CN112731434A - Positioning method and system based on laser radar and marker - Google Patents
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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Abstract
The invention provides a positioning method and system based on a laser radar and a marker. The method comprises the following steps: determining an ID number of the mobile vehicle body based on the acquired outline information of the marker of the mobile vehicle body and the ID information of the marker; determining first space attitude information of the marker based on map information and the contour information set in an application scene; determining second spatial attitude information of the moving vehicle body based on the ID number and the ID number of the moving vehicle body. The method can reduce the influence of the target on positioning, simultaneously enables the current position not to depend on the last positioning result, and improves the flexibility of laser radar positioning.
Description
Technical Field
The invention relates to the technical field of laser radar positioning navigation, in particular to a positioning method and a positioning system based on a laser radar and a marker.
Background
In recent years, the laser radar positioning and navigation technology is mature day by day, and mainly comprises natural navigation and unnatural navigation: the common technology in natural navigation is SLAM (simultaneous Localization and mapping), namely real-time positioning and map construction, and the technology is divided into visual SLAM and laser SLAM according to different sensors; the reflector is commonly used in the unnatural navigation, and the target provided with the light emitting plate is used for assisting in positioning and navigation.
In the existing scheme of the unnatural navigation of the laser radar, a certain number of light emitting plates are often arranged in an application scene to serve as targets to assist the laser radar to complete navigation and positioning. There is therefore a need for a method that reduces the impact of the target on the positioning, while making the current position independent of the last positioning result.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is to provide a positioning method and a positioning system based on a laser radar and a marker under the condition that the last positioning result is not relied on and only a mobile vehicle body marker is used in an application scene.
The embodiment of the invention provides a positioning method based on a laser radar and a marker, which comprises the following steps:
determining an ID number of the mobile vehicle body based on the acquired outline information of the marker of the mobile vehicle body and the ID information of the marker;
determining first space attitude information of the marker based on map information and the contour information set in an application scene;
determining second spatial attitude information of the moving vehicle body based on the ID number and the ID number of the moving vehicle body.
A second aspect of an embodiment of the present invention is to provide a positioning system based on a laser radar and a marker, including:
laser radar: acquiring map information corresponding to the application scene, application scene scanning information and marker scanning information of the mobile vehicle body;
moving vehicle body and its marker: providing ID information of a marker carried by the mobile vehicle body;
a terminal controller: completing calculation and logic judgment;
wireless transmission network: constructing a communication network among the laser radar, the mobile vehicle body and the terminal controller;
the embodiment of the invention provides a positioning method and a positioning system based on a laser radar and a marker, which comprise the following steps: determining an ID number of the mobile vehicle body based on the acquired outline information of the marker of the mobile vehicle body and the ID information of the marker; determining first space attitude information of the marker based on map information and the contour information set in an application scene; determining second spatial attitude information of the moving vehicle body based on the ID number and the ID number of the moving vehicle body. The embodiment of the invention completes the positioning of the mobile vehicle body under the condition of not depending on the last positioning result and only using the mobile vehicle body marker in the application scene.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
FIG. 1 is a schematic flow chart of a lidar and marker-based positioning method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a lidar and marker based positioning system according to an embodiment of the present invention;
FIG. 3 is a three-dimensional view of a mobile body marker in accordance with one embodiment of the present invention;
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
The positioning method based on the laser radar and the marker provided by the embodiment of the invention can be used for moving the vehicle body, and the moving vehicle body can be in the forms of robots, vehicles, objects and the like which can move autonomously, such as a household robot, an AGV and the like; the cross section of the marker can be a column body with any shape, and preferably, the cross section of the marker has a large side length difference.
In an alternative embodiment, as shown in fig. 3, the three views of the marker carried by the moving vehicle body select a cylindrical body with a triangular cross section, the top view of the cylindrical body corresponds to the side lengths La, Lb and Lc of the triangle, and satisfies Lc > Lb > La, the end point of the corresponding triangle is A, B, C, and the geometric center of the corresponding triangle is O;
taking the marker of the moving vehicle body shown in fig. 3 as an example, the positioning process thereof will be described in detail with reference to specific embodiments.
