CN112729220A - Real-time pose measurement system and compensation method for road sensing system - Google Patents
Real-time pose measurement system and compensation method for road sensing system Download PDFInfo
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Abstract
The invention provides a real-time pose measurement system and a compensation method for a road sensing system. The measuring system comprises a mechanical frame and a sensing system arranged on the mechanical frame, the sensing system comprises a control module and a detection module electrically connected with the control module, the detection module is used for detecting attitude angles of a measured object in three directions in real time and transmitting the detected information to the control module, and the control module receives and responds to the fed-back information and obtains corrected sensing system pose information based on the operation of a preset compensation module. The method and the device realize real-time and rapid measurement and compensation, and can still realize accurate output of a sensing result based on the condition that the sensing system drifts for a long time along with a traffic bar or low-frequency vibration is caused by factors such as wind blowing and environmental vibration.
Description
Technical Field
The invention relates to the field of sensors, in particular to a real-time pose measurement system and a compensation method for a road sensing system.
Background
Components and systems for drive test sensing in vehicle-to-road coordination (e.g., cameras, lidar, millimeter wave radar, etc.) are typically mounted on a crossbar, as shown in fig. 1. The three attitude angles (yaw/pitch/roll) and the absolute position coordinates of the sensing component in the geodetic coordinate system (e.g., WGS-84) must be calibrated in advance so that the test results of the sensing component can be converted from the component's own coordinate system to the geodetic coordinate system (see fig. 2 for the definition of attitude angles). However, the cross bar often adopts a cantilever structure, and is easily affected by wind, environmental vibration and slow change of materials to cause the attitude angle of the sensing component to drift, which may cause the output result error of the sensing component to be too large. Therefore, real-time pose measurement and compensation for the road sensing system is necessary (a simple estimate: if the yaw angle of the sensing system changes by 1 ° due to a strong wind blow, the coordinates of objects outside 200m will change by 3.5m, substantially over the width of a lane). If the real-time measurement of the pose of the sensing system and the compensation of the measurement result are not realized, the absolute position of the detected object in the geodetic coordinate system cannot be really and reliably obtained, so that the measurement result can not be spliced among different sensing systems. In addition, if the position drift of the sensing system is obtained by comparing the measured data (the position of the measured static object) of the sensing system with the initial measured data, the calculation is too much consumed and the time delay of data processing becomes much longer, so that the correction in real time cannot be well performed.
Disclosure of Invention
The invention aims to solve the technical problem of realizing the real-time measurement of the pose of the sensing system and the compensation of the measurement result. The attitude angle of the road side sensing system is monitored in real time, and the output result (the position coordinates of the detected object in the geodetic coordinate system) is corrected according to the attitude angle.
In order to achieve the purpose, the invention adopts the following technical scheme:
the real-time pose measurement system of the road sensing system is characterized by comprising a mechanical frame, a sensing system arranged on the mechanical frame, a control module and a detection module electrically connected with the control module, wherein the detection module is used for detecting attitude angles of a measured object in three directions in real time and transmitting the detected information to the control module, and the control module receives and responds to the fed-back information and obtains corrected pose information of the sensing system based on the operation of a preset compensation module.
Preferably, the sensing system comprises an acceleration sensor or a tilt angle sensor, which is electrically connected to the control module, and is used for monitoring the pitch and roll attitude angles of the sensing system in real time.
Preferably, the acceleration sensor is rigidly connected to a mechanical frame of the sensing system.
Preferably, the acceleration sensor or the tilt angle sensor is integrated in the sensing system.
Preferably, the sensing system comprises at least one electronic compass, which is electrically connected to the control module, and is used for monitoring the drift of the yaw attitude angle yaw of the sensing system in real time.
Preferably, the electronic compass integrates a tilt sensor, which is attached to a preset surface in the sensing system.
Preferably, the sensing system comprises a positioning module for obtaining the current position information of the system, and the positioning module at least comprises one or a combination of a GPS module and a beidou module.
Preferably, the sensing system further comprises a power supply module for supplying system operation power,
the storage module is used for storing the detected information and/or the running log,
the communication module is used for connecting the local route.
The embodiment of the present application further provides a method for compensating a real-time pose of a road sensing system, which includes the real-time pose measuring system described above, where the method includes the following steps:
s1, measuring the attitude angles of the three directions based on the sensing system, feeding the measured information back to the control module,
s2, the control module receives and responds to the measured information and performs operation based on the preset compensation model
And S3, obtaining attitude angles in three directions through calculation, and multiplying the attitude angles by the [ X, Y, Z ] vector output by the original sensing system to obtain the corrected coordinate vector information.
Preferably, step S3 further includes obtaining absolute coordinate information in the geodetic coordinate system based on the position information of the sensing system itself and the corrected coordinate vector.
