CN113739803A - Indoor and underground space positioning method based on infrared datum point - Google Patents
Indoor and underground space positioning method based on infrared datum point Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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Abstract
The invention discloses an indoor and underground space positioning method based on infrared datum points, and belongs to the technical field of navigation positioning. Which comprises the following steps: designing infrared node equipment; arranging a plurality of installation points in the top area of an indoor or underground space and installing infrared node equipment; the receiver acquires the space coordinates of all the infrared node devices in a communication or local data mode; the receiver senses the infrared nodes through the infrared camera and calculates to obtain the self positioning information. The method is simple and easy to implement, and has important significance for guaranteeing continuous positioning of the high-capacity receiver under application scenes such as indoor scenes, underground scenes and the like.
Description
Technical Field
The invention belongs to the technical field of navigation positioning, and particularly relates to an indoor and underground space positioning method based on infrared reference points.
Background
Human activities are extending from outdoors to indoor, underground and other spaces, in these scenes, due to the obstruction of building structures or earth surface, satellite navigation signals are not penetrable or weak, traditional satellite navigation technology is not available, and how to obtain continuous and accurate positioning information in indoor/underground space becomes a technical problem.
Aiming at the positioning problem of indoor and underground scenes, a great deal of technical research is carried out at home and abroad, and the technical research comprises the steps of utilizing the positioning technology of a pseudolite base station, a UWB base station, a 5G communication base station and an acoustic wave base station and utilizing the characteristic of low propagation rate of a specific radio signal waveform or acoustic wave to realize accurate measurement in a complex multipath environment. However, the above technology has two disadvantages in application: firstly, in the indoor and underground space propagation process of the radio signal and the acoustic signal with a plurality of shelters, the attenuation of non-line-of-sight propagation signals such as diffraction and diffraction is not large relative to the direct projection signal, so that the receiver is difficult to identify and distinguish the non-line-of-sight signals, and particularly in the environment with a large number of moving people and objects, the variance of the non-line-of-sight signal observation noise from the receiver has large fluctuation and is difficult to accurately identify through a signal characteristic threshold. Secondly, for the technology of acquiring the geometric distance between the base station and the receiver by utilizing the bidirectional or multidirectional wireless ranging, the contradiction between the receiver capacity and the positioning frequency must exist in the positioning network due to the need of distinguishing the return signals of different receivers and avoiding the near-far effect between the receivers.
Disclosure of Invention
In view of the above, the present invention is directed to an indoor and underground space positioning method based on an infrared reference point, which can be used in indoor and underground application scenarios where an installation point can be mapped in advance and a facility can be installed in advance, and a receiver with a large capacity and an infrared camera can continuously obtain its own positioning information.
In order to achieve the purpose, the invention adopts the technical scheme that:
an indoor and underground space positioning method based on infrared datum points comprises the following steps:
(1) setting n mounting points in an asymmetric mode in the top area of an indoor or underground space, wherein n is more than or equal to 4; 1 dot-shaped infrared node device is installed at each installation point, and no less than 4 dot-shaped infrared node devices can be observed in an observation area;
(2) recording the spatial coordinates [ x ] of each mounting pointi,yi,zi]i is 1 to n and is marked as a matrix
(3) Recording the set of ID numbers of the observable punctiform infrared nodes at the place k as an observable characteristic group AkAll observable feature arrays are denoted as { A }1～Ak}；
(4) The receiver shoots the top area through the embedded infrared camera, and when m point-shaped infrared node devices exist in the real-time thermal imaging image acquired by the receiver and m is not less than 4, projection coordinates [ x ] of m nodes in the real-time thermal imaging image are detectedj,yj]j is 1 to m and is described as
Turning to step (5); if m is smaller than 4, turning to the step (7);
(5) let the receiver position be P ═ x0,y0,z0]The receiver is based on { A1～AkSubset of observable feature group containing m dot-shaped infrared node devices { A }qTraversing a relative position matrix with all potentially observable point-like infrared node devices
PnP-based mapping relationship detection
Whether there is a valid solution, [ x ] obtained when there is a valid solution0,y0,z0]Namely, the space positioning solution of the receiver is obtained;
(6) after the effective solution is obtained, calibrating the local inertial device according to the attitude information obtained by the PnP mapping algorithm, and returning to the step (4) to perform positioning at the next moment;
(7) and (4) positioning in the moving process is realized through inertial reckoning, or positioning in the moving process is realized by taking observable point-like infrared node equipment as a characteristic point based on an SLAM algorithm, and the step (4) is returned to carry out positioning at the next moment.
