CN114166177A - Laser ranging anomaly detection method and device for mobile platform - Google Patents
Laser ranging anomaly detection method and device for mobile platform Download PDFInfo
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- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The application discloses laser ranging abnormity detection method and device of a mobile platform, wherein the mobile platform is provided with a laser range finder and an inertia measurement unit, and the method comprises the following steps: acquiring a motion course angle of the mobile platform acquired by the IMU module; detecting a change value of a motion course angle during judging that the mobile platform drives into another straight path from one straight path according to a measurement value of the laser range finder; and if the variation value is smaller than or equal to the first preset threshold value, judging that the laser ranging of the laser range finder is abnormal. The laser ranging abnormity detection method of the outer wall mobile platform solves the problems that other paths are easy to misjudge or the position judgment error of the mobile platform is large in the related technology, and achieves laser ranging abnormity detection.
Description
Technical Field
The present disclosure relates to the field of distance measurement anomaly detection technologies, and in particular, to a method and an apparatus for detecting laser distance measurement anomaly of a mobile platform.
Background
The outer wall moving platform is equipment which is based on that guide rails are laid on the periphery of an outer wall, moves on a track and detects the real-time position by an encoder. The executor of outer wall moving platform self is after cement pouring outer wall in the building construction process, accomplishes operation demands such as outer wall polishing, shutoff screw hole. The requirement on the distance measurement precision is high in the construction process, and the laser distance meter is used for correcting the accumulated error of the encoder in the prior art.
However, the laser range finder requires a direct view of the environment, and if there is an unexpected obstacle in the operation process, the laser range finding is directly abnormal. For example, as shown in FIG. 1, the moving track has a straight track OS1，S2S3，S4S5And a curve S1S2，S3S4The method comprises the following steps that the distance between a mobile platform and an obstacle is actually measured when a laser meets the obstacle, and two scenes can be caused when the encoder is abnormally corrected: (1) misjudging to other tracks, e.g. in fig. 1, the mobile platform is in track S2S3The corrected encoder judges that the current position is S possibly caused by abnormal laser ranging4S5Or S0S1A track; (2) judging that the position of the mobile platform is on the current track, but the position judgment error of the mobile platform is larger; to be solved.
Content of application
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present invention is to provide a method for detecting an abnormality of laser ranging of a mobile platform, which solves the problem in the related art that other paths are easily misjudged or the position judgment error of the mobile platform is large, and realizes the abnormality detection of laser ranging.
The second objective of the present invention is to provide a laser ranging anomaly detection device for a mobile platform.
A third object of the invention is to propose an electronic device.
A fourth object of the invention is to propose a computer-readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present application provides a method for detecting an abnormal laser ranging of a mobile platform, where a laser range finder and an Inertial Measurement Unit (IMU) are arranged on the mobile platform, and the method includes the following steps:
acquiring a motion course angle of the mobile platform acquired by the IMU module;
detecting a change value of the motion course angle during the period of judging that the mobile platform drives into another straight path from a straight path according to the measurement value of the laser range finder; and
and if the variation value is smaller than or equal to a first preset threshold value, judging that the laser ranging of the laser range finder is abnormal.
In addition, the method for detecting the laser ranging anomaly of the mobile platform according to the above embodiment of the present invention may further have the following additional technical features:
optionally, the method for detecting laser ranging abnormality of the mobile platform further includes:
constructing a motion model according to the measured value and the time stamp of the laser range finder during the straight-going path so as to predict the predicted value at the next moment through the motion model;
and if the difference value between the predicted value and the measured value at the next moment is larger than a second preset threshold value, judging that the laser ranging is abnormal.
Optionally, the motion model is constructed by the following formula:
dlidar＝di+(ti+j-ti)×vi；
wherein d isiIs tiMeasured value of the laser range finder corresponding at the moment, di-kIs ti-kThe measured value of the laser range finder corresponding to the moment, i is a positive integer, viFor the movement speed of the movement model, dlidarIs as a result of the excitationOptical range finder ti+jThe predicted value of the time.