Compared with the scheme in the prior art, the invention has the advantages that:
the real-time and quick measurement and compensation are realized, and under the condition that the sensing system drifts for a long time along with a traffic bar or low-frequency vibration is caused by factors such as wind blowing and environmental vibration, the accurate output of a sensing result can be still realized based on the compensation mode provided by the application.
Drawings
The invention is further described with reference to the following figures and examples:
figure 1 is a schematic view of a prior art sensing system mounted on a crossbar,
figure 2 is a schematic diagram of the definition of attitude angle,
FIG. 3 is a flow chart of a compensation method according to an embodiment of the present invention,
FIG. 4 is a schematic diagram of functional modules of a sensing system according to an embodiment of the present invention
Fig. 5 is a schematic diagram of a local coordinate system (ENU coordinate system) according to an embodiment of the present invention.
Detailed Description
The above-described scheme is further illustrated below with reference to specific examples. It should be understood that these examples are for illustrative purposes and are not intended to limit the scope of the present invention. The conditions employed in the examples may be further adjusted as determined by the particular manufacturer, and the conditions not specified are typically those used in routine experimentation.
The application provides a real-time pose measurement system and a compensation method for a road sensing system.
The measuring system realizes real-time monitoring of the attitude angle of the road sensing system and corrects the output result (the position coordinate of the detected object in the geodetic coordinate system) according to the attitude angle. Preferably based on real-time pose measurement of a vehicle-road cooperative (C-V2X) drive test sensor and position compensation based on the measured information. The defect that the absolute position measurement error is large due to the unstable position of the sensing system can be reduced through the compensation. The sensing system comprises a control module, a detection module and a feedback module, wherein the control module comprises a processor and the detection module which is electrically connected with the control module and used for detecting attitude angles in three directions and feeding back the detected information to the control module.
In one embodiment, the sensing system is mounted on the mechanical frame and comprises an acceleration sensor or a tilt angle sensor to monitor the pitch and roll attitude angles of the sensing system in real time. Preferably, the acceleration sensor is rigidly connected to the mechanical frame of the sensing system, so that the tilt angle of the sensing system in two directions (pitch, roll attitude angle) can be tracked well. Preferably, an acceleration sensor or a tilt angle sensor is integrated in the sensing system.
In one embodiment, the sensing system comprises at least one electronic compass for monitoring the drift of the yaw attitude angle yaw of the sensing system in real time. The electronic compass obtains the yaw angle of the perception system by monitoring the direction of the geomagnetic field. Since the earth magnetic field itself is very stable over the lifetime of the product, it can serve as a constant reference direction.
In one embodiment, the sensing system includes a module for obtaining current location information of the system. Such as a GPS module and/or a beidou module.
In one embodiment, the electronic compass incorporates a tilt sensor that is attached to a predetermined reference plane of the sensing system. An inclination angle sensor is integrated with the electronic compass, and the detection error of the electronic compass is corrected by using the information detected by the inclination angle sensor. Preferably, the acceleration sensor and the inclination angle sensor can be combined into a whole.
An embodiment of the present invention provides a compensation method (as shown in fig. 3), which includes the above sensing system, and the compensation method includes the following steps:
s1, measuring the attitude angles of the three directions based on the sensing system, feeding the measured information back to the control module,
s2, the control module receives and responds to the measured information and performs operation based on the preset compensation model
And S3, obtaining attitude angles in three directions through calculation, and multiplying the attitude angles by the [ X, Y, Z ] vector output by the original sensing system to obtain a corrected coordinate vector (relative coordinate).
In one embodiment, step S3 includes obtaining absolute coordinates in the geodetic coordinate system based on the position information of the sensing system itself (information obtained by the position module) and the modified coordinate vector. The real-time and quick measurement and compensation can be realized through the conversion mode, and the accurate output of the sensing result can be still realized under the condition that the sensing system drifts for a long time along with the traffic bar or the low-frequency vibration is caused by factors such as wind blowing and environmental vibration.
In one embodiment, the operation of the compensation model in S2 includes first defining a local coordinate system (ENU coordinate system):
the origin is the position of the drive test sensing system (longitude and latitude coordinates under the geodetic coordinate system ECFE can be measured by the GPS/beidou receiving device), the X axis points to East (East), the Y axis points to North (North), and the Z axis points directly above, as shown in fig. 5. Assuming that the coordinate system XYZ of the drive test sensing system itself is initially coincident with the ENU coordinate system and then rotated by three degrees around the z-axis, y-axis and x-axis of the own coordinate system (i.e. yaw, pitch and roll, which can be measured by the tilt sensor and the electronic compass on the sensing system), the following three coordinate system transformation matrices can be defined to represent the rotation operation:
if roll, pitch, and yaw angles are expressed by α, β, and θ, the overall coordinate transformation matrix can be expressed as the product of the above three matrices:
assuming that the coordinates of an object in the sensing system itself XYZ are (x, y, z) and its coordinates in the ENU coordinate system are (x ', y ', z '), it can be mathematically proven that:
in the above formula, the matrix M can be calculated according to the readings of the tilt sensor and the electronic compass, and (x, y, z) is directly measured by the drive test sensing system, so that (x ', y ', z ') can be conveniently calculated, and then the longitude and latitude coordinates of the drive test sensing system itself under the ground coordinate system ECFE (usually, WGS-84 coordinate system) can be obtained according to the GPS/beidou module, so as to finally obtain the absolute coordinates of the measured object.