An indoor and underground space positioning method based on infrared datum points comprises the following steps:
(1) setting n mounting points in an asymmetric mode in the top area of an indoor or underground space, wherein each mounting point is provided with 1 shaped infrared node device, each shaped infrared node device is provided with a plurality of luminous bodies, and no less than 1 shaped infrared node device can be observed in an observation area;
(2) recording the spatial coordinates [ x ] of each mounting pointi,yi,zi]i is 1 to n and is marked as a matrix
(3) Recording the spatial matrix of f luminous body sampling points of the shaped infrared node equipment in the coordinate system thereof
And a transformation matrix D of its own coordinate system and absolute coordinate system after being installed at the installation point;
(4) the receiver shoots a top area through an embedded infrared camera, and when 1 shaped infrared node device exists in a real-time thermal imaging image acquired by the receiver, projection coordinates [ x ] of m sampling points of a graph formed by the shaped infrared node device in the real-time thermal imaging image are detectedj,yj]j is 1 to m and is described as
Turning to step (5); if the complete forming infrared node equipment is not shot, turning to the step (7);
(5) let the receiver position be P ═ x0,y0,z0]The receiver being based on respective assignmentsThe space matrix C and the conversion matrix D of the infrared node equipment are traversed and the relative position matrix of all the potentially observable shaped infrared node equipment sampling points is traversed
PnP-based mapping relationship detection
Whether there is a valid solution, [ x ] obtained when there is a valid solution0,y0,z0]Namely, the space positioning solution of the receiver is obtained;
(6) after the effective solution is obtained, calibrating the local inertial device according to the attitude information obtained by the PnP mapping algorithm, and returning to the step (4) to perform positioning at the next moment;
(7) and (4) positioning in the moving process is realized through inertial reckoning, or positioning in the moving process is realized by taking a plurality of observable sampling points in the shaped infrared node equipment as characteristic points based on an SLAM algorithm, and the step (4) is returned to perform positioning at the next moment.
Compared with the prior art, the invention has the following beneficial effects:
(1) in an indoor/underground space, except for an environment with objects such as water accumulation, smooth ground, mirror surfaces and the like, the diffraction, scattering and diffraction signals of an infrared signal are very small, and when a sight distance link between an infrared node and a receiver is shielded by a shielding object, the receiver cannot detect the signal, so that the anti-multipath problem does not need to be considered particularly.
(2) The infrared datum point only needs to be powered and heated, signals do not need to be sent, and time synchronization is not needed between datum points, so that the infrared datum point has the advantages of simplicity in layout, low cost, convenience in use and long power supply maintenance period, and meanwhile, capacity limitation does not exist on a receiver.
(3) The infrared imaging camera is low in price, products in the market already have a universal interface for connecting a mobile phone, the outline of the infrared reference point can be directly obtained through the infrared imaging camera, the infrared imaging camera is not influenced by environment day and night and illumination, complex visual processing algorithms and hardware are not needed, and the infrared imaging camera can be better suitable for existing receiver platforms such as mobile phones.
(4) Compared with the existing infrared beacon positioning method, the positioning is realized through the point-shaped infrared nodes which are asymmetrically arranged and the shaped infrared nodes of the heating body with the asymmetric shape outline, other accessories such as a filter and the like do not need to be arranged on the infrared equipment, and the installation and arrangement cost is low.
