CN112368592A - Method for detecting radar installation state, movable platform, equipment and storage medium - Google Patents
Method for detecting radar installation state, movable platform, equipment and storage medium Download PDFInfo
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
A radar installation state detection method, a movable platform, equipment and a storage medium are provided, wherein the radar installation state detection method comprises the following steps: in the process of running tasks of the movable platform, acquiring topographic information of a running environment where the movable platform is located (S101); acquiring attitude information of the movable platform in the running process of the running environment (S102); and determining whether the radar configured on the movable platform is correctly installed or not according to the terrain information and the attitude information (S103). Through comprehensive use of various information, the installation state of the radar can be accurately detected, and installation errors are avoided.
Description
Technical Field
The invention relates to the field of radars, in particular to a radar installation state detection method, a movable platform, equipment and a storage medium.
Background
Movable platforms are now widely used in numerous fields. The movable platform has the requirement of avoiding obstacles according to the environmental information of the operating environment in different fields. The operating environment information may include terrain information, distribution density of objects in the environment, and the like. At the moment, the movable platform can observe the surrounding environment by using the radar configured by the movable platform, and then estimate the environmental information according to the point cloud data obtained by observation, thereby realizing obstacle avoidance based on the environmental information.
In particular fields, such as agriculture, it is common to use a movable platform for spraying the pharmaceutical product, which requires cleaning each time. Before and after each cleaning, the radar arranged on the movable platform needs to be disassembled and reinstalled. For users who are not familiar with the machine, radar installation errors can easily occur, which can also lead to damage to the movable platform.
Disclosure of Invention
The invention provides a radar installation state detection method, a movable platform, equipment and a storage medium, which are used for accurately detecting the installation state of a radar and avoiding installation errors.
A first aspect of the present invention is to provide a method for detecting a radar installation state, the method including:
acquiring topographic information of an operating environment where the movable platform is located;
acquiring attitude information of the movable platform in the running process of the running environment;
and determining whether the radar on the movable platform is installed correctly according to the terrain information and the attitude information.
A second aspect of the present invention is to provide a movable platform, comprising at least: the device comprises a machine body, a power system and a control device;
the power system is arranged on the machine body and used for providing power for the movable platform;
the control device includes a memory and a processor;
the memory for storing a computer program;
the processor is configured to execute the computer program stored in the memory to implement:
acquiring topographic information of an operating environment where the movable platform is located;
acquiring attitude information of the movable platform in the running process of the running environment;
and determining whether the radar on the movable platform is installed correctly according to the terrain information and the attitude information.
A third aspect of the present invention is to provide a radar installation state detection apparatus, including:
a memory for storing a computer program;
a processor for executing the computer program stored in the memory to implement:
acquiring topographic information of an operating environment where the movable platform is located;
acquiring attitude information of the movable platform in the running process of the running environment;
and determining whether the radar on the movable platform is installed correctly according to the terrain information and the attitude information.
A fourth aspect of the present invention is to provide a computer-readable storage medium, which is a computer-readable storage medium having stored therein program instructions for the method for detecting a radar installation state according to the first aspect.
The radar installation state detection method, the movable platform, the equipment and the storage medium provided by the invention can accurately detect the radar installation state and avoid installation errors.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flowchart of a method for detecting a radar installation state according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating a method for determining terrain information according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of another method for detecting a radar installation state according to an embodiment of the present invention;
FIG. 4a is a schematic diagram of a predetermined correlation determination method according to an embodiment of the present invention;
FIG. 4b is a schematic diagram illustrating another predetermined correlation determination method according to an embodiment of the present invention;
FIG. 4c is a schematic diagram illustrating another predetermined correlation determination method according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a device for detecting an installation state of a cloud radar according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a movable platform according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a device for detecting an installation state of a cloud radar according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The background section has mentioned the need for cleaning a movable platform that may exist in an agricultural setting, and some embodiments of the present invention may be described in detail based on this setting with reference to the accompanying drawings. However, it should be noted that the agricultural scenario is only an example, and the present invention is not limited to the use scenario, as long as there is a scenario that requires the radar disposed on the movable platform to be detached. And features in the embodiments described below and in the embodiments may be combined with each other without conflict between the embodiments.
According to the radar installation state detection method, the movable platform, the equipment and the storage medium, provided by the invention, in the process of executing tasks by the movable platform, the topographic information of the operation environment where the movable platform is located and the attitude information of the movable platform in the operation process of the operation environment can be obtained. And further, whether the radar arranged on the movable platform is installed correctly is determined according to the information of the terrain information and the attitude information. Therefore, the invention provides a scheme for judging the installation state of the radar according to multi-aspect information, which can accurately detect the installation state of the radar and avoid the situation that the movable platform is finally damaged due to installation errors.
Meanwhile, in the prior art, the detection of the installation state is often performed before the normal task is performed, and the movable platform needs to run a predetermined track, and a specific environmental marker is usually placed in a running scene. Compared with the prior art, the detection method provided by the invention is carried out in the process that the movable platform executes the normal task, on one hand, the movable platform does not need to run a preset track, on the other hand, the installation state of the radar can be continuously detected in the whole process of the movement of the movable platform, and the real-time performance of the detection is improved.
Based on the above description, an embodiment of the present invention provides a method for detecting a radar installation state, where the method includes:
acquiring topographic information of an operating environment where the movable platform is located;
acquiring attitude information of the movable platform in the running process of the running environment;
and determining whether the radar on the movable platform is installed correctly according to the terrain information and the attitude information.
