CN113739803B - Indoor and underground space positioning method based on infrared datum points - Google Patents
Indoor and underground space positioning method based on infrared datum points Download PDFInfo
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Abstract
The invention discloses an indoor and underground space positioning method based on an infrared datum point, and belongs to the technical field of navigation positioning. Which comprises the following steps: designing infrared node equipment; providing a plurality of mounting points and installing infrared node equipment in a roof area of an indoor or underground space; 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 and acquires the positioning information of the receiver. The method is simple and feasible, and has important significance for guaranteeing the continuous positioning of the high-capacity receiver in indoor, underground and other application scenes.
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 an infrared datum point.
Background
Human activities are extending from outdoors to indoors, underground, etc. spaces, and in these scenes, due to the shielding by building structures or the earth's surface, satellite navigation signals are not penetrable or are very weak, and conventional satellite navigation techniques are not available, so how to obtain continuous and accurate positioning information in indoor/underground spaces 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, including the positioning technology of a pseudolite base station, a UWB base station, a 5G communication base station and an acoustic wave base station, and the accurate measurement under the complex multipath environment is realized by utilizing the characteristics of specific radio signal waveforms or acoustic waves with low propagation rate. However, the above-described technique has two disadvantages in application: firstly, because radio signals and acoustic signals have little attenuation of non-line-of-sight propagation signals such as diffraction and diffraction relative to direct projection signals in the indoor and underground space propagation process with a plurality of shielding bodies, the non-line-of-sight signals are difficult to identify and distinguish by a receiver, particularly in the environment with a large number of moving people and objects, the variance of observed noise of the non-line-of-sight signals received by the receiver has large fluctuation, and the non-line-of-sight signals are difficult to accurately identify in a signal characteristic threshold mode. Secondly, for the technology of acquiring the geometric distance between the base station and the receiver by using bidirectional or multidirectional wireless ranging, the contradiction between the capacity of the receiver and the positioning frequency is necessarily existed in the positioning network because of 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 aims to provide an indoor and underground space positioning method based on an infrared reference point, which can be used for mapping the position of a mounting point in advance and installing indoor and underground application scenes of facilities in advance, so as to realize that a receiver with a large capacity and an infrared camera can continuously acquire the positioning information of the receiver.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
an indoor and underground space positioning method based on infrared datum points comprises the following steps:
(1) N mounting points are arranged in an asymmetric mode in the top area of an indoor or underground space, and n is more than or equal to 4; each mounting point is provided with 1 point-shaped infrared node device, and not less than 4 point-shaped infrared node devices can be observed in the observation area;
(2) Recording the space coordinates x of each mounting point i ,y i ,z i ]i=1 to n, denoted as matrix
(3) The set of ID numbers of point-like infrared nodes observable at the point k is recorded as an observable feature group A k All observable feature arrays are noted as { A 1 ～A k }；
(4) The receiver shoots a top area through an embedded infrared camera, and when m point-shaped infrared node devices exist in a real-time thermal imaging image acquired by the receiver and m is not lower than 4, projection coordinates [ x ] of m nodes in the real-time thermal imaging image are detected j ,y j ]j=1 to m, denoted asTurning to step (5); if m is less than 4, turning to the step (7);
(5) Let the receiver position be p= [ x ] 0 ,y 0 ,z 0 ]The receiver is based on { A } 1 ～A k The observed characteristic group subset { A } comprises m point-shaped infrared node devices q Traversing a matrix of relative positions to all potentially observable punctiform infrared node devicesPnP mapping relation-based detection +.>Whether or not there is a valid solution, and [ x ] obtained when there is a valid solution 0 ,y 0 ,z 0 ]Namely, the spatial positioning solution of the receiver;
(6) After obtaining the effective solution, calibrating the local inertial device according to the attitude information obtained by the PnP mapping algorithm, and returning to the step (4) for positioning at the next moment;
(7) Positioning in the moving process is realized through inertial calculation, or positioning in the moving process is realized by taking observable point-shaped infrared node equipment as a characteristic point based on SLAM algorithm, and the next time positioning is carried out in the step (4).