Fig. 1 is a schematic flow chart of a positioning method based on a lidar and a marker according to an embodiment of the present invention. The embodiment provides a positioning method based on a laser radar and a marker, which comprises the following specific steps:
s21, establishing map information corresponding to the application scene; establishing ID information of a marker carried by a mobile vehicle body;
in this embodiment, the application scenario is as shown in fig. 2, and the map information includes a coordinate system established by a relative relationship between the lidar group 1 and the lidar group 2, specifically: in the coordinate system, the laser radar coordinates in the laser radar group 1 and the laser radar group 2 are unique; the ID information of the marker carried by the mobile vehicle body includes the shape and side length of the marker cross section and the ID number of the corresponding mobile vehicle body, and in this embodiment, the ID information of the mobile vehicle body marker includes: the shape is triangle, the side length is La, Lb, Lc, ID number, optionally arranged according to numbers, and other forms such as letter form can be used;
s22, acquiring application scene scanning information; acquiring marker scanning information of a mobile vehicle body;
in this embodiment, an application scenario is shown in fig. 2, and application scenario scanning information thereof includes scenario point cloud information 1 and scenario point cloud information 2 obtained by scanning the same environment by a laser radar group 1 and a laser radar group 2, respectively; the marker scanning information comprises a laser radar group 1 and a laser radar group 2 which respectively scan the same moving vehicle body to obtain marker point cloud information 1 and marker point cloud information 2;
s23, calculating marker scanning contour information according to the marker scanning information; matching the marker scanning outline information of the mobile vehicle body with the ID information of the marker carried by the mobile vehicle body to determine the ID number of the mobile vehicle body;
in this embodiment, a three-view of the marker is shown in fig. 3, where the marker scanning contour information includes a scanned marker shape and side length 1 calculated according to the scene point cloud information 1, and a scanned marker shape and side length 2 calculated according to the scene point cloud information 2, where the scanned marker shape and side length 1 calculated according to the scanning data of the lidar group 1 are similar to the scanned marker shape and side length 2 calculated according to the scanning data of the lidar group 2 under the condition of no shielding, and the shape and side length are triangular and similar to La, Lb and Lc corresponding to the marker in this embodiment, where it should be noted that, due to the ranging error of the lidar, the scanned marker shape and side lengths 1 and 2 calculated according to the scanning data are similar to the shape and side length of the marker in the ID information of the marker carried by the mobile vehicle body; it should be noted that the shape and the side lengths 1 and 2 of the scanning marker are two results obtained by the same mobile vehicle body through calculation according to the scanning data of the laser radar group 1 and the laser radar group 2;
in this embodiment, the object scanning profile information includes a scanning marker shape and a side length 1, and the scanning marker shape and the side length 2 are respectively matched with the shape and the side length of the marker in the ID information of the marker carried by the mobile vehicle body, so as to obtain two ID numbering results of the scanning data of the laser radar group 1 and the laser radar group 2 corresponding to the same mobile vehicle body;
s24, combining the map information and the application scene scanning information of the application scene and the marker scanning outline information of the mobile vehicle body, and calculating the coordinates and the direction angles of the geometric center of the marker; determining coordinate information and a direction angle of the mobile vehicle body according to the coordinate and the direction angle of the geometric center of the marker and the ID number of the mobile vehicle body;
in this embodiment, the coordinates and the direction angle of the geometric center of the marker are calculated as follows: according to the point cloud information scanned by the laser radar, the point cloud information comprises distance and angle information, and the shape and side length of the cross section of the marker and the coordinates of the end point of the graph formed by the cross section in the coordinate system of the map information can be obtained;
further, an equation of the graph under the coordinate system can be obtained, and therefore the coordinate of the geometric center of the graph is calculated;
furthermore, according to the coordinates of the geometric center of the graph and the equation of the graph, a direction vector which takes the geometric center as a starting point and points to the end point of the graph can be determined;
in this embodiment, the determining the coordinate information and the direction angle of the moving vehicle body specifically includes: determining which mobile vehicle body in the application scene corresponds to the coordinate and the direction angle of the geometric center of the marker obtained by calculation according to the ID number obtained by matching; it should be noted here that the ID numbers 1 and 2 obtained by matching are two ID number results of scanning data of the laser radar group 1 and the laser radar group 2 corresponding to the same moving vehicle body;
and S25, determining the pose of the mobile vehicle body according to the coordinate information and the direction angle of the mobile vehicle body and the ID number of the mobile vehicle body.