An embodiment of the present invention further provides a movable platform, where the platform at least includes: the device comprises a machine body, a power system and a control device;
the power system is arranged on the machine body and used for providing power for the movable platform;
the control device comprises a memory and a processor;
the memory for storing a computer program;
a processor for executing the computer program stored in the memory to implement:
acquiring topographic information of an operating environment where the movable platform is located;
acquiring attitude information of the movable platform in the running process of the running environment;
and determining whether the radar on the movable platform is installed correctly according to the terrain information and the attitude information.
An embodiment of the present invention further provides a device for detecting a radar installation state, where the device includes:
a memory for storing a computer program;
a processor for executing the computer program stored in the memory to implement:
acquiring topographic information of an operating environment where the movable platform is located;
acquiring attitude information of the movable platform in the running process of the running environment;
and determining whether the radar on the movable platform is installed correctly according to the terrain information and the attitude information.
An embodiment of the present invention further provides a computer-readable storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, where the program instructions are used in the method for detecting the radar installation state.
Fig. 1 is a schematic flowchart of a method for detecting a radar installation state according to an embodiment of the present invention. The execution subject of the radar mounting state detection method is a detection device. It will be appreciated that the detection device may be implemented as software, or a combination of software and hardware. The detection equipment executes the detection method of the radar installation state, and then the detection of the radar installation state can be realized. The detection device in this embodiment and the following embodiments may specifically be any movable platform such as an unmanned aerial vehicle, an unmanned ship, and the like. The following embodiments will be described by taking as an example a case where the movable platform is an unmanned aerial vehicle. In this example, the operation environment of the movable platform is the flight environment of the unmanned aerial vehicle, and the operation of the movable platform is the flight of the unmanned aerial vehicle. Specifically, the method may include:
s101, obtaining topographic information of the operation environment of the movable platform.
When the unmanned aerial vehicle executes a normal flight task, an optional mode is adopted, the camera arranged on the unmanned aerial vehicle can shoot an image corresponding to a flight environment, and then the terrain information of the flight environment can be determined through an image recognition mode so as to avoid obstacles according to the terrain information. The terrain information may indicate whether the ground in the flight environment has a slope or not, and may also indicate the distribution of obstacles in the flight environment. Alternatively, the radar configured on the drone may be constantly moving and acquire a plurality of point cloud data. Then, according to the coordinate values of the collected point cloud data, the terrain information of the flight environment can be determined, and then the position of the obstacle is determined according to the terrain information, so that obstacle avoidance is achieved. Alternatively, the radar configured on the drone may be a rotating radar, and the point cloud data may be data acquired by rotating the rotating radar for one circle, which may be used to describe the distribution of obstacles within a 360 ° view range of the drone.
Optionally, in practical application, for comprehensive consideration of the calculation amount and the obstacle avoidance effect, the multiple point cloud data collected by the radar may be screened according to the coordinate value, for example, point cloud data for describing the 120 ° view range of the unmanned aerial vehicle is screened, and then the terrain information of the flight environment is determined according to the screened point cloud data.
As for the above-mentioned terrain information, it may be optionally information of a gradient of a flight environment in which the aircraft is located, a distribution density of obstacles in the flight environment, and the like. When the topographic information is the distribution density of the obstacles, after a plurality of point cloud data collected by the radar are obtained, the positions of the obstacles in the flight environment, the volumes of the obstacles and other contents can be determined according to the coordinate values of the point cloud data. And further analyzing the distribution density of the obstacles in the flight environment according to the positions and the volumes of the obstacles.
And S102, acquiring attitude information of the movable platform in the operation process of the operation environment.
Then, in the flight process of the unmanned aerial vehicle, the attitude information of the unmanned aerial vehicle can be calculated according to the sensing data acquired by the sensors configured by the unmanned aerial vehicle, such as the nine-axis sensors. As the name implies, the attitude information of the drone may represent the flight attitude of the drone, such as in horizontal flight or inclined flight, and so on. Alternatively, this attitude information may be the pitch angle, heading angle, or roll angle of the drone, among others.
And S103, determining whether the radar on the movable platform is installed correctly or not according to the terrain information and the attitude information.
Alternatively, when the terrain information is obtained through the image recognition mode, whether the radar is installed correctly can be determined according to whether the meanings indicated by the terrain information and the attitude information are consistent.
Specifically, if the terrain information indicates that the ground of the flying environment is flat, the obtained attitude information indicates that the unmanned aerial vehicle is flying parallel to the horizontal ground, and the meanings indicated by the terrain information and the attitude information are consistent, it can be determined that the radar on the unmanned aerial vehicle is installed correctly. If the ground of the terrain information, which is the flying environment, is flat ground, and the obtained attitude information indicates that the unmanned aerial vehicle is flying in a certain angle of inclination with the horizontal ground, the meanings indicated by the terrain information and the attitude information are inconsistent, the radar installation error can be determined. Alternatively, when the terrain information is determined from point cloud data collected by the radar, it is also possible to determine whether the radar is installed correctly by determining a predetermined correlation between the terrain information and the attitude information.
Specifically, after determining the terrain information of the flying environment and the attitude information of the unmanned aerial vehicle in the flying environment, it can be further determined whether a predetermined correlation exists between the two kinds of information. Alternatively, the predetermined correlation may be embodied such that the two kinds of information satisfy a preset numerical correspondence.