An indoor and underground space positioning method based on infrared datum points comprises the following steps:
(1) N mounting points are arranged in an asymmetric mode in the top area of an indoor or underground space, 1 shaped infrared node device is arranged in each mounting point, 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 space coordinates x of each mounting point i ,y i ,z i ]i=1 to n, denoted as matrix
(3) Space matrix of f illuminant sampling points of shaped infrared node equipment in self coordinate systemAnd a conversion 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 detected j ,y j ]j=1 to m, denoted asTurning to step (5); if the complete shaped infrared node equipment is not shot, turning to the step (7);
(5) Let the receiver position be p= [ x ] 0 ,y 0 ,z 0 ]The receiver traverses a relative position matrix of sampling points of all the potentially observable shaped infrared node devices based on the space matrix C and the conversion matrix D of each shaped infrared node devicePnP mapping relation-based detection +.>Whether or not there is a valid solution, and [ x ] obtained when there is a valid solution 0 ,y 0 ,z 0 ]Namely, the spatial positioning solution of the receiver;
(6) After obtaining the effective solution, calibrating the local inertial device according to the attitude information obtained by the PnP mapping algorithm, and returning to the step (4) for positioning at the next moment;
(7) Positioning in the moving process is realized through inertial calculation, or positioning in the moving process is realized based on SLAM algorithm by taking a plurality of sampling points in observable shaped infrared node equipment as characteristic points, and the next time positioning is carried out in the step (4).
Compared with the prior art, the invention has the following beneficial effects:
(1) In indoor/underground space, except in the environment where water accumulation, smooth ground, mirror and other objects exist, the diffraction, scattering and diffraction signals of infrared signals are very small, and when the line-of-sight link of the infrared node and the receiver is blocked by a shielding object, the receiver cannot detect the signals, so that the multipath resistance problem is not needed to be considered particularly.
(2) The infrared datum point only needs power supply and heating, signals do not need to be sent, and time synchronization is not needed between the datum points, so that the infrared datum point has the advantages of being simple in arrangement, low in cost, convenient to use and long in power supply maintenance period, and meanwhile capacity limitation does not exist on a receiver.
(3) The infrared imaging camera is low in price, the market products are provided with universal interfaces for connecting mobile phones, the outline of the infrared reference point can be directly obtained through the infrared imaging camera, the influence of ambient day and night and illumination is avoided, complicated visual processing algorithms and hardware are not needed, and the infrared imaging camera is better suitable for receiver platforms such as the existing mobile phones.
(4) Compared with the existing infrared beacon positioning method, the positioning is realized through the point-shaped infrared nodes which are asymmetrically distributed and the shaped infrared nodes of the heating body with the outline of the asymmetric shape, and other accessories such as filters and the like are not required to be installed on infrared equipment, so that the installation and the distribution cost is low.
Drawings
FIG. 1 is a flow chart of an infrared fiducial-based indoor and subsurface space positioning method in an example of the invention.
Detailed Description
The invention is further described below with reference to the drawings and detailed description.