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FIG. 1 is a flow chart of a method for infrared fiducial-based indoor and underground space location in an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
An indoor and underground space positioning method based on infrared datum points comprises the following steps:
(1) designing two kinds of punctiform and shaped infrared node equipment, wherein the two kinds of equipment form an infrared source in an internal heating mode based on a self battery or external power supply, an internal heating body of the punctiform infrared node equipment is in a punctiform shape, the internal heating body of the shaped infrared node equipment has an asymmetric shape profile, and the shape profiles of different shaped infrared node heating bodies are different;
(2) arranging a plurality of mounting points in the top area of an indoor or underground space, wherein 1 piece of infrared node equipment is mounted at each mounting point, the spatial distribution of the mounting points does not have any symmetrical characteristic, and the density degree of the mounting points needs to ensure that at least 3 pieces of point-shaped infrared node equipment or 1 piece of shaped infrared node equipment are observed in an observation area;
(3) the unit coordinates of each infrared node device are transmitted to a receiver through a communication mode or stored in the receiver as known data information;
(4) the receiver senses the infrared nodes through the infrared camera, and calculates and acquires the positioning information of the receiver by utilizing the spatial distribution of infrared imaging points in infrared imaging, the shaped infrared point outline and the state change. The method specifically comprises the following steps:
(401) when no less than 3 punctiform infrared nodes exist in a real-time thermal imaging image acquired by a receiver, calculating which nodes in infrared nodes deployed in an indoor/underground space can obtain the same imaging result based on the projection positions of a plurality of punctiform infrared nodes in the infrared image, the relative positions of the nodes and the three-axis attitude information of a camera, and calculating by using the coordinate information of the nodes to obtain the position information of the receiver;
(402) when no less than 1 shaped infrared node exists in a real-time thermal imaging image acquired by a receiver, searching a corresponding node and coordinates thereof from indoor/underground space deployed infrared node information based on the imaging shape of the shaped infrared node, and calculating to obtain position information of the receiver by combining the projection position of the infrared node in the infrared image and the three-axis attitude information of a camera;
(403) in the movement process of the receiver, an infrared node in thermal imaging is taken as a characteristic point, and a positioning result is obtained by combining three-axis attitude information of a camera through a visual SLAM odometer calculation method.
Further, the receiver is a device which has or can be connected with an infrared camera, can sense infrared characteristic spectrum of an infrared reference point and three-axis attitude information of the infrared camera, and has positioning calculation capability, and the device comprises special detection equipment, terminal equipment carried by a platform, universal mobile phone equipment and the like.
Specifically, the above method can be classified into the following two cases:
an indoor and underground space positioning method based on infrared datum points comprises the following steps:
(1) design a punctiform infrared node equipment, characterized by: based on a self battery or an external power supply mode, electrifying and heating the dot-shaped heating body in the equipment;
(2) the method comprises the following steps that n mounting points are arranged in the top area of an indoor or underground space, 1 point-shaped infrared node device is mounted at each mounting point, the spatial distribution of the mounting points does not have any symmetrical characteristic, and the density degree of the mounting points needs to ensure that no less than 4 point-shaped infrared node devices can be observed in an observation area;
(3) installation point location space coordinate [ x ]i,yi,zi]i-1-n are communicated to the receiver by communication means or as known dataInformation is stored in the receiver as a matrix
(4) Defining observable feature set A of point-like infrared node deviceskMeaning a set of ID numbers not less than 4 dotted infrared nodes such that the feature group A can be observed at the same placekAll the infrared nodes contained; calculating to obtain all observable feature arrays (A) corresponding to the n point-shaped infrared nodes according to the distribution condition of the point-shaped infrared nodes1～AkThe data is transmitted to a receiver through a communication mode or stored in the receiver as known data information;
(5) the receiver shoots the top area through the embedded infrared camera, and when m dot-shaped infrared nodes are stored in the real-time thermal imaging image acquired by the receiver and m is not lower than 4, the projection coordinates [ x ] of the m nodes in the real-time thermal imaging image are detectedj,yj]j is 1 to m and is described as
(6) Let the receiver position be P ═ x0,y0,z0]The receiver is based on { A1～AkObservable feature group subset (A) containing m dot-shaped infrared nodesq}AqContaining m node ID numbers, traversing a relative position matrix with all potentially observable punctiform infrared nodes
PnP-based mapping relationship detection
Whether there is a valid solution, [ x ] obtained when there is a valid solution0,y0,z0]Namely, the space positioning solution of the receiver is obtained;
(7) and (3) after the effective solution is obtained, calibrating the local inertial device according to attitude information obtained by a PnP mapping algorithm, and when the effective solution does not meet the observation condition in the step (5), positioning in the moving process through inertial reckoning, or positioning in the moving process based on an SLAM algorithm by taking an observable punctiform infrared node as a characteristic point.