Optionally, the determining that the mobile platform moves from a straight path to another straight path according to the measurement value of the laser range finder comprises: and correcting an encoder on the mobile platform by using the measured value, and judging whether the mobile platform drives from a straight path to another straight path or not based on the encoded value measured by the encoder.
Optionally, before acquiring the motion heading angle of the mobile platform acquired by the IMU module, the method further includes:
and carrying out zero drift calibration on the acceleration of the IMU module and the gyroscope, and calculating the motion course angle by adopting second-order complementary filtering through the calibrated accelerometer and the calibrated gyroscope.
Optionally, the first preset threshold λ ═ pi/2- ω, where ω represents a rotation angle factor, and is in the range of [0, pi/36 ].
In order to achieve the above object, an embodiment of a second aspect of the present application provides an abnormal laser ranging detection apparatus for a mobile platform, where the mobile platform is provided with a laser range finder and an inertial measurement unit, and the apparatus includes:
the acquisition module is used for acquiring the motion course angle of the mobile platform acquired by the IMU module;
the detection module is used for detecting the change value of the motion course angle during the period of judging that the mobile platform drives into another straight path from one straight path according to the measurement value of the laser range finder; and
and the first judging module is used for judging that the laser ranging of the laser range finder is abnormal when the change value is smaller than or equal to a first preset threshold value.
Optionally, the above laser ranging anomaly detection apparatus for a mobile platform further includes:
the prediction module is used for constructing a motion model according to the measurement value and the time stamp of the laser range finder in the straight path so as to predict the prediction value of the next moment through the motion model;
and the second judgment module is used for judging that the laser ranging is abnormal when the difference value between the predicted value and the measured value at the next moment is larger than a second preset threshold value.
Optionally, the motion model is constructed by the following formula:
dlidar＝di+(ti+j-ti)×vi；
wherein d isiIs tiMeasured value of the laser range finder corresponding at the moment, di-kIs ti-kThe measured value of the laser range finder corresponding to the moment, i is a positive integer, viFor the movement speed of the movement model, dlidarAnd the predicted value of the laser range finder at the next moment is obtained.
Optionally, the determining that the mobile platform moves from a straight path to another straight path according to the measurement value of the laser range finder comprises: and correcting an encoder on the mobile platform by using the measured value, and judging whether the mobile platform drives from a straight path to another straight path or not based on the encoded value measured by the encoder.
Optionally, before obtaining the motion heading angle of the mobile platform acquired by the IMU module, the acquiring module further includes:
and the computing unit is used for carrying out zero drift calibration on the acceleration of the IMU module and the gyroscope so as to calculate the motion course angle by adopting second-order complementary filtering through the calibrated accelerometer and the calibrated gyroscope.
Optionally, the first preset threshold λ ═ pi/2- ω, where ω represents a rotation angle factor, and is in the range of [0, pi/36 ].
To achieve the above object, an embodiment of a third aspect of the present application provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions configured to perform a method of laser ranging anomaly detection for a mobile platform as described in the embodiments above.
In order to achieve the above object, a fourth aspect of the present application provides a computer-readable storage medium storing computer instructions for causing a computer to execute the method for detecting laser ranging anomaly of a mobile platform according to the above embodiment.
Therefore, the movement course angle of the mobile platform can be collected, the change value of the movement course angle is detected when the mobile platform changes a straight path, namely turns according to the measurement value of the laser range finder, and if the change value is smaller than or equal to a first preset threshold value, the inertial measurement unit does not detect the turning of the platform, the laser range finding is determined to be abnormal. Therefore, the problems that other paths are easy to misjudge or the position judgment error of the mobile platform is large in the related technology are solved, and the abnormal detection of laser ranging is realized. Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic view of an encoder and laser rangefinder measurements;
FIG. 2 is a flowchart of a method for detecting laser ranging anomalies of a mobile platform according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a laser measurement motion model provided in accordance with an embodiment of the present application;
FIG. 4 is a flowchart of a laser ranging anomaly detection method for a mobile platform according to one embodiment of the present application;
fig. 5 is a schematic block diagram of a laser ranging anomaly detection apparatus for a mobile platform according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application
Detailed Description
Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The laser ranging anomaly detection method and device for a mobile platform according to an embodiment of the present invention are described below with reference to the accompanying drawings, and first, the laser ranging anomaly detection method for a mobile platform according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Specifically, fig. 2 is a schematic flow chart of a method for detecting an abnormal laser ranging of a mobile platform according to an embodiment of the present disclosure, in which a laser range finder and an inertial measurement unit are disposed on the mobile platform, an IMU module includes an accelerometer and a gyroscope, the accelerometer has high long-term accuracy, and the gyroscope has high short-term accuracy.