For example, when the terrain information is the distribution density of the obstacles and the attitude information is the pitch angle, a numerical value interval to which the distribution density of the obstacles belongs and an angle interval to which the pitch angle belongs are determined, in the first case, if a preset corresponding relationship exists between the numerical value interval and the angle interval, it is indicated that the preset corresponding relationship exists between the distribution density of the obstacles and the pitch angle, and it is indicated that the distribution density of the obstacles and the pitch angle have a preset correlation, it is determined that the radar is installed correctly.
And in the second condition, when the first numerical value interval and the second numerical value interval do not have a preset corresponding relation, the fact that the preset corresponding relation does not exist between the distribution density of the obstacles and the pitch angle is shown, and the fact that the distribution density of the obstacles and the pitch angle do not have the preset correlation is shown, the radar installation error is determined. The installation error can be specifically front-to-back or top-to-bottom. At this moment, the user can control unmanned aerial vehicle to descend to reinstallate the radar, in order to avoid appearing the unmanned aerial vehicle damage because of radar installation mistake leads to.
According to the method for detecting the installation state of the radar, when the unmanned aerial vehicle executes a flight task, the terrain information of the flight environment where the unmanned aerial vehicle is located and the attitude information of the unmanned aerial vehicle during the flight process in the flight environment can be acquired. And further, whether the radar is installed correctly is determined according to the terrain information and the attitude information. It is thus clear that this embodiment provides a scheme of judging radar installation state according to many-sided information, and this method on the one hand is gone on in unmanned aerial vehicle carries out normal flight task in-process, and unmanned aerial vehicle need not to fly predetermined orbit, and on the other hand can carry out detection continuously to the installation state of radar in the whole in-process that unmanned aerial vehicle flies, improves the real-time of detection.
In addition to the foregoing manner, another optionally implementable manner of step S101 may be, as shown in fig. 2, that:
s1011, acquiring a plurality of point cloud data describing the operating environment of the movable platform. For example, a plurality of point of flight data describing a flight environment of the drone is acquired.
And S1012, selecting target point cloud data within a preset visual angle range according to the coordinate values of the point cloud data.
And S1013, performing linear fitting on the target point cloud data to obtain a linear equation.
And S1014, determining the terrain information according to the linear equation.
During operation (e.g., normal flight) of the drone, first, a radar on the drone may acquire a plurality of point cloud data during rotation, and as described above, the plurality of point cloud data may be used to describe the distribution of obstacles within 360 ° of the view angle of the drone. Then, data within a preset visual angle range can be selected as target point cloud data according to the coordinate values of the plurality of point cloud data. The size of the preset viewing angle may be preset according to actual conditions, for example, may be set to 120 ° as mentioned in the above embodiments.
Then, for the selected target point cloud data, optionally, a least square method may be used to perform linear fitting on the target point cloud data to obtain a linear equation, and then the terrain information is determined according to coefficients of the linear equation. Specifically, assume that the equation of a straight line is expressed as: and y is kx + b, determining that the terrain information in the flight environment of the unmanned aerial vehicle is as follows: k/b, which may specifically be the slope information of the flight environment.
In summary, the embodiments shown in fig. 1 and fig. 2 provide two ways of determining terrain information based on the point cloud data collected by the radar. In practical application, different modes can be selected to obtain the topographic information of the corresponding content according to different specific meanings represented by the topographic information.
As can be seen from the above description of the embodiments, when it is determined that there is no predetermined correlation between the terrain information and the attitude information, it indicates that the radar is currently in the installation error state. In practical applications, data collected by the radar and the sensor and used for determining the terrain information and the attitude information are inevitable to have errors. Therefore, based on the above embodiments, as shown in fig. 3, when it is determined that there is no predetermined correlation between the terrain information and the attitude information, the method for detecting the installation state of the radar may further include:
s201, updating the radar installation state to be the number of times of installation errors.
S202, if the updated times are higher than the preset times, sending a warning notice.
When the installation state of the radar is determined to be the installation error according to the terrain information and the attitude information, the unmanned plane can record the detection result firstly, namely, the number of times that the installation state is the installation error is updated. If the updated times are higher than the preset times, the radar configured on the unmanned aerial vehicle is continuously in a state of installation error, the radar can be really considered as the installation error at the moment, and the detection result error caused by data acquisition error is eliminated. Then, the unmanned aerial vehicle can generate a warning notice to inform the ground user to further adjust the flight state of the unmanned aerial vehicle, so that the damage of the unmanned aerial vehicle is avoided.
In addition, during the course of the unmanned aerial vehicle normally executing the task, the radar is in a motion state, that is, the radar has a motion angular velocity. From practical experience, the following relationship exists between the magnitude of the angular velocity of the movement and the predetermined correlation between the terrain information and the attitude information: the more apparent the predetermined correlation between the topographic information and the attitude information is expressed when the angular velocity is not less than the preset velocity.
Based on the above description, fig. 3 is a schematic flowchart of another method for detecting a radar installation state according to an embodiment of the present invention. As shown in fig. 3, based on the above embodiments, before step S103, the method for detecting the radar installation state may further include:
and S203, acquiring the motion angular speed of the movable platform.
And S204, determining whether the movement angular velocity is greater than a preset threshold, if so, executing the step S103, otherwise, executing the step S205.