An indoor and underground space positioning method based on infrared datum points comprises the following steps:
(1) design an infrared nodal equipment of shaping, characterized by: based on a self battery or an external power supply mode, a heating body which has a certain shape and does not have any symmetrical characteristic in the equipment is electrified and heated;
(2) setting n installation points in the top area of an indoor or underground space, wherein each installation point is provided with 1 shaped infrared node device, and the density degree of the installation points needs to ensure that no less than 1 shaped infrared node device can be observed in an observation area;
(3) installation point location space coordinate [ x ]i,yi,zi]i-1-n are communicated to the receiver or stored in the receiver as known data information, and recorded as a matrix
(4) Feature group A for defining n shaped infrared node devices1～AnThe meaning of the method is that a space matrix of f (f is as large as possible) sampling points of each shaped infrared node device luminous body in a self coordinate system
And a transformation matrix D of its own coordinate system and absolute coordinate system after being installed at the installation point; the data is transmitted to a receiver through a communication mode or stored in the receiver as known data information;
(5) the receiver shoots a top area through an embedded infrared camera, and when 1 shaped infrared node is stored in a real-time thermal imaging image acquired by the receiver, m sampling point projection coordinates [ x ] formed by the shaped infrared node in the real-time thermal imaging image are detectedj,yj]j is 1 to m and is described as
(6) Let the receiver position be P ═ x0,y0,z0]The receiver is based on { A1～AnTraversing a relative position matrix of shaped infrared node sampling points which are all potentially observable
PnP-based mapping relationship detection
Whether there is a valid solution, [ x ] obtained when there is a valid solution0,y0,z0]Namely, the space positioning solution of the receiver is obtained;
(7) and (3) after the effective solution is obtained, calibrating the local inertial device according to attitude information obtained by a PnP mapping algorithm, and when the effective solution does not meet the observation condition in the step (5), positioning in the moving process through inertial reckoning, or positioning in the moving process based on an SLAM algorithm by taking a plurality of observable sampling points in the shaped infrared node as characteristic points.
The following is a more specific example:
FIG. 1 is a flow chart of a method for indoor and underground space location based on infrared reference points. The method can be used in indoor and underground application scenes which can map the installation point position in advance and install facilities in advance, and the receiver with the infrared camera and large capacity can continuously acquire the self positioning information. Here, taking an example that a person uses a mobile phone with an infrared camera to realize self-positioning in an indoor or underground scene, the implementation steps are described in detail:
(1) designing two kinds of punctiform and shaped infrared node equipment, wherein the two kinds of equipment form an infrared source in an internal heating mode based on a self battery or external power supply, an internal heating body of the punctiform infrared node equipment is in a punctiform shape, the internal heating body of the shaped infrared node equipment has an asymmetric shape profile, and the shape profiles of different shaped infrared node heating bodies are different, such as the heating wires are encircled into the shapes of a triangle, a circular ring, a square and the like;
(2) arranging a plurality of mounting points in the top area of an indoor or underground space, wherein 1 piece of infrared node equipment is mounted at each mounting point, the spatial distribution of the mounting points does not have any symmetrical characteristic, and the density degree of the mounting points needs to ensure that at least 3 pieces of point-shaped infrared node equipment or 1 piece of shaped infrared node equipment are observed in an observation area;
(3) the unit coordinates of each infrared node device are transmitted to the mobile phone in a communication mode or stored in the mobile phone as known data information;
(4) a person operates the mobile phone to shoot and sense the infrared nodes towards the top area through the infrared camera, and the self positioning information is calculated and obtained by utilizing the spatial distribution, the shaped infrared point outline and the state change of the infrared imaging points in the infrared imaging. The method specifically comprises the following steps:
(401) when no less than 3 punctiform infrared nodes exist in a real-time thermal imaging image acquired by the mobile phone through an infrared camera, calculating which nodes in infrared nodes deployed in an indoor/underground space can obtain the same imaging result based on the projection positions of a plurality of punctiform infrared nodes in the infrared image, the relative positions of the nodes and the three-axis attitude information of the camera, and calculating by using the coordinate information of the nodes to obtain the position information of the mobile phone;
(402) when no less than 1 shaped infrared node exists in a real-time thermal imaging image acquired by the mobile phone through the infrared camera, searching a corresponding node and coordinates thereof from indoor/underground space deployed infrared node information based on an imaging shape of the shaped infrared node, and calculating by combining a projection position of the infrared node in the infrared image and triaxial attitude information of the camera to obtain position information of the mobile phone;
(403) in the process that a person holds the mobile phone to shoot towards the top and continuously moves, an infrared node in thermal imaging is taken as a characteristic point, three-axis attitude information of a camera is combined, and a continuous positioning result of the mobile phone is obtained through a visual SLAM odometer calculation method.