An indoor and underground space positioning method based on infrared datum points comprises the following steps:
(1) Designing point-shaped and shaped infrared node devices, wherein the two devices form an infrared source in an internal heating mode based on a battery or external power supply, the internal heating body of the point-shaped infrared node device is in a point-shaped form, the internal heating body of the shaped infrared node device has an asymmetric shape outline, and the shape outlines of different shaped infrared node heating bodies are different;
(2) A plurality of installation points are arranged in the top area of an indoor or underground space, 1 infrared node device is installed in each installation point, the spatial distribution of the installation points is required to have no symmetrical characteristic, and the density degree of the installation points is required to ensure that at least 3 point-shaped infrared node devices or 1 shaped infrared node device are observed in an observation area;
(3) The unit coordinates of each infrared node device are transmitted to the receiver through a communication mode or are stored in the receiver as known data information;
(4) The receiver senses the infrared nodes through the infrared cameras, and the positioning information of the receiver is obtained by calculating the spatial distribution of infrared imaging points in infrared imaging, the outline of the shaped infrared points and the state change. The method specifically comprises the following steps:
(401) When the real-time thermal imaging image acquired by the receiver is not lower than 3 dot-shaped infrared nodes, calculating which nodes in the infrared nodes deployed in indoor/underground space can obtain the same imaging result based on the projection positions of a plurality of dot-shaped infrared nodes in the infrared image, the relative positions among the nodes and the three-axis posture information of the camera, and calculating the position information of the receiver by utilizing the coordinate information of the nodes;
(402) When no less than 1 shaped infrared node exists in the real-time thermal imaging image acquired by the receiver, based on the imaging shape of the shaped infrared node, searching corresponding nodes and coordinates thereof from indoor/underground space deployment infrared node information, and calculating to obtain the position information of the receiver by combining the projection position of the nodes in the infrared image and the three-axis posture information of the camera;
(403) In the motion process of the receiver, an infrared node in thermal imaging is taken as a characteristic point, and a positioning result is obtained through a visual SLAM odometer calculation method by combining with three-axis attitude information of a camera.
Further, the receiver is a device which is provided with or can be connected with an infrared camera, can sense infrared characteristic spectrum of an infrared reference point and triaxial posture information of the infrared camera, and has positioning computing capability, and comprises special detection equipment, terminal equipment carried by a platform, general mobile phone equipment and the like.
Specifically, the above-described 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) The design of a punctiform infrared node device is characterized in that: electrifying and heating the point-shaped heating body in the equipment based on a battery or an external power supply mode;
(2) N mounting points are arranged in the top area of an indoor or underground space, 1 point-shaped infrared node device is arranged in each mounting point, the spatial distribution of the mounting points is required to have no symmetrical characteristic, and the density degree of the mounting points is required to ensure that the observation area can observe not less than 4 point-shaped infrared node devices;
(3) Space coordinates of installation point location [ x ] i ,y i ,z i ]i=1 to n are communicated to the receiver by communication or stored as known data information in the receiver, recorded as a matrix
(4) Defining observable feature set A of point-like infrared node devices k Meaning that the set of ID numbers of not less than 4 punctiform infrared nodes is such that the feature set A is observable at the same site k All the infrared nodes contained; all observable feature arrays { A } corresponding to the n point-shaped infrared nodes are calculated according to the point-shaped infrared node layout condition 1 ～A k Communication to the receiver or as known data information stored in the receiver;
(5) Splicing jointThe receiver shoots a top area through an embedded infrared camera, and when m dot-shaped infrared nodes are stored in a real-time thermal imaging image acquired by the receiver and m is not lower than 4, projection coordinates [ x ] of the m nodes in the real-time thermal imaging image are detected j ,y j ]j=1 to m, denoted as
(6) Let the receiver position be p= [ x ] 0 ,y 0 ,z 0 ]The receiver is based on { A } 1 ～A k Subset { A } of observable feature set containing m point-like infrared nodes q }A q Comprising m node ID numbers traversing a matrix of relative positions to all potentially observable punctual infrared nodesPnP mapping relation-based detection +.>Whether or not there is a valid solution, and [ x ] obtained when there is a valid solution 0 ,y 0 ,z 0 ]Namely, the spatial positioning solution of the receiver;
(7) And (3) calibrating the local inertial device according to the attitude information obtained by the PnP mapping algorithm after obtaining the effective solution, and realizing positioning in the moving process through inertial estimation when the observation condition in (5) is not met or realizing positioning in the moving process based on the SLAM algorithm by taking the observable point-shaped infrared nodes as characteristic points.