The sensing system includes a control module, a detection module electrically connected to the control module for detecting attitude angles in three directions and feeding back the detected information to the control module, as shown in fig. 4. In other embodiments, the sensing system further comprises a power supply module for supplying power for operating the system. The storage module is used for storing detected information and/or operation logs, and the communication module is used for connecting a local route, so that operation and maintenance personnel can remotely monitor the sensing system.
In one embodiment, the sensing system compares the coordinates of the static object it detects (senses) with the initially recorded measurements to obtain the system's position drift. Compensation is performed based on the drift information. Preferably, the sensing system comprises an electronic compass sensor for measuring the three-dimensional attitude angle of the object to be measured and performing compensation (correction of absolute coordinates) based on this information.
In one embodiment, the sensing system comprises a lidar. And also millimeter wave radar and cameras.
It should be noted that, in the present specification, each embodiment is described in a progressive manner, and the same or similar parts in each embodiment may be referred to each other, and each embodiment focuses on differences from other embodiments. Especially, as for the device embodiment, the user terminal embodiment and the management platform embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant points can be referred to the partial description of the method embodiment.
The systems, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions.
From the above description of the embodiments, it is clear to those skilled in the art that the present specification can be implemented by software plus a necessary general hardware platform. Based on such understanding, the technical solutions of the present specification may be essentially or partially implemented in the form of software products, which may be stored in a storage medium, such as ROM/RAM, optical disc, etc., and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments of the present specification.
The description is operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, multiprocessor systems, programmable consumer electronics, minicomputers, distributed computing environments that include any of the above systems or devices, and the like.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include programs, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. The real-time pose measurement system of the road sensing system is characterized by comprising a mechanical frame, a sensing system arranged on the mechanical frame, a control module and a detection module electrically connected with the control module, wherein the detection module is used for detecting attitude angles of a measured object in three directions in real time and transmitting the detected information to the control module, and the control module receives and responds to the fed-back information and obtains corrected pose information of the sensing system based on the operation of a preset compensation module.
2. The system of claim 1, wherein the sensing system comprises an acceleration sensor or an inclination sensor electrically connected to the control module for monitoring the pitch and roll attitude angles of the sensing system in real time.
3. The system for measuring the pose of a road sensing system in real time according to claim 2, wherein the acceleration sensor is rigidly connected to a mechanical frame of the sensing system.
4. The real-time pose measurement system of a road sensing system according to claim 2 or 3, wherein said acceleration sensor or tilt angle sensor is integrated into said sensing system.
5. The system of claim 1, wherein the sensing system comprises at least one electronic compass electrically connected to the control module for monitoring drift of yaw attitude angle yaw of the sensing system in real time.
6. The system of claim 5, wherein the electronic compass is integrated with a tilt sensor that is attached to a predetermined surface within the sensing system.
7. The system of claim 1, wherein the sensing system comprises a positioning module for obtaining information about a current position of the system, and the positioning module comprises at least one of a GPS module, a beidou module, or a combination thereof.
8. The system of claim 1, wherein the sensing system further comprises
The power supply module is used for providing system operation electric energy,
the storage module is used for storing the detected information and/or the running log,
the communication module is used for connecting the local route.
9. A method of compensating for the real-time pose of a road sensing system comprising the real-time pose measurement system of any one of claims 1-9, the complementary method comprising the steps of:
s1, measuring the attitude angles of the three directions based on the sensing system, feeding the measured information back to the control module,
s2, the control module receives and responds to the measured information and performs operation based on the preset compensation model
And S3, obtaining attitude angles in three directions through calculation, and multiplying the attitude angles by the [ X, Y, Z ] vector output by the original sensing system to obtain the corrected coordinate vector information.
10. The compensation method of claim 9, wherein S3 further comprises obtaining absolute coordinate information in the geodetic coordinate system based on the position information of the sensing system itself and the modified coordinate vector.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113301533A (en) * | 2021-07-28 | 2021-08-24 | 武汉理工大学 | Perception information compensation system and method based on vehicle-vehicle communication |
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