S205, stopping detecting the radar installation state.
Specifically, the angular velocity of the unmanned aerial vehicle can be measured by an inertial measurement unit (I nert I a l measurement unit, abbreviated as I MU) configured on the unmanned aerial vehicle. Then, whether the acquired motion angular velocity is larger than a preset threshold value is judged. If the angular velocity of the movement is greater than or equal to the preset threshold, step S103 in the embodiment shown in fig. 1 is executed, and the detailed implementation process of step S103 may refer to the related description in the above embodiment, which is not described herein again. If the movement angular velocity is smaller than the preset threshold value, the detection method provided by the invention is executed to obtain the detection result, the accuracy of the detection result cannot be guaranteed, the detection of the radar installation state can be stopped at the moment, and the detection of the installation state is started after the movement angular velocity acquired at the next moment is larger than the preset threshold value.
In this embodiment, on the one hand, when it is determined that the radar is in the installation error state, the number of times that the radar is in the installation error state is updated. When the number of times is greater than the preset number of times, it indicates that the radar is continuously in an installation error state, and the user can be informed of the installation error state, so that the reliability of the detection result can be increased through the statistics of the number of times, the misoperation of the unmanned aerial vehicle by the user due to the contingency of the detection result is avoided, and finally the unmanned aerial vehicle cannot normally complete the flight mission and even is damaged.
On the other hand, on the basis of the above embodiments, the present embodiment puts requirements on the movement angular velocity of the unmanned aerial vehicle. Since the motion angular velocity is directly related to the accuracy of the detection result, the accuracy of the installation state detection can be improved by increasing the judgment step between the motion angular velocity and the preset angular velocity, so that the situation that the unmanned aerial vehicle cannot normally complete the flight mission or even be damaged due to the error of the detection result is avoided.
As can be seen from the description in the above embodiments, the most important step in the detection process of the radar installation state is the determination of the correlation between the terrain information and the attitude information. Also, as already mentioned in the above embodiments, the predetermined correlation between the topographic information and the posture information may be expressed as that both kinds of information satisfy a preset numerical correspondence. Besides, the unmanned aerial vehicle can obtain terrain information and attitude information in the flying environment continuously in the flying process, and then can obtain a plurality of terrain information and a plurality of attitude information within a preset time period, for example, T is 2 seconds. At this time, alternatively, a predetermined correlation between the terrain information and the attitude information may also be expressed as both having the same trend of change.
Based on this, optionally, a specific implementation manner of step S103 in the foregoing embodiments, that is, an implementation manner of optionally determining the predetermined correlation, is shown in fig. 4 a:
and S1031, calculating products between the terrain information and the attitude information corresponding to the same time respectively for the terrain information and the attitude information acquired within a preset time period.
S1032, if the sum of the products is greater than a preset threshold, determining that there is a predetermined correlation between the terrain information and the attitude information.
Specifically, according to the manner provided by each of the above embodiments, a plurality of pieces of terrain information and a plurality of pieces of attitude information can be acquired within a preset time period. Because the point cloud data used in the determined terrain information are collected in the radar rotating process, and the attitude information is collected by a sensor on the unmanned aerial vehicle, when the rotating period of the radar is the same as the data collecting period of the sensor, the number of the terrain information and the attitude information obtained in the preset time length is equal.
At this time, the correlation between the terrain information and the attitude information may be calculated using the following formula:
the number of the terrain information and the attitude information acquired within a preset time period is N, slope (i) represents the ith of the acquired N terrain information, the terrain information corresponds to a machine body coordinate system, the coordinate system accords with a right hand rule, the origin of the coordinate system is the gravity center of the unmanned aerial vehicle, an X axis points to the advancing direction of the unmanned aerial vehicle, a Y axis points to the right side of the aircraft from the origin, and pitch (i) represents the ith of the acquired N attitude information.
If the calculation result of the above formula is greater than the preset threshold, it indicates that the two kinds of information acquired in the preset time period have the same change trend, it may be determined that there is a predetermined correlation between the two kinds of information, otherwise, it may be determined that there is no predetermined correlation between the two kinds of information.
It should be noted that, in an alternative manner, the preset threshold used in the foregoing determination process may be set to 0. If the sum of the products is greater than 0, it can be determined that there is a predetermined correlation between the terrain information and the attitude information, i.e., that the radar is correctly installed. If the sum of the products is less than or equal to 0, it can be determined that there is no predetermined correlation between the terrain information and the attitude information, that is, a radar mounting error, which may be a back-and-forth mounting or a top-and-bottom mounting.
In addition, the above formula (1) is actually a representation of the cross-correlation function between the terrain information and the attitude information. If the product is less than or equal to 0, that is, if the cross-correlation function is a non-positive value, it indicates that the radar is installed incorrectly (the radar is installed incorrectly) or possibly incorrectly.
Alternatively, to remove the deviation of the two pieces of information, or to remove the influence of the error, the preset threshold may be set to other values greater than 0. For example, the preset threshold is set to 0.5. If the sum of the products is greater than 0.5, it is determined that there is a predetermined correlation between the terrain information and the attitude information, i.e., that the radar is correctly installed. If the sum of the products is less than 0.5, it is determined that there is no predetermined correlation between the terrain information and the attitude information, that is, a radar mounting error. If the sum of the products is between-0.5 and 0.5, the detection can be repeated or other methods can be used to determine the sum.
