90 degrees), the point B is the point to be located; if the angle difference is (90 degrees and 270 degrees), the point A is the point to be positioned; jumping to step 4);
if only one intersection point exists, the intersection point is the point to be positioned, and the step 4) is skipped;
if no intersection exists, jumping to the step 3);
2.2.2.2) if the number n of QR codes in the identified list is greater than 2, using QR to selectiThe center of the code is the center riEstablishing an equation set to obtain an optimal solution of intersection points for a plurality of intersection points between circles with the radius:
when the solution exists, the optimal solution of the equation is the point to be positioned, and the step 4) is skipped;
jumping to step 3) when the solution does not exist;
3) reading a position value from an inertial navigation system, and outputting the position value as a point to be positioned;
4) and outputting information of the point to be positioned, and writing the point to be positioned into the inertial navigation system to eliminate accumulated errors.
Further, in the step 2.2), when the pixel width of the candidate region exceeds a specified size, downsampling is performed first and then recognition is performed.
Further, in said step 2.2.2), calculating camera to QRiDistance r of code center on horizontal planeiThe method specifically comprises the following steps:
Figure DEST_PATH_IMAGE001
Figure 577984DEST_PATH_IMAGE002
wherein d isiFor cameras to QRiDistance of code centers, HiIs QRiActual height of code, HcaIs the camera height, WiIs QRiActual width of code, F camera focal length, PiIs QRiCode pixel width.
Further, in the step 2.2.2.2), the optimal solution of the equation is obtained by solving
Figure 88600DEST_PATH_IMAGE003
The minimum of the two norms of (a) is obtained by a least square method.
Further, in the step 2.2.2.2), an equation set is established to obtain an optimal solution of the intersection, specifically:
Figure 337179DEST_PATH_IMAGE004
wherein the content of the first and second substances,
Figure 76596DEST_PATH_IMAGE005
is QRiA code center; will be ahead of
Figure 359809DEST_PATH_IMAGE006
Equation is subtracted from
Figure 775747DEST_PATH_IMAGE007
An equation to obtain one
Figure 511622DEST_PATH_IMAGE006
A system of dimensional linear equations, expressed in matrix form as follows:
Figure 547406DEST_PATH_IMAGE008
simplified to
Figure 685126DEST_PATH_IMAGE009
Solving the optimal solution of the equation to
Figure 271965DEST_PATH_IMAGE010
。
Further, the installation of the QR code specifically is:
i) the distance between the QR codes is 5 meters to 100 meters;
ii) QR code orientation to facilitate camera recognition;
iii) when the QR codes at the same point are installed in multiple planes, the QR codes at each plane have different orientation information;
iv) the QR code contains the information: position information, orientation information, actual width of the QR code and actual height of the QR code;
v) the QR code coding mode is that each different message consists of letters and corresponding numerical values;
vi) the QR code is within 41 cells;
vii) all QR codes are uniquely identified by position and orientation information;
viii) the number of pixels per cell of the QR code is between 5 and 20.
Further, ii) is specifically: the QR code is installed perpendicular to the ground and facing in the direction of the camera.
Further, the calibration of the camera specifically includes:
a) selecting the focal length of the camera according to the installation distance of the QR code, wherein the larger the installation distance is, the larger the selected focal length is;
b) the resolution of the camera is 1080P and above;
c) calibrating a focal length: taking a QR code with the width W as a target, placing the QR code at a position D away from a camera for photographing, measuring the pixel width P of the QR code, and calculating the focal length of the camera
Figure 104923DEST_PATH_IMAGE011
；
d) Measuring pixel width P of QR code: firstly, measuring the pixel width P of two corner points of the upper edgetopAnd the pixel width P of two corner points of the lower edgebottomCalculating the pixel width
Figure 310776DEST_PATH_IMAGE012
；
e) Measuring camera height Hca: the camera is mounted on the vehicle and the distance of the camera to the horizontal ground is measured.
Further, the a) selects a camera having a focal length between 4mm and 12 mm.
Further, the a) selects a zoom camera.