As shown in fig. 2, the method for detecting laser ranging anomaly of the mobile platform includes the following steps:
in step S201, a motion heading angle of the mobile platform acquired by the IMU module is acquired.
It will be appreciated that the mobile platform can move on pre-laid fixed tracks, both straight paths and curves being referred to in this embodiment as fixed tracks. The laser range finder can correct the accumulated error of the encoder, and when an obstacle exists between the laser range finder and the fixed target, the mobile platform is positioned abnormally, and the related control operation of the actuator is influenced.
Therefore, the IMU module can be added on the mobile platform in the embodiment of the application, so that the motion course angle of the mobile platform is calculated.
Optionally, in some embodiments, before acquiring the motion heading angle of the mobile platform acquired by the IMU module, the method further includes: and carrying out zero drift calibration on the acceleration of the IMU module and the gyroscope, and calculating the motion course angle by using second-order complementary filtering through the calibrated accelerometer and the calibrated gyroscope.
It will be appreciated that the IMU module and laser rangefinder may be mounted in the same location, with the fixed point of the straight path being selected as the mobile platform work origin and the initial heading angle at this point being 0 °. The calibrated real-time value of the encoder can judge that the current position is in a straight-going path or a curve, and the change of the heading angle is detected in real time during the straight-going path. Before the IMU module is used for calculating the motion course angle of the mobile platform, zero drift calibration needs to be carried out on the acceleration and the gyroscope, a nine-character ellipsoid correction method can be adopted for the calibration method of the accelerometer, the gyroscope is calibrated by adopting a static point, and the calibrated accelerometer and gyroscope adopt second-order complementary filtering or Kalman filtering to calculate the course angle.
It should be noted that the above-mentioned modes are only exemplary and not limiting to the present application, and those skilled in the art can make modifications according to actual situations.
In step S202, a variation value of the moving heading angle is detected during a determination that the mobile platform is driven from one straight-going path to another straight-going path based on the measurement value of the laser range finder.
Optionally, the determining that the mobile platform moves from one straight path to another straight path according to the measurement value of the laser range finder comprises: and correcting an encoder on the mobile platform by using the measured value, and judging whether the mobile platform drives into another straight path from one straight path or not based on the encoded value measured by the encoder.
That is to say, the embodiment of the present application can distinguish whether the current position is in a straight path or a curve according to the real-time value of the calibrated encoder.
In step S203, if the variation value is less than or equal to the first preset threshold, it is determined that there is an abnormality in laser ranging of the laser range finder.
Optionally, the first preset threshold λ ═ pi/2- ω, where ω represents a rotation angle factor, in the range [0, pi/36 ]. In the fixed track, two adjacent straight paths are basically vertical to each other, namely the included angle between the two straight paths is pi/2, and if the mobile platform successfully drives from one straight path to the other straight path, the rotating angle is also basically pi/2. Based on this, the first preset threshold lambda is set to pi/2-omega, namely the first preset threshold is slightly smaller than pi/2, if the detected course angle change is smaller than the threshold, the mobile platform does not actually complete the path transformation, which shows that the result of judging that the mobile platform drives from a straight path to another straight path according to the measurement value of the laser range finder is wrong, and the laser range finding of the laser range finder is abnormal.
It is understood that the embodiment of the application can detect the change value of the moving heading angle when the mobile platform is judged to travel on the straight-going path.