In summary, in order to realize continuous and reliable positioning of a large-capacity receiver in indoor and underground spaces, the invention designs an indoor/underground positioning method using static infrared reference points, infrared nodes (called as infrared reference points) capable of self-heating are distributed at a plurality of mapped positions in the indoor/underground space, the receiver identifies the infrared nodes through an infrared camera, and the position of the receiver per se is calculated according to the shape of the infrared nodes or the distribution in a thermal imaging image.
The method does not need to consider the influence of indoor or underground complex multipath environment on signal propagation, and has the advantages of simple application mode, low equipment construction and maintenance cost and low calculation complexity. The invention can be applied to indoor and underground positioning application scenes which can map the installation point position in advance and install facilities in advance, and realizes that a receiver with large capacity and an infrared camera can continuously acquire self positioning information.
Claims (2)
1. An indoor and underground space positioning method based on infrared datum points is characterized by comprising the following steps:
(1) setting n mounting points in an asymmetric mode in the top area of an indoor or underground space, wherein n is more than or equal to 4; 1 dot-shaped infrared node device is installed at each installation point, and no less than 4 dot-shaped infrared node devices can be observed in an observation area;
(2) recording the spatial coordinates [ x ] of each mounting pointi,yi,zi]i is 1 to n and is marked as a matrix
(3) Recording the set of ID numbers of the observable punctiform infrared nodes at the place k as an observable characteristic group AkAll observable feature arrays are denoted as { A }1～Ak}；
(4) The receiver shoots the top area through the embedded infrared camera, and when m point-shaped infrared node devices exist in the real-time thermal imaging image acquired by the receiver and m is not less than 4, projection coordinates [ x ] of m nodes in the real-time thermal imaging image are detectedj,yj]j is 1 to m and is described as
Turning to step (5); if m is less than 4, then turn toGo to step (7);
(5) let the receiver position be P ═ x0,y0,z0]The receiver is based on { A1～AkSubset of observable feature group containing m dot-shaped infrared node devices { A }qTraversing a relative position matrix with all potentially observable point-like infrared node devices
PnP-based mapping relationship detection
Whether there is a valid solution, [ x ] obtained when there is a valid solution0,y0,z0]Namely, the space positioning solution of the receiver is obtained;
(6) after the effective solution is obtained, calibrating the local inertial device according to the attitude information obtained by the PnP mapping algorithm, and returning to the step (4) to perform positioning at the next moment;
(7) and (4) positioning in the moving process is realized through inertial reckoning, or positioning in the moving process is realized by taking observable point-like infrared node equipment as a characteristic point based on an SLAM algorithm, and the step (4) is returned to carry out positioning at the next moment.
2. An indoor and underground space positioning method based on infrared datum points is characterized by comprising the following steps:
(1) setting n mounting points in an asymmetric mode in the top area of an indoor or underground space, wherein each mounting point is provided with 1 shaped infrared node device, each shaped infrared node device is provided with a plurality of luminous bodies, and no less than 1 shaped infrared node device can be observed in an observation area;
(2) recording the spatial coordinates [ x ] of each mounting pointi,yi,zi]i is 1 to n and is marked as a matrix
(3) Recording f illuminant samples of shaped infrared node deviceSpatial matrix of points in its own coordinate system
And a transformation matrix D of its own coordinate system and absolute coordinate system after being installed at the installation point;
(4) the receiver shoots a top area through an embedded infrared camera, and when 1 shaped infrared node device exists in a real-time thermal imaging image acquired by the receiver, projection coordinates [ x ] of m sampling points of a graph formed by the shaped infrared node device in the real-time thermal imaging image are detectedj,yj]j is 1 to m and is described as
Turning to step (5); if the complete forming infrared node equipment is not shot, turning to the step (7);
(5) let the receiver position be P ═ x0,y0,z0]Based on the space matrix C and the conversion matrix D of each shaped infrared node device, the receiver traverses the relative position matrix of all potentially observable shaped infrared node device sampling points
PnP-based mapping relationship detection
Whether there is a valid solution, [ x ] obtained when there is a valid solution0,y0,z0]Namely, the space positioning solution of the receiver is obtained;
(6) after the effective solution is obtained, calibrating the local inertial device according to the attitude information obtained by the PnP mapping algorithm, and returning to the step (4) to perform positioning at the next moment;
(7) and (4) positioning in the moving process is realized through inertial reckoning, or positioning in the moving process is realized by taking a plurality of observable sampling points in the shaped infrared node equipment as characteristic points based on an SLAM algorithm, and the step (4) is returned to perform positioning at the next moment.
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