The invention has the following beneficial effects: the method takes the QR code which is most easily identified in the two-dimensional codes as the positioning reference, obtains the distance between the point to be positioned and the reference point by adding the calibration parameters of the camera, and positions the position of the vehicle by two or more QR codes which are identified simultaneously. The QR code comprises geographic position, orientation, QR code physical width and height information, and the camera parameters comprise focal length and height. When the positioning fails through the QR code, transient transitional positioning is carried out by using the inertial navigation system, the problem of accumulated error of the inertial navigation system is effectively solved, and the continuous and accurate positioning of the vehicle is completed. The invention realizes continuous and accurate positioning by combining the low-cost QR code identification technology and a mature inertial navigation system, and can be widely applied to parking lots, various parks, indoor and underground scenes with poor GPS signal coverage and the like. Compared with a satellite positioning system, the invention can be used indoors; compared with other indoor positioning methods, the method has the advantages of low cost, high precision and the like; the method can be applied to the fields of vehicle automatic driving, city management, material monitoring and tracking, navigation and the like.
Drawings
FIG. 1 is a system architecture composition diagram;
FIG. 2 is a diagram of a method of calculating pixel width;
FIG. 3 is a flow chart of a positioning process;
FIG. 4 is a schematic diagram of calculating the distance between a participation point and a point to be located;
fig. 5 is a schematic diagram of calculating coordinates of a point to be located.
Detailed Description
The invention relates to a vehicle positioning method based on QR code and inertial navigation fusion, which mainly comprises a vehicle-mounted part and a road side part; the vehicle-mounted part comprises a camera, a computing unit and an inertial navigation system; the roadside part consists of a plurality of QR codes distributed on two sides of the road.
The invention selects QR codes as positioning reference points. It has many advantages, first, it has a large capacity of storing information; secondly, the anti-pollution capability is strong, the error correction function is realized, and the data can be recovered to a certain degree even if the code is dirty or damaged; finally, it is easy to read because it has multiple positioning patterns, which can help the QR code not to be affected by background patterns, and realize fast and stable reading.
The invention adds an inertial navigation system, and can assist in outputting a positioning result when positioning based on the QR code fails, complete continuous positioning and increase the feasibility of engineering. The inertial navigation system used in the invention has low requirement on precision, and when the positioning is successful based on the QR code, the positioning result can be synchronized to the inertial navigation system; and only when the QR code fails to be positioned, the inertial navigation system is used for outputting a positioning result. That is, the inertial navigation system functions independently for a very short time as a supplement, and the cumulative error is very small.
As shown in fig. 1, the invention is composed of three parts, namely, installation of QR code, calibration of camera and real-time positioning, and specifically comprises:
1) and (5) installing the QR code.
1.1) the front-to-back spacing of the QR code installations may be between 5 meters and 100 meters. According to the positioning accuracy, the distance is required to be smaller when the accuracy is higher, and conversely, the distance can be properly enlarged when the accuracy is lower.
1.2) the orientation of the QR code is not particularly required, so as to be beneficial to the recognition of the camera, and the QR code should be installed in the direction which is as vertical as possible to the ground and faces the camera in order to improve the recognition rate.
1.3) the QR code at the same point position can be installed on a single surface, and can also be installed on two surfaces, three surfaces and four surfaces. When the QR codes are installed on multiple surfaces, different orientation information of the QR codes on each surface needs to be ensured.
1.4) information contained in the QR code is as follows: position information, orientation information, the actual width of the QR code, and the height of the center point of the QR code to the ground. Wherein no length information is required because the QR code is square; the position information is an absolute geographical position or a relative position and is expressed by XY coordinates; the heading information is an angle value, positive east is 0, south is negative, north is positive.
1.5) QR code coding mode: each different message starts with a letter, and is followed by a numerical value directly, so that a decimal number can be taken; position information starts at X, Y, starts at A, starts at W for actual width, and starts at H for height; as X119.96023877Y30.27423893A0.7854W0.5H1.8, the positions indicated are (119.96023877, 30.27423893), the orientation is 0.7854, the width is 0.5, and the height is 1.8.
1.6) for convenient system realization and improved recognition rate, the generated QR code is controlled within 41 units.
1.7) all QR codes in the system are uniquely identified by position and orientation information.