Specifically, assume that the mobile platform has just entered the straight travel path LiCourse angle of time is theta1The real-time motion course angle is theta, and the path L of the mobile platform in the moving process is detected in real timejIf the variation value of the motion heading angle is δ _ θ, the variation value of the motion heading angle can be calculated by the following formula:
δ_θ＝abs(θ-θ1)j≠i；
wherein abs represents an absolute value; if j is not equal to i, and LjWhen the laser correction is carried out on other straight paths, the path change of the moving platform is detected according to the encoder corrected by the laser currently, the laser abnormal mark is represented by flag _ lidar, and the magnitude of delta _ theta and the magnitude of a right angle pi/2 are compared:
wherein, omega is a rotation angle factor, the range is [0, pi/36 ], and the first preset threshold value can be pi/2-omega; flag _ lidar equal to 1 represents that laser measurement is abnormal, and 0 represents that the path state judgment is correct at the moment.
Optionally, in some embodiments, the method for detecting laser ranging anomaly of the mobile platform further includes: when the vehicle travels straight, constructing a motion model according to the measured value and the time stamp of the laser range finder so as to predict the predicted value at the next moment through the motion model; and if the difference value between the predicted value and the measured value at the next moment is larger than a second preset threshold value, judging that the laser ranging is abnormal.
Optionally, the motion model is constructed by the following formula:
dlidar＝di+(ti+j-ti)×vi；
wherein d isiIs tiMeasured value of the laser range finder corresponding at the moment, di-kIs ti-kThe measured value of the laser range finder corresponding to the moment, i is a positive integer, viAs the movement speed of the movement model, dlidarFor laser rangefinders ti+jThe predicted value of the time.
It can be understood that, in the embodiment of the present application, a motion model may be constructed according to a real-time measurement value and a timestamp of a laser range finder on a straight path, and a distance measurement value at the next time may be predicted according to the motion model to obtain a predicted value. Since the moving platforms all move at a constant speed and the speed is relatively low (lower than 15cm/s), the laser measurement is fitted according to a constant speed model, as shown in fig. 3, t is knowni-kTemporal laser measurement di-k；tiTemporal laser measurement di(ii) a Motion speed v of fitting uniform motion modeli：
Predicting ti+jTemporal laser measurement dlidar：
dlidar＝di+(ti+j-ti)×vi；
Further, when the predicted value of the motion model is greatly different from the measured value of the current laser range finder, the current path has an obstacle to interfere with laser range finding, and the scene laser range finding abnormality is reported.
That is, the embodiment of the present application can compare the predicted values dlidarAnd a measured value di+jThe difference in (a).
δ_d＝abs(dlidar-di+j)；
Laser abnormal flag _ flag in straight path:
where thre _ d is the threshold for allowing laser measurement error.
That is, when the measured value exceeds the predicted value within a certain range, the laser measurement abnormality is detected, and the measurement abnormality state is reported to the background.
In order to further understand the method for detecting the laser ranging anomaly of the mobile platform according to the embodiment of the present application, a detailed description is provided below with respect to a specific embodiment.
As shown in fig. 4, the method for detecting laser ranging abnormality of the mobile platform includes the following steps:
s401, calculating a motion heading angle.
S402, judging whether the mobile platform and the IMU module turn to the same curve or not, if so, executing a step S403, otherwise, executing a step S406.
And S403, constructing a motion model according to the measured value and the time stamp of the laser range finder.
S404, comparing whether the difference value between the predicted value and the laser measured value is larger than a second preset threshold value, if so, executing the step S409, otherwise, executing the step S405.
And S405, conforming to the motion model.
S406, detecting the change of the moving heading angle.
S407, judging whether the mobile platform is switched to the next path, if so, executing the step S408, otherwise, executing the step S409.
S408, turning to the next straight path.
And S409, determining that the laser ranging is abnormal.
And S410, reporting the background exception.
And S411, ending.
Therefore, by adding an IMU module on the mobile platform, the scene of other paths is detected and misjudged by comparing the laser change on the straight path with the course angle change in the same time period; and detecting a laser abnormal distance measurement scene in the same path according to the motion model.