In this embodiment, determining the pose of the moving vehicle body specifically includes: according to the steps, in a primary positioning process, the ID numbers 1 and 2 of the moving vehicle bodies and the coordinate information, the direction angle 1, the coordinate information and the direction angle 2 of the moving vehicle bodies, which are obtained by scanning data of the same moving vehicle body in the laser radar group 1 and the laser radar group 2, are obtained;
further, comparing the coordinate information of the moving vehicle body with the deviation of the direction angle 1 and the coordinate information of the direction angle 2, and determining the pose of the moving vehicle if the deviation value is within the set threshold value range.
The embodiment of the invention provides a positioning method based on a laser radar and a marker, which comprises the following steps: determining an ID number of the mobile vehicle body based on the acquired outline information of the marker of the mobile vehicle body and the ID information of the marker; determining first space attitude information of the marker based on map information and the contour information set in an application scene; determining second spatial attitude information of the moving vehicle body based on the ID number and the ID number of the moving vehicle body.
As an optional way, before determining the ID number of the moving vehicle body, the method further includes:
establishing map information corresponding to an application scene; establishing ID information of a marker carried by a mobile vehicle body;
acquiring application scene scanning information; acquiring marker scanning information of a mobile vehicle body;
calculating marker scanning contour information according to the marker scanning information;
and matching the marker scanning outline information of the mobile vehicle body with the ID information of the marker carried by the mobile vehicle body, and determining the ID number of the mobile vehicle body.
As an alternative, the determining the first spatial posture information of the marker based on the map information and the contour information set in the application scene includes:
and calculating the coordinates and the direction angles of the geometric centers of the markers by combining the map information and the application scene scanning information of the application scene and the marker scanning outline information of the mobile vehicle body.
As an alternative, the determining second spatial attitude information of the moving vehicle body based on the ID number and the ID number of the moving vehicle body includes:
determining coordinate information and a direction angle of the mobile vehicle body according to the coordinate and the direction angle of the geometric center of the marker and the ID number of the mobile vehicle body;
and determining the pose of the mobile vehicle body according to the coordinate information and the direction angle of the mobile vehicle body and the ID number of the mobile vehicle body.
As an alternative, the lidar includes a lidar group 1 and a lidar group 2.
Alternatively, the marker is a predetermined cylindrical body having a predetermined shape characteristic.
As an alternative, the map information includes coordinates of the lidar group 1 and the lidar group 2 in the same coordinate system, and the ID information of the marker includes a shape and a side length of the marker and an ID number of the moving vehicle body.
As an optional mode, the application scene scanning information includes scene point cloud information 1 obtained by scanning an application scene by a laser radar group 1, and scene point cloud information 2 obtained by scanning an application scene by a laser radar group 2; the marker scanning information comprises marker point cloud information 1 obtained by scanning the mobile vehicle body marker by the laser radar group 1 and marker point cloud information 2 obtained by scanning the mobile vehicle body marker by the laser radar group 2; the scene point cloud information 1 and 2 and the marker point cloud information 1 and 2 comprise the distance and the angle of the scanning point relative to the laser radar.
As an optional mode, the marker scanning contour information includes a scanned marker shape and a side length 1, which are calculated from the marker point cloud information 1 and 2, respectively, and a scanned marker shape and a side length 2.
