CN113777644B - Unmanned positioning method based on weak signal scene - Google Patents
Unmanned positioning method based on weak signal scene Download PDFInfo
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- CN113777644B CN113777644B CN202111016117.5A CN202111016117A CN113777644B CN 113777644 B CN113777644 B CN 113777644B CN 202111016117 A CN202111016117 A CN 202111016117A CN 113777644 B CN113777644 B CN 113777644B
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides an unmanned positioning method based on a weak signal scene. The invention can accurately position the vehicle in the scene of weak signals, and ensure the navigation accuracy; the visual point cloud image data, the laser radar point cloud data and the ultrasonic radar data at the vehicle to be positioned are acquired, perceived and fused, accurate positioning is obtained after correction, the data acquisition is convenient, and the processing is quick and accurate; the required acquisition sensing equipment is easy to acquire and install, realizes accurate positioning in a weak signal scene or even a no-signal scene, is suitable for popularization, and has good market prospect.
Description
Technical Field
The invention belongs to the technical field of navigation positioning, and particularly relates to an unmanned positioning method of a weak signal scene.
Background
At present, the common navigation modes of the unmanned trolley are a laser navigation mode, an optical navigation mode, a tape navigation mode, a visual navigation mode and an electromagnetic induction navigation mode. The electromagnetic induction navigation mode has the advantages that the navigation line is hidden and is not easy to pollute and damage, the principle is simple and reliable, the cost is low, however, the navigation path has limited complexity, and the expansion or modification of the battlefield line is very troublesome and lacks flexibility. The optical navigation mode is to paint or paste color bands on the walking path, and the optical sensor adopts the color band image signals to simply identify and process to realize navigation, so that the navigation path is flexible to set, sensitive to color band pollution and damage and easy to be limited by site environment. The tape navigation mode has the advantages that the tape laying is relatively simple, the navigation path is easy to change, but the tape navigation mode is easy to pollute and limited by the external environment, and is suitable for the condition with better environment. The laser navigation mode has the advantages of good flexibility, no need of any treatment on the ground, flexible and convenient path conversion, suitability for various field environments, and capability of conveniently and rapidly modifying the motion parameters and the driving path, but the control and navigation algorithm is most complex, the positioning precision depends on the laser head and the algorithm, and the manufacturing cost of the ADV is higher. The visual navigation mode has the typical advantages of low ADV cost, large acquired information quantity, capability of constructing a panoramic three-dimensional map and realizing full-automatic navigation, however, the method is greatly influenced by field light, large in information processing quantity, and the current hardware equipment is difficult to meet the real-time requirement, and the image processing algorithm is not mature. Regardless of the navigation mode, the advantages and characteristics of various navigation modes can be effectively exerted only when the vehicle is positioned accurately enough.
Then, with the continuous development of urban construction, the scenes of the signals can be influenced by an overhead tunnel, a tunnel and the like, and under the weak signal scene, the positioning of the vehicle is often deviated, so that the navigation is delayed and wrong.
Therefore, developing a precise positioning method suitable for weak signal scenes is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In order to solve the problems, the invention discloses an unmanned positioning method for a weak signal scene.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the unmanned positioning method based on the weak signal scene acquires and senses positioning data of a vehicle to be positioned, and obtains accurate positioning position and gesture after fusion.
Further, the specific method is as follows:
s1, starting a cruising central control system of an intelligent vehicle, and if satellite signals can be searched, directly performing accurate positioning through satellites; if the satellite signal is not searched, jumping to S2;
s2, collecting and sensing positioning data of a vehicle to be positioned, wherein the positioning data comprise visual point cloud image data, laser radar point cloud data and ultrasonic radar data;
s3, carrying out point cloud data fusion on the visual point cloud image data, the laser radar point cloud data and the ultrasonic radar data obtained in the S2 to obtain a point cloud block diagram;
if the point cloud block diagram does not have drift, accurate positioning is performed to obtain a positioning position and a positioning gesture;
if the point cloud block diagram has drift, the position is calibrated, and then accurate positioning is performed to obtain a positioning position and a gesture.
Further, the specific method of step S2 is as follows:
reading a visual point cloud image, intercepting visual point cloud data of three planes, converting the visual point cloud data into laser radar format data, if the matching degree of the obtained laser radar format data and a map exceeds 60%, waiting for the fusion of the point cloud data, otherwise, re-reading the visual point cloud image, and repeating the steps until the matching degree of the obtained laser radar format data and the map exceeds 60%;
reading laser radar point cloud data, further obtaining laser radar point cloud obstacle data, comparing the laser radar point cloud obstacle data with map obstacle data, if the overlap ratio of the map obstacle exceeds 70%, waiting for the point cloud data to be fused, otherwise, re-reading the laser radar point cloud data and repeating the steps until the overlap ratio of the map obstacle exceeds 70%;
and (3) reading ultrasonic radar data, performing filtering processing, namely, according to reflection opening angle calculation, only reading an obstacle in a range consistent with the size of the trolley, adding a reflection obstacle mark on an ultrasonic layer, if the matching degree of the reflection obstacle mark and a map exceeds 50%, converting the corresponding ultrasonic radar data into point cloud data, and waiting for the fusion of the point cloud data, otherwise, re-reading the ultrasonic radar data, and repeating the steps until the matching degree of the reflection obstacle mark and the map exceeds 50%.
Further, the visual point cloud image data in step S2 is obtained by extracting depth information by a depth camera and extracting feature points by rgb image information.