1.8) in order to ensure a high recognition rate, the number of pixels of each unit of the QR code is kept between 5 and 20 as much as possible, and the pixel width of a single QR code is between 205 and 820 in terms of 41 units.
2) And (5) calibrating the camera.
2.1) the focal length of the camera should be selected according to the installation distance of the QR code in 1.1), and the larger the installation distance is, the larger the selected focal length is. It is recommended to choose a camera with a focal length between 4mm and 12mm, and a zoom camera can be chosen as desired.
2.2) theoretically the higher the camera resolution, the higher the resulting positioning accuracy will be. According to the pixels of the QR code in 1.8), the camera resolution should be selected to be 1080P or more.
2.3) either fixed focus cameras or zoom cameras, it is necessary to calibrate the focal length before use. According to the principle of similar triangle, a QR code with the width W is used as a target, the target is placed at a position with the distance D from a camera for photographing, and the pixel width P of the QR code is measuredcaCalculating the focal length F of the camera:
Figure 427637DEST_PATH_IMAGE013
here, P is the number of pixels, and is not converted to mm, nor is F calculated to be the focal length in mm.
2.4) calculating the pixel width P. As shown in fig. 2, the QR code is deformed after being photographed, the actual pixel width P cannot be directly measured, and the pixel widths P of the two corners of the upper edge can be measured firsttopAnd the pixel width P of two corner points of the lower edgebottomThen, the actual pixel width is calculated:
Figure 326323DEST_PATH_IMAGE014
2.5) measuring the height H of the cameraca. The camera is mounted on the vehicle and the distance of the camera to the horizontal ground is measured.
3) Real-time positioning, the whole process is shown in fig. 3, and the detailed steps are as follows:
3.1) taking a picture by a camera to generate an image, and sending the image to a QR code recognition module in the computing unit.
And 3.2) locating the candidate area where the QR code is possibly present by utilizing a deep neural network. Jump to 3.5) if the candidate area is less than two. The deep neural network is trained in advance to calculate the QR code candidate area.
3.3) in all candidate areas, in turn, trying to identify the content of the QR code and calculate the actual pixel width, which, if successful, is added to the identified list. If the pixel width of the candidate area exceeds a specified size, downsampling is performed first and then recognition is performed.
3.4) assume that there are n QR codes in the recognized list, each QR code being a QR code1,QR2,…,QRi,…,QRn(ii) a If the number of the QR codes in the identified list is two or more, setting a counting step length j =0, and jumping to 3.6) to read all the QR codes; the number of QR codes in the identified list is less than two and execution continues at 3.5).
And 3.5) reading the position value from the inertial navigation system and outputting the position value as a point to be positioned. Jump back to 3.1) for next positioning until navigation is finished.
3.6) when j is more than or equal to n, jumping to 3.8) and executing; sequentially reading QRiCalculating the center point O of QR codeiDistance d ofi：
Figure 410691DEST_PATH_IMAGE015
Wherein, QRiThe content of the code comprises the actual pixel width PiActual width WiTrue height HiCenter point position coordinate Oi(Xi,Yi)。
3.7) As shown in FIG. 4, the camera and the center point of the QR code are probably not on the same horizontal plane and have a height difference, and the distance r on the plane is calculated by a trigonometric formulai：
Figure 154656DEST_PATH_IMAGE001
Setting j = j +1, jumping to 3.6) and reading the content of the next QR code.
3.8) if the number n of the QR codes is equal to 2, continuing to execute 3.9); and if the number n of the QR codes is more than 2, jumping to 3.12).
3.9) the number of QR codes is equal to 2, and the point to be positioned and the QR are determined1And QR2In a positional relationship ofShown in FIG. 5, the value of O is obtained1(X1,Y1) As the center r of a circle1Circle of radius and with O2(X2,Y2) As the center r of a circle2The mathematical expression, which is the intersection of circles of radii:
Figure 126023DEST_PATH_IMAGE016
the point to be located is located at the position A or B where the two circles intersect; if the equation has two sets of solutions, the two circles intersect at A, B, and jump to 3.10); if only one group of solutions exists, the two circles are intersected at one point, and the step jumps to 3.11); if no solution exists, the two circles are shown to have no intersection point, and 3.5 is jumped to).