Alternatively to the above, yet another way of determining the predetermined correlation is shown in fig. 4 b:
and S1033, calculating a first average value and a first standard deviation of the topographic information acquired within a preset time period.
For the acquired plurality of pieces of terrain information, a first average value of the terrain information may be calculated according to the following formula:
calculating a first standard deviation of the terrain information according to the following formula:
where N is the number of acquired topographic information, slope (i) represents the ith of the N pieces of topographic information acquired in the body coordinate system.
S1034, calculating a second average value and a second standard deviation of the attitude information acquired in a preset time period.
For the plurality of acquired pose information, a second average value of the pose information may be calculated according to the following formula:
calculating a second standard deviation of the pose information according to the following formula:
where N is the number of acquired posture information, and pitch (i) represents the ith of the acquired N posture information.
S1035, determining whether there is a predetermined correlation between the terrain information and the attitude information according to the first average value, the first standard deviation, the second average value, and the second standard deviation.
Based on the above calculation results, it can be determined whether there is a predetermined correlation between the terrain information and the attitude information according to the following formula:
if the calculation result of the above formula is greater than the preset threshold, it indicates that the two kinds of information acquired in the preset time period have the same change trend, it may be determined that there is a predetermined correlation between the two kinds of information, otherwise, it may be determined that there is no predetermined correlation between the two kinds of information.
It should be noted that, similar to the embodiment shown in fig. 4a, in an alternative manner, the preset threshold used in the above determination process may also be set to 0. If the sum of the products is greater than 0, it can be determined that there is a predetermined correlation between the terrain information and the attitude information, i.e., that the radar is correctly installed. If the sum of the products is less than or equal to 0, it can be determined that there is no predetermined correlation between the terrain information and the attitude information, that is, a radar installation error, which may also be a front-to-back installation or a top-to-bottom installation.
In addition, the above formula (6) is actually another expression of the cross-correlation function between the terrain information and the attitude information. If the product is greater than 0, namely the cross-correlation function value is a positive value, the radar is correctly installed, and if the product is less than or equal to 0, namely the cross-correlation function is a non-positive value, the radar is incorrectly installed. Alternatively, the preset threshold may be set to other values greater than 0 in order to remove the deviation of the two signals, or to remove the influence of the error. For example, the preset threshold value is set to 0.5. If the sum of the products is greater than 0.5, it is determined that there is a predetermined correlation between the terrain information and the attitude information, i.e., that the radar is correctly installed. If the sum of the products is less than 0.5, it is determined that there is no predetermined correlation between the terrain information and the attitude information, that is, a radar mounting error. If the sum of the products is between-0.5 and 0.5, the detection needs to be performed again or other methods are used to determine the sum.
As can be seen from the above description, the above equations (1) and (6) are two different representations of the cross-correlation function between the terrain information and the attitude information, both of which have their own advantages and disadvantages. The expression mode of the formula (1) is simple, and quick calculation can be realized. Although the expression of the formula (6) is complicated, the accuracy of correlation calculation can be improved by calculating the mean and the standard deviation.
It should be noted that, according to the above formulas, the number of the terrain information and the attitude information to be used in the correlation determination using the cross-correlation function is equal. In practice, however, the radar will typically have a rotation period that is greater than the data acquisition period of the sensor. This may result in a larger amount of attitude information and terrain information, i.e., only attitude information but not terrain information may be acquired at a certain time.
In this case, the mounting state cannot be detected only from the posture information, that is, the acquired posture information becomes invalid data. In order to avoid this situation, optionally, the attitude information acquired at the current time and the terrain information acquired at the previous time may be fused to obtain the terrain information at the current time. After the fusion processing, the number of the terrain information and the attitude information can be equal, and at the moment, whether the terrain information and the attitude information have the preset correlation or not can be determined according to the formula.
Of course, instead of performing the above-described fusion processing, a part of the attitude information may be screened from a large amount of attitude information so that the number of the screened attitude information is equal to the number of the topographic information acquired in the preset time period.
In addition to the two ways of determining the correlation from the cross-correlation function described above, alternatively, another way of determining the predetermined correlation is shown in fig. 4 c:
s1036, performing linear fitting on the terrain information acquired within a preset time period to determine a first slope corresponding to the terrain information.
And S1037, performing linear fitting on the attitude information acquired within a preset time period to determine a second slope corresponding to the attitude information.
S1038, if the first slope and the second slope have the same sign, determining that there is a predetermined correlation between the terrain information and the attitude information.
Specifically, the acquired pieces of terrain information may be linearly fitted to obtain a straight-line equation, that is, a first slope of the equation is determined. Similarly, a linear fit may be performed on the plurality of attitude information to obtain a second slope of the linear equation.
If the signs of the two slopes are the same, indicating that the variation trends of the two kinds of information in the preset time period are the same, determining that the two kinds of information have preset correlation; otherwise, the two are determined not to have the predetermined correlation.
It should be noted that in this way, it is not necessary that the terrain information and the attitude information have the same amount as in the two ways of cross-correlation function described above. And specifically, the terrain information in the above modes is embodied as gradient information, and the attitude information is embodied as pitch angle.
In summary, for the various manners provided above, in practical application, a corresponding determination manner may be selected according to actual requirements.
Fig. 5 is a schematic structural diagram of a device for detecting a radar installation state according to an embodiment of the present invention. As shown in fig. 5, the present embodiment provides a radar installation state detection apparatus that can perform the above-described radar installation state detection method; specifically, the detection device includes:
the first obtaining module 11 is configured to obtain topographic information of an operating environment where the movable platform is located.