According to the method for detecting the laser ranging abnormity of the mobile platform, the moving course angle of the mobile platform can be collected, the fact that the mobile platform changes a straight path, namely, when the mobile platform turns is judged according to the measurement value of the laser range finder, the change value of the moving course angle is detected, and if the change value is smaller than or equal to a first preset threshold value, it is indicated that the inertial measurement unit does not detect the turning of the platform, the laser ranging abnormity is determined. Therefore, the problems that other paths are easy to misjudge or the position judgment error of the mobile platform is large in the related technology are solved, and the abnormal detection of laser ranging is realized.
Next, a laser ranging abnormality detection apparatus of a mobile platform according to an embodiment of the present application will be described with reference to the drawings.
Fig. 5 is a schematic block diagram of an apparatus for detecting an abnormality in laser range finding of a mobile platform according to an embodiment of the present disclosure, in which a laser range finder and an inertial measurement unit are disposed on the mobile platform, wherein an IMU module includes an accelerometer and a gyroscope, the accelerometer has high long-term accuracy, and the gyroscope has high short-term accuracy.
As shown in fig. 5, the apparatus 10 for detecting laser ranging abnormality of a mobile platform includes: the device comprises an acquisition module 100, a detection module 200 and a judgment module 300.
The obtaining module 100 is configured to obtain a motion heading angle of the mobile platform, which is collected by the IMU module;
the detection module 200 is used for detecting a change value of a motion course angle during the period of judging that the mobile platform drives into another straight path from one straight path according to the measurement value of the laser range finder; and
the first determination module 300 is configured to determine that there is an abnormality in laser ranging of the laser range finder when the variation value is less than or equal to a first preset threshold.
Optionally, in some embodiments, the above-mentioned laser ranging anomaly detection apparatus for a mobile platform further includes:
the prediction module is used for constructing a motion model according to the measured value and the time stamp of the laser range finder when the path goes straight so as to predict the predicted value at the next moment through the motion model;
and the second judgment module is used for judging that the laser ranging is abnormal if the difference value between the predicted value and the measured value at the next moment is greater than a second preset threshold value.
Optionally, the motion model is constructed by the following formula:
dlidar＝di+(ti+j-ti)×vi；
wherein d isiIs tiMeasured value of the laser range finder corresponding at the moment, di-kIs ti-kThe measured value of the laser range finder corresponding to the moment, i is a positive integer, viAs the movement speed of the movement model, dlidarAnd the predicted value of the laser range finder at the next moment is obtained.
Optionally, the determining that the mobile platform moves from one straight path to another straight path according to the measurement value of the laser range finder comprises: and correcting an encoder on the mobile platform by using the measured value, and judging whether the mobile platform drives into another straight path from one straight path or not based on the encoded value measured by the encoder.
Optionally, in some embodiments, before acquiring the motion heading angle of the mobile platform acquired by the IMU module, the acquiring module 100 further includes:
and the computing unit is used for carrying out zero drift calibration on the acceleration of the IMU module and the gyroscope so as to calculate the motion course angle by adopting second-order complementary filtering through the calibrated accelerometer and the calibrated gyroscope.
Optionally, the first preset threshold λ ═ pi/2- ω, where ω represents a rotation angle factor, in the range [0, pi/36 ].
It should be noted that the foregoing explanation of the embodiment of the method for detecting laser ranging anomaly of a mobile platform is also applicable to the device for detecting laser ranging anomaly of a mobile platform in this embodiment, and is not repeated herein.
According to the laser ranging abnormity detection device of the mobile platform, which is provided by the embodiment of the application, the movement course angle of the mobile platform can be collected, the change value of the movement course angle is detected when the mobile platform changes a straight path, namely turns, according to the measurement value of the laser range finder, and if the change value is smaller than or equal to a first preset threshold value, the inertia measurement unit does not detect the turning of the platform, and the laser ranging abnormity is determined. Therefore, the problems that other paths are easy to misjudge or the position judgment error of the mobile platform is large in the related technology are solved, and the abnormal detection of laser ranging is realized.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device may include:
a memory 1201, a processor 1202, and a computer program stored on the memory 1201 and executable on the processor 1202.