3.10) two sets of solutions correspond to the coordinates of points A and B, assuming the coordinate of A (X)A,YA) Coordinates of B (X)B,YB). The angular difference is calculated by subtracting the orientation angle of either of the two QR codes from the orientation angle of the a-direction B. If the angle difference is (90 degrees and 270 degrees), judging that the directions of the two are opposite, and determining that the point A is a point to be positioned; if the angle difference is (-90 degrees, 90 degrees), the orientation of the two is judged to be the same, and the point B is the point to be located. The difference of 90 degrees cannot exist, and the QR code is perpendicular to the camera and cannot be recognized. And outputting information of the point to be positioned, and jumping to 3.14) to execute.
3.11) if a group of solutions exist, namely A and B are the same point, the intersection point is the coordinate of the point to be positioned, the information of the point to be positioned is output, and 3.14) execution is carried out.
3.12) the number of the QR codes is more than 2, because the distance calculation between the QR codes and the camera has errors, a plurality of intersection points exist between circles which take the position of the QR codes as the center of circle and the distance between the QR codes and the camera as the radius, and under the condition, an equation set is established as follows:
Figure 930031DEST_PATH_IMAGE017
wherein the content of the first and second substances,
Figure 3161DEST_PATH_IMAGE018
is as follows
Figure 550817DEST_PATH_IMAGE007
The position of the individual QR-codes,
Figure 642270DEST_PATH_IMAGE019
the distance between the QR code and the camera calculated for step 3.7). The above-mentioned front side
Figure 882758DEST_PATH_IMAGE006
Equation is subtracted from
Figure 676139DEST_PATH_IMAGE007
An equation to obtain one
Figure 27486DEST_PATH_IMAGE006
A system of dimensional linear equations, expressed in matrix form as follows:
Figure 973446DEST_PATH_IMAGE008
the method is simplified as follows:
Figure 384835DEST_PATH_IMAGE009
。
3.13) to obtain the optimal solution, one can ask for
Figure 166978DEST_PATH_IMAGE003
The least square method is utilized to obtain the optimal solution of the equation as
Figure 56436DEST_PATH_IMAGE020
When the solution exists, the solution is the coordinate of the point to be positioned, the information of the point to be positioned is output, and the execution is continued for 3.14); and when the solution does not exist, jumping to 3.5) to execute, and taking the position value in the inertial navigation system as the point to be located.
3.14) writing the point to be positioned into the inertial navigation system, and eliminating all accumulated errors of the previous inertial navigation system, which is equivalent to resetting and running again. Jump back to 3.1) for next positioning until navigation is finished.

Claims (9)

1. A vehicle positioning method based on QR code and inertial navigation fusion is characterized in that the method is realized by a vehicle-mounted part and a roadside part; the road side part consists of a plurality of QR codes distributed on two sides of a road; the method comprises the following steps:
1) the camera takes a picture to generate an image, and the image is sent to the computing unit to identify the QR code;
2) the calculation unit utilizes the candidate area of the QR code in the deep neural network positioning image to judge the number of the candidate areas:
2.1) if the candidate area is less than two, jumping to step 3);
2.2) if the number of the candidate areas is more than or equal to two, identifying the content of the QR code and calculating the pixel width in all the candidate areas, adding an identified list, and judging the number of the QR codes:
2.2.1) if the number n of the QR codes in the identified list is less than 2, jumping to the step 3);
2.2.2) if the number n of the QR codes in the identified list is more than or equal to 2, sequentially reading the QR codesiContent of codes, QRiThe code represents the ith QR code in the identified list, and i is 1-n; computing camera to QRiDistance r of code center on horizontal planeiUntil traversing the QR codes in the identified list; judging the number of the QR codes again:
2.2.2.1) if the number n of QR codes in the identified list is 2, calculate with QR1The center of the code is the center r1Circle of radius and in QR2The center of the code is the center r2Is the intersection of circles of radii; judging the number of the intersection points:
if two intersection points A and B exist, calculating the angle difference of the orientation angle of the A pointing to the B minus the orientation angle of any one of the two QR codes; if the angle difference is (-90 degrees, 90 degrees), the point B is the point to be positioned; if the angle difference is (90 degrees and 270 degrees), the point A is the point to be positioned; jumping to step 4);
if only one intersection point exists, the intersection point is the point to be positioned, and the step 4) is skipped;
if no intersection exists, jumping to the step 3);
2.2.2.2) if the number n of QR codes in the identified list is greater than 2, using QR to selectiThe center of the code is the center riEstablishing an equation set to obtain an optimal solution of intersection points for a plurality of intersection points between circles with the radius:
when the solution exists, the optimal solution of the equation is the point to be positioned, and the step 4) is skipped;
jumping to step 3) when the solution does not exist;
3) reading a position value from an inertial navigation system, and outputting the position value as a point to be positioned;
4) and outputting information of the point to be positioned, and writing the point to be positioned into the inertial navigation system to eliminate accumulated errors.