As an alternative, the shape and the side length of the scanning marker are 1 and 2, where the shape of the scanning marker is a shape that the cylindrical body with the predetermined shape characteristic can form corresponding to the cross section, and the side length of the scanning marker is a side length of the shape of the scanning marker.
As an optional mode, the matching between the marker scanning contour information of the mobile vehicle body and the ID information of the marker carried by the mobile vehicle body specifically includes: the scanned marker shape and side lengths 1 and 2 in claim 7 are matched with the marker shape and side length in the ID information of the marker, and the moving vehicle ID number 1 obtained by matching the scanned marker shape and side length 1 and the moving vehicle ID number 2 obtained by matching the scanned marker shape and side length 2 are determined, respectively.
As an optional mode, the ID number 1 and the ID number 2 of the mobile vehicle body are ID numbers obtained by matching the shape and the side length 1 of the scanning marker and the shape and the side length 2 of the scanning marker with the shape and the side length of the marker for the same mobile vehicle body in an application scene.
As an alternative, the calculating the coordinates and the direction angle of the geometric center of the marker specifically includes: the geometric center 1 of the marker is obtained by calculation according to the shape and the side length 1 of the scanned marker, and the geometric center 2 of the marker is obtained by calculation according to the shape and the side length 2 of the scanned marker.
As an optional mode, the marker geometric center 1 and the marker geometric center 2 are marker geometric centers obtained by calculating the shape and the side length 1 of a scanned marker, the shape and the side length 2 of the scanned marker and the shape and the side length of the marker for the same mobile vehicle body in an application scene;
as an alternative, determining coordinate information and a direction angle 1 of the mobile vehicle body according to the coordinate and the direction angle of the geometric center 1 of the marker and the ID number 1 of the mobile vehicle body; and determining the coordinate information and the direction angle 2 of the mobile vehicle body according to the coordinate and the direction angle of the geometric center 2 of the marker and the ID number 2 of the mobile vehicle body.
As an alternative, the coordinate information and the direction angle 1 and the coordinate information and the direction angle 2 of the moving vehicle body are determined for the same moving vehicle body in the application scene by the coordinate and the direction angle of the geometric center 1 of the marker and the ID number 1 of the moving vehicle body, the coordinate and the direction angle of the geometric center 2 of the marker and the ID number 2 of the moving vehicle body.
As an alternative, the determining of the pose of the moving vehicle body based on the coordinate information and the direction angle of the moving vehicle body and the ID number of the moving vehicle body may be: and calculating the deviation between the coordinate information and the direction angle 1 of the moving vehicle body and the deviation between the coordinate information and the direction angle 2, wherein the deviation value is within a set threshold range, and the ID numbers 1 and 2 are the same, so that the pose of the moving vehicle is determined.
FIG. 2 is a block diagram of a lidar and marker based positioning system provided by an embodiment of the present invention. The positioning system based on the lidar and the marker provided by the embodiment can perform a positioning method based on the lidar and the marker, as shown in fig. 2, and comprises the following steps: the system comprises a laser radar, a mobile vehicle body and a marker thereof, a terminal controller and a wireless transmission network;
moving vehicle body and its marker 300: providing ID information of a marker carried by the mobile vehicle body;
the terminal controller 400: completing calculation and logic judgment;
wireless transmission network 500: constructing a communication network among the laser radar, the mobile vehicle body and the terminal controller;
in this embodiment, providing a preset application scenario includes: boundary environment, environmental columns; the method and the system are suitable for different application scenes, one embodiment is provided in the embodiment, and other environments can be used;
in this embodiment, the lidar includes a lidar group 1 and a lidar group 2, and in this embodiment, the lidar group 1 is installed at a predetermined height in an application scene, and scans a front-side view of the marker; the laser radar group 2 is arranged above an application scene, and scans the top view of the marker; the number and types of the radars in the laser radar group 1 and the laser radar group 2 are optional, and in this embodiment, the laser radar group 1 includes 8 single-line laser radars; the laser radar group 2 comprises 2 local view field multi-line laser radars; it should be noted that the lidar group 1 and the lidar group 2 can scan each area of the application scene respectively, and other lidar configurations meeting the conditions are also available;
in this embodiment, the mobile vehicle body and the markers thereof, it should be noted that different mobile vehicle bodies need to set markers of different shapes, which may be specifically used for implementing the embodiment of the above method, and are not described herein again;
in this embodiment, the terminal controller, optionally, a computer with logic budget capability, an industrial personal computer, and the like may be used, and have wireless communication capability;
in this embodiment, the wireless transmission network includes a transceiver and a transmission protocol, and optionally satisfies an information transfer function;
the above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (23)
1. A positioning method based on laser radar and a marker is characterized by comprising the following steps:
determining an ID number of the mobile vehicle body based on the acquired outline information of the marker of the mobile vehicle body and the ID information of the marker;
determining first space attitude information of the marker based on map information and the contour information set in an application scene;
determining second spatial attitude information of the moving vehicle body based on the ID number and the ID number of the moving vehicle body.