Compared with the prior art, the invention has the following beneficial effects:
1. the vehicle can be precisely positioned in a scene of weak signals, and the navigation accuracy is ensured;
2. the visual point cloud image data, the laser radar point cloud data and the ultrasonic radar data at the vehicle to be positioned are acquired, perceived and fused, accurate positioning is obtained after correction, the data acquisition is convenient, and the processing is quick and accurate;
3. the required acquisition sensing equipment is easy to acquire and install, a brand new method is provided for accurate positioning and navigation of unmanned driving at present, and the method is suitable for popularization and has good market prospect.
Drawings
Fig. 1, a flow chart of the present invention.
Detailed Description
The technical scheme provided by the present invention will be described in detail with reference to the following specific examples, and it should be understood that the following specific examples are only for illustrating the present invention and are not intended to limit the scope of the present invention.
As shown in fig. 1, which is a flow chart of the invention, the invention relates to an unmanned positioning method based on a weak signal scene, which acquires and senses positioning data of a vehicle to be positioned, and obtains accurate positioning position and gesture after fusion.
The specific method comprises the following steps:
s1, starting a cruising central control system of an intelligent vehicle, and if satellite signals can be searched, directly performing accurate positioning through satellites; if the satellite signal is not searched, jumping to S2;
s2, extracting depth information and rgb image information through a depth camera to extract feature points, obtaining a visual point cloud image, intercepting visual point cloud data of three planes, converting the visual point cloud data into laser radar format data, if the matching degree of the obtained laser radar format data and a map exceeds 60%, waiting for the point cloud data to be fused, otherwise, re-reading the visual point cloud image, and repeating the steps until the matching degree of the obtained laser radar format data and the map exceeds 60%;
reading laser radar point cloud data, further obtaining laser radar point cloud obstacle data, comparing the laser radar point cloud obstacle data with map obstacle data, if the overlap ratio of the map obstacle exceeds 70%, waiting for the point cloud data to be fused, otherwise, re-reading the laser radar point cloud data and repeating the steps until the overlap ratio of the map obstacle exceeds 70%;
reading ultrasonic radar data, detecting obstacles which cannot be detected by a peripheral optical sensor, performing filtering processing, calculating according to a reflection opening angle, only reading obstacles within a range consistent with the size of the trolley, adding reflection obstacle marks on an ultrasonic layer, converting corresponding ultrasonic radar data into point cloud data if the matching degree of the reflection obstacle marks and a map exceeds 50%, waiting for the point cloud data to be fused, otherwise, re-reading the ultrasonic radar data and repeating the steps until the matching degree of the reflection obstacle marks and the map exceeds 50%;
s3, determining the current approximate position and the current gesture of the vehicle through a uwb positioning technology;
s4, carrying out point cloud data fusion on the visual point cloud image data, the laser radar point cloud data and the ultrasonic radar data obtained in the S2 to obtain a point cloud block diagram; combining the approximate position and the gesture obtained in the step S3 with a point cloud block diagram;
if the point cloud block diagram does not have drift, accurate positioning is performed to obtain a positioning position and a positioning gesture;
if the point cloud block diagram has drift, the position is calibrated, and then accurate positioning is performed to obtain a positioning position and a gesture.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the technical solution, and those skilled in the art should understand that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the present invention, and all the modifications and equivalents are included in the scope of the claims of the present invention.
Claims (2)
1. An unmanned positioning method based on a weak signal scene is characterized by comprising the following steps of: the accurate positioning position and posture are obtained by collecting and sensing positioning data of the vehicle to be positioned and processing the information after fusion, and the specific method is as follows:
s1, starting a cruising central control system of an intelligent vehicle, and if satellite signals can be searched, directly performing accurate positioning through satellites; if the satellite signal is not searched, jumping to S2;
s2, collecting and sensing positioning data of a vehicle to be positioned, wherein the positioning data comprise visual point cloud image data, laser radar point cloud data and ultrasonic radar data;
the specific method comprises the following steps:
reading a visual point cloud image, intercepting visual point cloud data of three planes, converting the visual point cloud data into laser radar format data, if the matching degree of the obtained laser radar format data and a map exceeds 60%, waiting for the fusion of the point cloud data, otherwise, re-reading the visual point cloud image, and repeating the steps until the matching degree of the obtained laser radar format data and the map exceeds 60%;
reading laser radar point cloud data, further obtaining laser radar point cloud obstacle data, comparing the laser radar point cloud obstacle data with map obstacle data, if the overlap ratio of the map obstacle exceeds 70%, waiting for the point cloud data to be fused, otherwise, re-reading the laser radar point cloud data and repeating the steps until the overlap ratio of the map obstacle exceeds 70%;
reading ultrasonic radar data, performing filtering processing, namely, according to reflection opening angle calculation, only reading an obstacle in a range consistent with the size of the trolley, adding a reflection obstacle mark on an ultrasonic layer, if the matching degree of the reflection obstacle mark and a map exceeds 50%, converting the corresponding ultrasonic radar data into point cloud data, and waiting for the point cloud data to be fused, otherwise, re-reading the ultrasonic radar data, and repeating the steps until the matching degree of the reflection obstacle mark and the map exceeds 50%;
s3, carrying out point cloud data fusion on the visual point cloud image data, the laser radar point cloud data and the ultrasonic radar data obtained in the S2 to obtain a point cloud block diagram;
if the point cloud block diagram does not have drift, accurate positioning is performed to obtain a positioning position and a positioning gesture;
if the point cloud block diagram has drift, the position is calibrated, and then accurate positioning is performed to obtain a positioning position and a gesture.
2. The unmanned positioning method based on the weak signal scene according to claim 1, wherein: the visual point cloud image data in the step S2 is obtained by extracting depth information and rgb image information through a depth camera and extracting feature points.
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