An indoor and underground space positioning method based on infrared datum points comprises the following steps:
(1) A shaped infrared node device is designed, which is characterized in that: based on a 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) N mounting points are arranged in the top area of an indoor or underground space, 1 shaped infrared node device is arranged in each mounting point, the density degree of the mounting points needs to ensure that the observation area can observe not less than 1 shaped infrared node device;
(3) Space coordinates of installation point location [ x ] i ,y i ,z i ]i=1 to n are communicated to the receiver by communication or stored as known data information in the receiver, recorded as a matrix
(4) Defining feature set A of n shaped infrared node devices 1 ～A n The method is characterized in that f (f is as large as possible) sampling points of the illuminant of each shaped infrared node device are in a space matrix of a self coordinate systemAnd a conversion matrix D of its own coordinate system and absolute coordinate system after being installed at the installation point; to the receiver by communication or stored as known data information in the receiver;
(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, the projection coordinates [ x ] of m sampling points of a graph formed by the shaped node in the real-time thermal imaging image are detected j ,y j ]j=1 to m, denoted as
(6) Let the receiver position be p= [ x ] 0 ,y 0 ,z 0 ]The receiver is based on { A } 1 ～A n Traversing a matrix of relative positions to all potentially observable shaped infrared node sample pointsPnP mapping relation-based detection +.>Whether or not there is a valid solution, and [ x ] obtained when there is a valid solution 0 ,y 0 ,z 0 ]Namely, the spatial positioning solution of the receiver;
(7) And (3) calibrating the local inertial device according to the attitude information obtained by the PnP mapping algorithm after obtaining the effective solution, and realizing positioning in the moving process through inertial estimation when the observation condition in (5) is not met, or realizing positioning in the moving process based on the SLAM algorithm by taking a plurality of sampling points in the observable shaped infrared nodes as characteristic points.
The following is a more specific example:
FIG. 1 is a flow chart of a method for locating indoor and underground spaces based on infrared reference points. The method can be oriented to indoor, underground and other application scenes which can be used for mapping the positions of the mounting points in advance and installing facilities in advance, and the receiver with the infrared camera can continuously acquire the positioning information of the receiver with the infrared camera in large capacity. Taking the example that personnel realize self-positioning in an indoor or underground scene by using a mobile phone with an infrared camera, the implementation steps are described in detail:
(1) Designing point-shaped and shaped infrared node devices, wherein the two devices form an infrared source in an internal heating mode based on a battery or external power supply, the internal heating body of the point-shaped infrared node device is in a point-shaped form, the internal heating body of the shaped infrared node device has an asymmetric shape outline, and the shape outlines of different shaped infrared node heating bodies are different, such as heating wires are enclosed into a triangle, a circular ring, a square block and the like;
(2) A plurality of installation points are arranged in the top area of an indoor or underground space, 1 infrared node device is installed in each installation point, the spatial distribution of the installation points is required to have no symmetrical characteristic, and the density degree of the installation points is required to ensure that at least 3 point-shaped infrared node devices or 1 shaped infrared node device 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 are stored in the mobile phone as known data information;
(4) And the personnel operate the mobile phone to shoot and sense the infrared nodes towards the top area through the infrared camera, and the positioning information of the personnel is obtained by calculating the spatial distribution of infrared imaging points in infrared imaging, the outline of the shaped infrared points and the state change. The method specifically comprises the following steps:
(401) When the real-time thermal imaging image obtained by the mobile phone through the infrared camera has not less than 3 dot-shaped infrared nodes, calculating which nodes in the infrared nodes deployed in indoor/underground space can obtain the same imaging result based on the projection positions of a plurality of dot-shaped infrared nodes in the infrared image, the relative positions among the nodes and the three-axis posture information of the camera, and calculating the position information of the mobile phone by using the coordinate information of the nodes;
(402) When the real-time thermal imaging image obtained by the mobile phone through the infrared camera has not less than 1 shaped infrared node, based on the imaging shape of the shaped infrared node, searching the corresponding node and the coordinates thereof from the indoor/underground space deployment infrared node information, and calculating to obtain the position information of the mobile phone by combining the projection position of the corresponding node in the infrared image and the three-axis gesture information of the camera;
(403) In the process of photographing and continuously moving the hand-held mobile phone to the top of a person, taking an infrared node in thermal imaging as a characteristic point, and combining three-axis attitude information of a camera, and obtaining a continuous positioning result of the mobile phone by a visual SLAM odometer calculation method.