2. The method of claim 4, wherein prior to determining the ID number of the moving body, the method further comprises:
establishing map information corresponding to an application scene; establishing ID information of a marker carried by a mobile vehicle body;
acquiring application scene scanning information; acquiring marker scanning information of a mobile vehicle body;
calculating marker scanning contour information according to the marker scanning information;
and matching the marker scanning outline information of the mobile vehicle body with the ID information of the marker carried by the mobile vehicle body, and determining the ID number of the mobile vehicle body.
3. The method of claim 2, wherein determining the first spatial pose information of the marker based on the map information and the contour information set in the application scenario comprises:
and calculating the coordinates and the direction angles of the geometric centers of the markers by combining the map information and the application scene scanning information of the application scene and the marker scanning outline information of the mobile vehicle body.
4. The method according to claim 3, wherein the determining second spatial attitude information of the moving vehicle body based on the ID number and the ID number of the moving vehicle body includes:
determining coordinate information and a direction angle of the mobile vehicle body according to the coordinate and the direction angle of the geometric center of the marker and the ID number of the mobile vehicle body;
and determining the pose of the mobile vehicle body according to the coordinate information and the direction angle of the mobile vehicle body and the ID number of the mobile vehicle body.
5. The method of claim 4, wherein the lidar includes lidar group 1 and lidar group 2.
6. The method of claim 4, wherein the identifier is a predetermined cylindrical body having a predetermined shape characteristic.
7. The method according to claim 4, wherein the map information includes coordinates of the lidar group 1 and the lidar group 2 in the same coordinate system, and the ID information of the marker includes a shape and a side length of the marker and an ID number of the moving vehicle body.
8. The method of claim 4, wherein the application scene scanning information comprises scene point cloud information 1 obtained by scanning an application scene by lidar group 1, and scene point cloud information 2 obtained by scanning an application scene by lidar group 2; the marker scanning information comprises marker point cloud information 1 obtained by scanning the mobile vehicle body marker by the laser radar group 1 and marker point cloud information 2 obtained by scanning the mobile vehicle body marker by the laser radar group 2; the scene point cloud information 1 and 2 and the marker point cloud information 1 and 2 comprise the distance and the angle of the scanning point relative to the laser radar.
9. The method according to claim 4, wherein the marker scanning contour information comprises a scanned marker shape and a side length 1, and a scanned marker shape and a side length 2, which are respectively calculated from the marker point cloud information 1 and 2.
10. The method of claim 6 or 9, wherein the scanned marker shape and the edge lengths are 1 and 2, wherein the scanned marker shape is a shape that the cylinder with the predetermined shape characteristic can take corresponding to the cross section, and wherein the scanned marker edge length is a length of the edge of the marker shape.
11. The method according to claim 7, wherein the marker scanning contour information of the mobile vehicle body is matched with ID information of a marker carried by the mobile vehicle body, specifically: the scanned marker shape and side lengths 1 and 2 in claim 7 are matched with the marker shape and side length in the ID information of the marker, and the moving vehicle ID number 1 obtained by matching the scanned marker shape and side length 1 and the moving vehicle ID number 2 obtained by matching the scanned marker shape and side length 2 are determined, respectively.