2. The QR code and inertial navigation fusion-based vehicle positioning method according to claim 1, wherein in step 2.2), when the pixel width of the candidate region exceeds a specified size, the downsampling is performed before the identification is performed.
3. The QR code and inertial navigation fusion based vehicle positioning method according to claim 1, characterized in that in step 2.2.2) camera to QR is calculatediDistance r of code center on horizontal planeiThe method specifically comprises the following steps:
Figure FDA0002944129820000021
Figure FDA0002944129820000022
wherein d isiFor cameras to QRiDistance of code centers, HiIs QRiActual height of code, HcaIs the camera height, WiIs QRiActual width of code, F camera focal length, PiIs QRiCode pixel width.
4. The QR code and inertial navigation fusion-based vehicle positioning method according to claim 1, wherein in step 2.2.2.2), an equation set is established to obtain an optimal solution of the intersection point, specifically:
Figure FDA0002944129820000023
wherein (X)i,Yi) Is QRiA code center; sequentially subtracting the nth equation from the first n-1 equations to obtain an n-1 dimensional linear equation set, and expressing the linear equation set in a matrix form as follows:
Figure FDA0002944129820000024
simplifying to AX ═ b, calculating the minimum of two norms of AX-b, and obtaining the optimal solution of the equation by the least square method to X ═ (A)TA)-1ATb。
5. The QR code and inertial navigation fusion based vehicle positioning method according to claim 1, wherein the installation of the QR code is specifically as follows:
i) the distance between the QR codes is 5 meters to 100 meters;
ii) QR code orientation to facilitate camera recognition;
iii) when the QR codes at the same point are installed in multiple planes, the QR codes at each plane have different orientation information;
iv) the QR code contains the information: position information, orientation information, actual width of the QR code and actual height of the QR code;
v) the QR code coding mode is that each different message consists of letters and corresponding numerical values;
vi) the QR code is within 41 cells;
vii) all QR codes are uniquely identified by position and orientation information;
viii) the number of pixels per cell of the QR code is between 5 and 20.
6. The QR code and inertial navigation fusion based vehicle positioning method according to claim 5, wherein ii) is specifically: the QR code is installed perpendicular to the ground and facing in the direction of the camera.
7. The QR code and inertial navigation fusion based vehicle positioning method according to claim 1, wherein the calibration of the camera is specifically:
a) selecting the focal length of the camera according to the installation distance of the QR code, wherein the larger the installation distance is, the larger the selected focal length is;
b) the resolution of the camera is 1080P and above;
c) calibrating a focal length: taking a QR code with the width W as a target, placing the QR code at a position D away from a camera for photographing, measuring the pixel width P of the QR code, and calculating the focal length of the camera
Figure FDA0002944129820000031
d) Measuring pixel width P of QR code: firstly, measuring the pixel width P of two corner points of the upper edgetopAnd the pixel width P of two corner points of the lower edgebottomCalculating the pixel width
Figure FDA0002944129820000032
e) Measuring camera height Hca: the camera is mounted on the vehicle and the distance of the camera to the horizontal ground is measured.
8. The QR code and inertial navigation fusion based vehicle localization method of claim 7, wherein a) selects a camera with a focal length between 4mm and 12 mm.
9. The QR code and inertial navigation fusion based vehicle positioning method of claim 7, wherein a) selects a zoom camera.
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