And a second obtaining module 12, configured to obtain attitude information of the movable platform in the operation process of the operation environment.
And a state determination module 13, configured to determine whether the radar on the movable platform is correctly installed according to the terrain information and the attitude information.
The apparatus shown in fig. 5 can also perform the method of the embodiment shown in fig. 1 to 4c, and the related description of the embodiment shown in fig. 1 to 4c can be referred to for the part not described in detail in this embodiment. The implementation process and technical effect of the technical solution refer to the description in the embodiment shown in fig. 1 to 4c, and are not described herein again.
Fig. 6 is a schematic structural diagram of a movable platform according to an embodiment of the present invention; referring to fig. 6, an embodiment of the present invention provides a movable platform, which is at least one of the following: unmanned aerial vehicles, unmanned boats, unmanned vehicles; specifically, the movable platform includes: a machine body 21, a power system 22, and a control device 23.
And the power system 22 is arranged on the machine body and used for providing power for the movable platform.
The control device 23 comprises a memory 231 and a processor 232.
The memory for storing a computer program;
the processor is configured to execute the computer program stored in the memory to implement:
acquiring topographic information of an operating environment where the movable platform is located;
acquiring attitude information of the movable platform in the running process of the running environment;
and determining whether the radar on the movable platform is installed correctly according to the terrain information and the attitude information.
Further, processor 232 is further configured to: determining whether there is a predetermined correlation between the terrain information and the attitude information;
determining that the radar is properly mounted on the movable platform if the terrain information and the attitude information have the predetermined correlation therebetween.
Further, processor 232 is further configured to: respectively calculating products between the terrain information and the attitude information corresponding to the same moment for the terrain information and the attitude information acquired within a preset time period;
determining that the terrain information and the attitude information have the predetermined correlation if the sum of the products is greater than a preset threshold.
Further, processor 232 is further configured to: calculating a first average value and a first standard deviation of the topographic information acquired within a preset time period;
calculating a second average value and a second standard deviation of the attitude information acquired within the preset time period;
and determining whether the terrain information and the attitude information have the predetermined correlation according to the first average value, the first standard deviation, the second average value and the second standard deviation.
Further, processor 232 is further configured to: performing linear fitting on the topographic information acquired within a preset time period to determine a first slope corresponding to the topographic information;
performing linear fitting on the attitude information acquired within the preset time period to determine a second slope corresponding to the attitude information;
and if the first slope and the second slope have the same sign, determining that the terrain information and the attitude information have the preset correlation.
Further, processor 232 is further configured to: determining that a radar mounted on the movable platform is incorrectly mounted if the terrain information and the attitude information do not have the predetermined correlation therebetween;
updating the radar installation state to be the number of times of installation errors;
and if the updated times are higher than the preset times, sending a warning notice.
Further, processor 232 is further configured to: obtaining a plurality of point cloud data describing an operating environment of the movable platform;
selecting target point cloud data within a preset visual angle range according to the coordinate values of the plurality of point cloud data;
performing linear fitting on the target point cloud data to obtain a linear equation;
and determining the terrain information according to the linear equation.
Further, processor 232 is further configured to: acquiring the motion angular speed of the movable platform;
and if the motion angular speed is greater than or equal to a preset threshold value, determining whether the radar on the movable platform is installed correctly or not according to the terrain information and the attitude information.
The movable platform shown in fig. 6 can perform the method of the embodiment shown in fig. 1 to 4c, and the detailed description of this embodiment can refer to the related description of the embodiment shown in fig. 1 to 4 c. The implementation process and technical effect of the technical solution refer to the description in the embodiment shown in fig. 1 to 4c, and are not described herein again.
In one possible design, the structure of the radar installation state detection device shown in fig. 7 may be implemented as an electronic device, which may be a drone. As shown in fig. 7, the electronic device may include: one or more processors 31 and one or more memories 32. The memory 32 is used for storing a program for supporting the electronic device to execute the method for detecting the installation state of the radar provided in the embodiments shown in fig. 1 to 4 c. The processor 21 is configured to execute programs stored in the memory 32.
In particular, the program comprises one or more computer instructions, wherein the one or more computer instructions, when executed by the processor 31, enable the following steps to be performed:
acquiring topographic information of an operating environment where the movable platform is located;
acquiring attitude information of the movable platform in the running process of the running environment;
and determining whether the radar on the movable platform is installed correctly according to the terrain information and the attitude information.
The structure of the pan/tilt/zoom control device may further include a communication interface 33, which is used for the electronic device to communicate with other devices or a communication network.
Further, the processor 31 is further configured to: determining whether there is a predetermined correlation between the terrain information and the attitude information;
determining that the radar is properly mounted on the movable platform if the terrain information and the attitude information have the predetermined correlation therebetween.
Further, the processor 31 is further configured to: respectively calculating products between the terrain information and the attitude information corresponding to the same moment for the terrain information and the attitude information acquired within a preset time period;
and if the sum of the products is larger than a preset threshold value, determining that the terrain information and the attitude information have the preset correlation.
Further, the processor 31 is further configured to: calculating a first average value and a first standard deviation of the topographic information acquired within a preset time period;
calculating a second average value and a second standard deviation of the attitude information acquired within the preset time period;
and determining whether the terrain information and the attitude information have the predetermined correlation according to the first average value, the first standard deviation, the second average value and the second standard deviation.
