CN114449011A - Data analysis and time sequence broadcasting method and system of multi-source fusion positioning system - Google Patents
Data analysis and time sequence broadcasting method and system of multi-source fusion positioning system Download PDFInfo
- Publication number
- CN114449011A CN114449011A CN202111574879.7A CN202111574879A CN114449011A CN 114449011 A CN114449011 A CN 114449011A CN 202111574879 A CN202111574879 A CN 202111574879A CN 114449011 A CN114449011 A CN 114449011A
- Authority
- CN
- China
- Prior art keywords
- data
- analysis
- positioning system
- time sequence
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/06—Notations for structuring of protocol data, e.g. abstract syntax notation one [ASN.1]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/22—Parsing or analysis of headers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Computer Security & Cryptography (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the invention provides a data analysis and time sequence broadcasting method and system of a multi-source fusion positioning system, which are used for analyzing, assembling and broadcasting data such as SLAM maps and high-precision maps in different data formats in a time sequence manner so as to meet the requirements of the multi-source fusion positioning system on the time sequence and efficiency of input data, and realizing real-time accurate, efficient and reliable analysis and transmission of data such as SLAM map data and high-precision maps in different data formats; the ProtoBuf and LCM data protocol are used for time sequence processing, a data structure can be dynamically updated, deployed system programs cannot be influenced due to change of requirements, the difficulty of data analysis is reduced, the characteristics of LCM rapid real-time data transmission are achieved, the transmission efficiency of a protocol analysis system is improved, and format conversion and time sequence cost of data are reduced.
Description
Technical Field
The embodiment of the invention relates to the technical field of computers, in particular to a data analysis and time sequence broadcasting method and system of a multi-source fusion positioning system.
Background
In a multi-source data fusion positioning system, SLAM (synchronous positioning And Mapping) map data And high-precision map data in a specified range need to be received in real time, a conventional satellite inertial navigation combination system is assisted, And the positioning requirement under a complex scene is met. Input data of the System includes data such as a Global Positioning System (GPS), an Inertial Measurement Unit (IMU), wheel speed information, a real-time SLAM map in a binary format, and a high-precision map in an LCM format. In order to accurately and effectively transmit various types of data to the multi-source positioning algorithm module in real time, the data with different formats and types need to be analyzed and arranged in a time sequence, and data broadcasting and application are carried out according to the arrangement time sequence. The existing SLAM map data is in a binary format and is not compatible with the LCM format of the high-precision map data. The conversion to LCM format directly from high precision maps is labor intensive and complex.
Disclosure of Invention
The embodiment of the invention provides a data analysis and time sequence broadcasting method and system of a multi-source fusion positioning system, which are used for analyzing, assembling and time sequence broadcasting data such as SLAM maps and high-precision maps with different data formats so as to meet the requirements of the multi-source fusion positioning system on the time sequence and efficiency of input data.
In a first aspect, an embodiment of the present invention provides a data analysis and time-sequence broadcasting method for a multi-source fusion positioning system, including:
step S1, acquiring synchronous positioning and drawing SLAM map data, and performing serialized dynamic analysis on the SLAM map data to obtain serialized binary array type data;
step S2, subscribing the data of each sensor from each sensor data channel based on LCM data protocol, and carrying out time-sequence decoding according to signal channel;
and step S3, the binary data type data and the data of each sensor are assembled into a data stream according to the time sequence and are broadcasted by LCM.
Preferably, in step S1, the performing serialized dynamic analysis on the SLAM map data specifically includes:
and opening up a SLAM map cache space, analyzing the SLAM map data according to a custom data structure based on a ProtoBuf protocol, if the analysis is successful and a true value is returned, storing binary data type data obtained after the analysis into the SLAM map cache space, otherwise, judging that the analysis is failed, and outputting a SLAM map data analysis failure message.
Preferably, the step S2 further includes acquiring high-precision map data in an LCM format;
the data of each sensor comprises GPS data, IMU data and wheel speed data.
Preferably, the step S2 further includes:
analyzing the high-precision map data, and extracting POI (point of interest) information in the high-precision map data.
Preferably, in step S3, the assembling the binary data type data and the data of each sensor into a data stream according to a time sequence includes:
selecting SLAM map data of a frame closest to the time of the current frame of IMU data, extracting the SLAM map data matched with the time of the current frame of IMU data from the cache space of the SLAM map, and assembling the IMU data, the high-precision map data, the GPS data, the wheel speed data and the SLAM map data into a data stream according to the time sequence.
Preferably, the method further comprises the following steps:
and step S4, transmitting a data stream formed by assembling IMU data, high-precision map data, GPS data, wheel speed data and SLAM map data to a multi-source fusion positioning system through LCM time sequence so that the multi-source fusion positioning system can complete positioning according to the received LCM data.