In summary, in order to achieve continuous and reliable positioning of a large-capacity receiver in indoor, underground and other spaces, the invention designs an indoor/underground positioning method using static infrared datum points, by arranging infrared nodes (called infrared datum points) capable of self-heating at a plurality of mapped positions in the indoor/underground space, the receiver recognizes the infrared nodes through an infrared camera, and calculates the position of the receiver according to the shape of the infrared nodes or distribution in a thermal imaging image.
The invention does not need to consider the influence of indoor or underground complex multipath environment on signal propagation, and has simple application mode, low equipment construction and maintenance cost and low calculation complexity. The invention can be applied to indoor, underground and other positioning application scenes which can be used for mapping the positions of the mounting points in advance and installing facilities in advance, and realizes that a receiver with a large capacity and an infrared camera can continuously acquire own 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) N mounting points are arranged in an asymmetric mode in the top area of an indoor or underground space, and n is more than or equal to 4; each mounting point is provided with 1 point-shaped infrared node device, and not less than 4 point-shaped infrared node devices can be observed in the observation area;
(2) Recording the space coordinates x of each mounting point i ,y i ,z i ]i=1 to n, denoted as matrix
(3) The set of ID numbers of point-like infrared nodes observable at the point k is recorded as an observable feature group A k All observable feature arrays are noted as { A 1 ～A k }；
(4) The receiver shoots a top area through an embedded infrared camera, and when m point-shaped infrared node devices exist in a real-time thermal imaging image acquired by the receiver and m is not lower than 4, projection coordinates [ x ] of m nodes in the real-time thermal imaging image are detected j ,y j ]j=1 to m, denoted asTurning to step (5); if m is less than 4, turning to the step (7);
(5) Let the receiver position be p= [ x ] 0 ,y 0 ,z 0 ]The receiver is based on { A } 1 ～A k The observed characteristic group subset { A } comprises m point-shaped infrared node devices q Traversing a matrix of relative positions to all potentially observable punctiform infrared node devicesPnP mapping relation-based detection +.>Whether or not there is a valid solution, when there is a valid solutionObtained by solution [ x ] 0 ,y 0 ,z 0 ]Namely, the spatial positioning solution of the receiver;
(6) After obtaining the effective solution, calibrating the local inertial device according to the attitude information obtained by the PnP mapping algorithm, and returning to the step (4) for positioning at the next moment;
(7) Positioning in the moving process is realized through inertial calculation, or positioning in the moving process is realized by taking observable point-shaped infrared node equipment as a characteristic point based on SLAM algorithm, and the next time positioning is carried out in the step (4).
2. An indoor and underground space positioning method based on infrared datum points is characterized by comprising the following steps:
(1) N mounting points are arranged in an asymmetric mode in the top area of an indoor or underground space, 1 shaped infrared node device is arranged in each mounting point, 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 space coordinates x of each mounting point i ,y i ,z i ]i=1 to n, denoted as matrix
(3) Space matrix of f illuminant sampling points of shaped infrared node equipment in self coordinate systemAnd a conversion 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 detected j ,y j ]j=1 to m, denoted asTurning to step (5); if the complete shaped infrared node equipment is not shot, turning to the step (7);
(5) Let the receiver position be p= [ x ] 0 ,y 0 ,z 0 ]The receiver traverses a relative position matrix of sampling points of all the potentially observable shaped infrared node devices based on the space matrix C and the conversion matrix D of each shaped infrared node devicePnP mapping relation-based detection +.>Whether or not there is a valid solution, and [ x ] obtained when there is a valid solution 0 ,y 0 ,z 0 ]Namely, the spatial positioning solution of the receiver;
(6) After obtaining the effective solution, calibrating the local inertial device according to the attitude information obtained by the PnP mapping algorithm, and returning to the step (4) for positioning at the next moment;
(7) Positioning in the moving process is realized through inertial calculation, or positioning in the moving process is realized based on SLAM algorithm by taking a plurality of sampling points in observable shaped infrared node equipment as characteristic points, and the next time positioning is carried out in the step (4).
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