Further, the processor 31 is further configured to: performing linear fitting on the topographic information acquired within a preset time period to determine a first slope corresponding to the topographic information;
performing linear fitting on the attitude information acquired within the preset time period to determine a second slope corresponding to the attitude information;
and if the first slope and the second slope have the same sign, determining that the terrain information and the attitude information have the preset correlation.
Further, the processor 31 is further configured to: determining that a radar mounted on the movable platform is incorrectly mounted if the terrain information and the attitude information do not have the predetermined correlation therebetween;
updating the radar installation state to be the number of times of installation errors;
and if the updated times are higher than the preset times, sending a warning notice.
Further, the processor 31 is further configured to: obtaining a plurality of point cloud data describing an operating environment of the movable platform;
selecting target point cloud data within a preset visual angle range according to the coordinate values of the plurality of point cloud data;
performing linear fitting on the target point cloud data to obtain a linear equation;
and determining the terrain information according to the linear equation.
Further, the processor 31 is further configured to: acquiring the motion angular speed of the movable platform;
and if the motion angular speed is greater than or equal to a preset threshold value, determining whether the radar on the movable platform is installed correctly or not according to the terrain information and the attitude information.
The apparatus shown in fig. 7 can perform the method of the embodiment shown in fig. 1 to 4c, and the detailed description of this embodiment can refer to the related description of the embodiment shown in fig. 1 to 4 c. The implementation process and technical effect of the technical solution refer to the description in the embodiment shown in fig. 1 to 4c, and are not described herein again.
In addition, an embodiment of the present invention provides a computer-readable storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, where the program instructions are used to implement the method for detecting the radar installation state in fig. 1 to 4 c.
The technical solutions and the technical features in the above embodiments may be used alone or in combination in case of conflict with the present disclosure, and all embodiments that fall within the scope of protection of the present disclosure are intended to be equivalent embodiments as long as they do not exceed the scope of recognition of those skilled in the art.
In the embodiments provided in the present invention, it should be understood that the disclosed correlation detection apparatus (e.g., IMU) and method may be implemented in other ways. For example, the above-described remote control device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, remote control devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (27)
1. A method of detecting a radar installation state, the method comprising:
acquiring topographic information of an operating environment where the movable platform is located;
acquiring attitude information of the movable platform in the running process of the running environment;
and determining whether the radar on the movable platform is installed correctly according to the terrain information and the attitude information.
2. The method of claim 1, wherein said determining whether the radar on the movable platform is properly installed based on the terrain information and the attitude information comprises:
determining whether there is a predetermined correlation between the terrain information and the attitude information;
determining that the radar is properly mounted on the movable platform if the terrain information and the attitude information have the predetermined correlation therebetween.
3. The method of claim 2, wherein the determining whether there is a predetermined correlation between the terrain information and the attitude information comprises:
respectively calculating products between the terrain information and the attitude information corresponding to the same moment for the terrain information and the attitude information acquired within a preset time period;
and if the sum of the products is larger than a preset threshold value, determining that the terrain information and the attitude information have the preset correlation.
4. The method of claim 3, wherein the preset threshold is 0.
5. The method of claim 2, wherein said determining whether there is a predetermined correlation between said terrain information and said pose information comprises:
calculating a first average value and a first standard deviation of the topographic information acquired within a preset time period;
calculating a second average value and a second standard deviation of the attitude information acquired within the preset time period;
and determining whether the terrain information and the attitude information have the predetermined correlation according to the first average value, the first standard deviation, the second average value and the second standard deviation.
6. The method of claim 2, wherein the determining whether there is a predetermined correlation between the terrain information and the attitude information comprises:
performing linear fitting on the topographic information acquired within a preset time period to determine a first slope corresponding to the topographic information;
performing linear fitting on the attitude information acquired within the preset time period to determine a second slope corresponding to the attitude information;
and if the first slope and the second slope have the same sign, determining that the terrain information and the attitude information have the preset correlation.
7. The method of claim 2, further comprising:
determining that a radar mounted on the movable platform is incorrectly mounted if the terrain information and the attitude information do not have the predetermined correlation therebetween;
updating the radar installation state to be the number of times of installation errors;
and if the updated times are higher than the preset times, sending a warning notice.
8. The method according to any one of claims 1 to 7, wherein the topographical information comprises a grade value of the operating environment; the attitude information includes a pitch angle of the movable platform.
9. The method of claim 1, wherein the obtaining topographical information of an environment in which the movable platform operates comprises:
obtaining a plurality of point cloud data describing an operating environment of the movable platform;
selecting target point cloud data within a preset visual angle range according to the coordinate values of the plurality of point cloud data;
performing linear fitting on the target point cloud data to obtain a linear equation;
and determining the terrain information according to the linear equation.
10. The method of claim 1,
acquiring the motion angular speed of the movable platform;
and if the motion angular speed is greater than or equal to a preset threshold value, determining whether the radar on the movable platform is installed correctly or not according to the terrain information and the attitude information.
11. A movable platform, comprising at least: the device comprises a machine body, a power system and a control device;
the power system is arranged on the machine body and used for providing power for the movable platform;
the control device comprises a memory and a processor;
the memory for storing a computer program;
the processor is configured to execute the computer program stored in the memory to implement:
acquiring topographic information of an operating environment where the movable platform is located;
acquiring attitude information of the movable platform in the running process of the running environment;
and determining whether the radar on the movable platform is installed correctly according to the terrain information and the attitude information.