The processor 1202 implements the laser ranging anomaly detection method of the mobile platform provided in the above embodiments when executing the program.
Further, the electronic device further includes:
a communication interface 1203 for communication between the memory 1201 and the processor 1202.
A memory 1201 for storing computer programs executable on the processor 1202.
The memory 1201 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 1201, the processor 1202 and the communication interface 1203 are implemented independently, the communication interface 1203, the memory 1201 and the processor 1202 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 6, but this is not intended to represent only one bus or type of bus.
Optionally, in a specific implementation, if the memory 1201, the processor 1202, and the communication interface 1203 are integrated on a chip, the memory 1201, the processor 1202, and the communication interface 1203 may complete mutual communication through an internal interface.
The embodiment also provides a computer readable storage medium, on which a computer program is stored, wherein the program is executed by a processor to implement the above laser ranging anomaly detection method for a mobile platform.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A laser ranging anomaly detection method of a mobile platform is characterized in that a laser range finder and an inertia measurement unit are arranged on the mobile platform, and the method comprises the following steps:
acquiring a motion course angle of the mobile platform acquired by the inertial measurement unit;
detecting a change value of the motion course angle during the period of judging that the mobile platform drives into another straight path from a straight path according to the measurement value of the laser range finder; and
and if the variation value is smaller than or equal to a first preset threshold value, judging that the laser ranging of the laser range finder is abnormal.
2. The method of claim 1, further comprising:
constructing a motion model according to the measured value and the time stamp of the laser range finder during the straight-going path so as to predict the predicted value at the next moment through the motion model;
and if the difference value between the predicted value and the measured value at the next moment is larger than a second preset threshold value, judging that the laser ranging is abnormal.
3. The method of claim 2, wherein the motion model is constructed by the formula:
dlidar＝di+(ti+j-ti)×vi；
wherein d isiIs tiMeasured value of the laser range finder corresponding at the moment, di-kIs ti-kThe measured value of the laser range finder corresponding to the moment, i is a positive integer, viFor the movement speed of the movement model, dlidarFor said laser range finder ti+jThe predicted value of the time.
4. The method of claim 1, wherein determining from the measurements of the laser rangefinder that the mobile platform is traveling from one straight path to another straight path comprises: and correcting an encoder on the mobile platform by using the measured value, and judging whether the mobile platform drives from a straight path to another straight path or not based on the encoded value measured by the encoder.
5. The method of claim 1, further comprising, prior to obtaining the moving heading angle of the mobile platform acquired by the inertial measurement unit:
and carrying out zero drift calibration on the acceleration of the inertial measurement unit and the gyroscope, and calculating the motion course angle by adopting second-order complementary filtering through the calibrated accelerometer and the calibrated gyroscope.
6. The method according to claim 1, characterized in that said first preset threshold λ ═ pi/2- ω, where ω denotes a rotation angle factor, ranging from [0, pi/36 ].
7. The utility model provides a laser rangefinder anomaly detection device of moving platform which characterized in that, last laser rangefinder and the inertial measurement unit of being equipped with of moving platform, wherein, the device includes:
the acquisition module is used for acquiring the motion course angle of the mobile platform acquired by the inertial measurement unit;
the detection module is used for detecting the change value of the motion course angle during the period of judging that the mobile platform drives into another straight path from one straight path according to the measurement value of the laser range finder; and
and the first judging module is used for judging that the laser ranging of the laser range finder is abnormal when the change value is smaller than or equal to a first preset threshold value.
8. The apparatus of claim 7, further comprising:
the prediction module is used for constructing a motion model according to the measurement value and the time stamp of the laser range finder in the straight path so as to predict the prediction value of the next moment through the motion model;
and the second judgment module is used for judging that the laser ranging is abnormal when the difference value between the predicted value and the measured value at the next moment is larger than a second preset threshold value.
9. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of laser ranging anomaly detection of a mobile platform according to any of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored, the program being executable by a processor for implementing the method for laser ranging anomaly detection of a mobile platform according to any one of claims 1 to 6.
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