12. The method according to claim 11, wherein the ID number 1 and the ID number 2 are ID numbers obtained by matching a scanned marker shape and side length 1 and a scanned marker shape and side length 2 with the shape and side length of the marker for the same mobile car body in the application scene.
13. The method according to claim 10, wherein the calculating of the coordinates and the orientation angle of the geometric center of the marker comprises: the geometric center 1 of the marker is obtained by calculation according to the shape and the side length 1 of the scanned marker, and the geometric center 2 of the marker is obtained by calculation according to the shape and the side length 2 of the scanned marker.
14. The method according to claim 13, wherein the marker geometric center 1 and the marker geometric center 2 are marker geometric centers calculated from the shape and the side length 1 of the scanned marker, the shape and the side length 2 of the scanned marker, and the shape and the side length of the marker for the same mobile vehicle body in the application scene.
15. The method according to any one of claims 1 to 14, wherein the coordinate information and the direction angle 1 of the moving vehicle body are determined according to the coordinate and the direction angle of the geometric center 1 of the marker and the ID number 1 of the moving vehicle body; and determining the coordinate information and the direction angle 2 of the mobile vehicle body according to the coordinate and the direction angle of the geometric center 2 of the marker and the ID number 2 of the mobile vehicle body.
16. The method according to claim 14, wherein the coordinate information and the direction angle 1 and the coordinate information and the direction angle 2 of the moving vehicle body are determined for the same moving vehicle body in the application scene by the coordinate and the direction angle of the geometric center 1 of the marker and the ID number 1 of the moving vehicle body, and the coordinate and the direction angle of the geometric center 2 of the marker and the ID number 2 of the moving vehicle body.
17. The method according to claim 16, wherein the determining the pose of the moving vehicle body based on the coordinate information and the direction angle of the moving vehicle body and the ID number of the moving vehicle body comprises: and calculating the deviation between the coordinate information and the direction angle 1 of the moving vehicle body and the deviation between the coordinate information and the direction angle 2, wherein the deviation value is within a set threshold range, and the ID numbers 1 and 2 are the same, so that the pose of the moving vehicle is determined.
18. A lidar and marker based positioning system comprising:
laser radar: acquiring map information corresponding to the application scene, application scene scanning information and marker scanning information of the mobile vehicle body;
moving vehicle body and its marker: providing ID information of a marker carried by the mobile vehicle body;
a terminal controller: completing calculation and logic judgment based on the scanning information and the ID information;
wireless transmission network: and the system is used for constructing a communication network among the laser radar, the mobile vehicle body and the terminal controller.
19. The position location system of claim 18, wherein the lidar includes, lidar group 1 and lidar group 2; the laser radar group 1 is arranged at a preset height in an application scene, and scans the positive-side view of the marker; the laser radar group 2 is arranged above an application scene, and scans the top view of the marker.
20. The positioning system as set forth in claim 18 wherein said marker elevational-side view is in the shape of a cross-section of said marker; the top view of the marker is the shape formed by the projection of the marker on the ground plane.
21. The positioning system of claim 18, wherein the mobile cart body and its markers, the mobile cart body having motion capability and wireless transmission capability; the marker is a preset columnar body with a preset shape characteristic; the height of the columnar body meets the condition that the columnar body is scanned by the laser radar group 1, the front-side view and the overlook view of the columnar body form a complete figure, the figure is a closed figure, and the side length difference is obvious.
22. The positioning system of claim 18, wherein the terminal controller has logic operation function and wireless transmission capability.
23. The location system of claim 18, wherein the wireless transmission network is capable of transmitting data via a fixed protocol.
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| CN112985464A (en) * | 2021-05-10 | 2021-06-18 | 湖北亿咖通科技有限公司 | Precision detection method of vehicle odometer, electronic device and storage medium |
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