12. The platform of claim 11, wherein the processor is further configured to:
determining whether there is a predetermined correlation between the terrain information and the attitude information;
determining that the radar is properly mounted on the movable platform if the terrain information and the attitude information have the predetermined correlation therebetween.
13. The platform of claim 12, wherein the processor is further configured to:
respectively calculating products between the terrain information and the attitude information corresponding to the same moment for the terrain information and the attitude information acquired within a preset time period;
determining that the terrain information and the attitude information have the predetermined correlation if the sum of the products is greater than a preset threshold.
14. The platform of claim 12, wherein the processor is further configured to:
calculating a first average value and a first standard deviation of the topographic information acquired within a preset time period;
calculating a second average value and a second standard deviation of the attitude information acquired within the preset time period;
and determining whether the terrain information and the attitude information have the predetermined correlation according to the first average value, the first standard deviation, the second average value and the second standard deviation.
15. The platform of claim 12, wherein the processor is further configured to:
performing linear fitting on the topographic information acquired within a preset time period to determine a first slope corresponding to the topographic information;
performing linear fitting on the attitude information acquired within the preset time period to determine a second slope corresponding to the attitude information;
and if the first slope and the second slope have the same sign, determining that the terrain information and the attitude information have the preset correlation.
16. The platform of claim 12, wherein the processor is further configured to:
determining that a radar mounted on the movable platform is incorrectly mounted if the terrain information and the attitude information do not have the predetermined correlation therebetween;
updating the radar installation state to be the number of times of installation errors;
and if the updated times are higher than the preset times, sending a warning notice.
17. The platform of claim 10, wherein the processor is further configured to:
obtaining a plurality of point cloud data describing an operating environment of the movable platform;
selecting target point cloud data within a preset visual angle range according to the coordinate values of the plurality of point cloud data;
performing linear fitting on the target point cloud data to obtain a linear equation;
and determining the terrain information according to the linear equation.
18. The platform of claim 10, wherein the processor is further configured to:
acquiring the motion angular speed of the movable platform;
and if the motion angular speed is greater than or equal to a preset threshold value, determining whether the radar on the movable platform is installed correctly or not according to the terrain information and the attitude information.
19. A radar installation state detection apparatus, characterized by comprising:
a memory for storing a computer program;
a processor for executing the computer program stored in the memory to implement:
acquiring topographic information of an operating environment where the movable platform is located;
acquiring attitude information of the movable platform in the running process of the running environment;
and determining whether the radar on the movable platform is installed correctly according to the terrain information and the attitude information.
20. The device of claim 19, wherein the processor is further configured to:
determining whether there is a predetermined correlation between the terrain information and the attitude information;
determining that the radar is properly mounted on the movable platform if the terrain information and the attitude information have the predetermined correlation therebetween.
21. The device of claim 20, wherein the processor is further configured to:
respectively calculating products between the terrain information and the attitude information corresponding to the same moment for the terrain information and the attitude information acquired within a preset time period;
and if the sum of the products is larger than a preset threshold value, determining that the terrain information and the attitude information have the preset correlation.
22. The device of claim 20, wherein the processor is further configured to:
calculating a first average value and a first standard deviation of the topographic information acquired within a preset time period;
calculating a second average value and a second standard deviation of the attitude information acquired within the preset time period;
and determining whether the terrain information and the attitude information have the predetermined correlation according to the first average value, the first standard deviation, the second average value and the second standard deviation.
23. The device of claim 20, wherein the processor is further configured to:
performing linear fitting on the topographic information acquired within a preset time period to determine a first slope corresponding to the topographic information;
performing linear fitting on the attitude information acquired within the preset time period to determine a second slope corresponding to the attitude information;
and if the first slope and the second slope have the same sign, determining that the terrain information and the attitude information have the preset correlation.
24. The device of claim 20, wherein the processor is further configured to:
determining that a radar mounted on the movable platform is incorrectly mounted if the terrain information and the attitude information do not have the predetermined correlation therebetween;
updating the radar installation state to be the number of times of installation errors;
and if the updated times are higher than the preset times, sending a warning notice.
25. The device of claim 19, wherein the processor is further configured to:
obtaining a plurality of point cloud data describing an operating environment of the movable platform;
selecting target point cloud data within a preset visual angle range according to the coordinate values of the plurality of point cloud data;
performing linear fitting on the target point cloud data to obtain a linear equation;
and determining the terrain information according to the linear equation.
26. The device of claim 19, wherein the processor is further configured to:
acquiring the motion angular speed of the movable platform;
and if the motion angular speed is greater than or equal to a preset threshold value, determining whether the radar on the movable platform is installed correctly or not according to the terrain information and the attitude information.
27. A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium in which program instructions for implementing the radar installation state detection method according to any one of claims 1 to 10 are stored.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/115678 WO2021087737A1 (en) | 2019-11-05 | 2019-11-05 | Radar mounting state detection method and device, movable platform, and storage medium |
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| CN112368592A true CN112368592A (en) | 2021-02-12 |
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| CN201980039548.8A Pending CN112368592A (en) | 2019-11-05 | 2019-11-05 | Method for detecting radar installation state, movable platform, equipment and storage medium |
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Application publication date: 20210212 |