In a second aspect, an embodiment of the present invention provides a data analysis and time sequence broadcasting system for a multi-source fusion positioning system, including:
the hyperspectral image acquisition module is used for acquiring a hyperspectral image of each sample to be analyzed;
the spectrum processing module is used for segmenting the hyperspectral image to obtain effective pixels of each sample to be analyzed;
the SLAM analysis module is used for acquiring synchronous positioning and drawing SLAM map data and performing serialized dynamic analysis on the SLAM map data to obtain serialized binary array type data;
the multi-channel analysis module subscribes data of each sensor from each sensor data channel based on an LCM data protocol and carries out time-sequence decoding according to the signal channel;
and the assembling and broadcasting module is used for assembling the binary data type data and the data of each sensor into a data stream according to a time sequence and broadcasting the data through the LCM.
In a third aspect, an embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the steps of the data parsing and time-sequence broadcasting method of the multi-source fusion positioning system according to the embodiment of the first aspect of the present invention.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the data parsing and time-sequence broadcasting method of the multi-source fusion positioning system according to the embodiment of the first aspect of the present invention.
The data analysis and time sequence broadcasting method and system of the multi-source fusion positioning system provided by the embodiment of the invention realize real-time accurate, efficient and reliable analysis and transmission of data such as SLAM map data and high-precision maps with different data formats; the ProtoBuf and LCM data protocol are used for time sequence processing, a data structure can be dynamically updated, deployed system programs cannot be influenced due to change of requirements, the difficulty of data analysis is reduced, the characteristics of LCM rapid real-time data transmission are achieved, the transmission efficiency of a protocol analysis system is improved, and format conversion and time sequence cost of data are reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a block diagram of a data parsing and time-series broadcasting method of a multi-source fusion positioning system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a specific flow of a data analysis and time-sequence broadcasting method of a multi-source fusion positioning system according to an embodiment of the present invention;
fig. 3 is a schematic physical structure diagram according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the embodiment of the present application, the term "and/or" is only one kind of association relationship describing an associated object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone.
The terms "first" and "second" in the embodiments of the present application 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, the terms "comprise" and "have", as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a system, product or apparatus that comprises a list of elements or components is not limited to only those elements or components but may alternatively include other elements or components not expressly listed or inherent to such product or apparatus. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
In the multi-source data fusion positioning system, in order to accurately and effectively transmit various data to the multi-source positioning algorithm module in real time, data of different formats and types need to be analyzed and arranged in a time sequence, and data broadcasting and application are carried out according to the arranged time sequence. The existing SLAM map data is in a binary format and is not compatible with the LCM format of the high-precision map data. The conversion to LCM format directly from high precision maps is labor intensive and complex.
Therefore, the embodiment of the invention provides a data analysis and time sequence broadcasting method and system of a multi-source fusion positioning system. The following description and description will proceed with reference being made to various embodiments.
Fig. 1 is a block diagram illustrating a data parsing and time-sequence broadcasting method of a multi-source fusion positioning system according to an embodiment of the present invention, including:
step S1, acquiring synchronous positioning and drawing SLAM map data, and performing serialized dynamic analysis on the SLAM map data to obtain serialized binary array type data;
step S2, subscribing the data of each sensor from each sensor data channel based on LCM data protocol, and carrying out time-sequence decoding according to signal channel;
and step S3, the binary data type data and the data of each sensor are assembled into a data stream according to the time sequence and are broadcasted by LCM.
In the embodiment, data such as SLAM map data and high-precision maps in different data formats are analyzed, assembled and time sequence broadcast, so that the requirements of the multisource fusion positioning system on the time sequence and efficiency of input data are met. By carrying out time sequence processing on the SLAM map data and the data of each sensor, the data structure can be dynamically updated, deployed system programs cannot be influenced due to changes of requirements, the difficulty of data analysis is reduced, the characteristics of LCM (liquid crystal module) rapid real-time data transmission are achieved, the transmission efficiency of a protocol analysis system is improved, and format conversion and time sequence cost of the data are reduced.
On the basis of the foregoing embodiment, as a preferred implementation manner, as shown in fig. 2, in step S1, the performing a serialized dynamic analysis on the SLAM map data specifically includes:
and opening up a SLAM map cache space, analyzing the SLAM map data according to a custom data structure based on a ProtoBuf protocol, if the analysis is successful and a true value is returned, storing binary data type data obtained after the analysis into the SLAM map cache space, otherwise, judging that the analysis is failed, and outputting a SLAM map data analysis failure message.
In step S2, obtaining high-precision map data in an LCM format;
the data of each sensor comprises GPS data, IMU data and wheel speed data.
In this embodiment, the protocol Buffers are abbreviated as protocol buffer, which is a data description language. The data structure can be customized through the ProtoBuf, and codes based on various languages can be generated. PProtoBuf is widely used for various structured information storage and interaction. Lcm (lightweight Communications and marshalling) is a set of libraries and tools for message passing and data grouping, which is based on UDP transmission, has a fast transmission speed, and can be applied to real-time systems with high bandwidth and low latency.
The method comprises the steps that SLAM map data are analyzed through ProtoBuf and then stored in an SLAM map cache space, meanwhile, high-precision map data and relevant sensor data are analyzed through LCM according to each signal channel, GPS data, IMU data and wheel speed data are obtained, meanwhile, high-precision map issuing is processed, and POI information of interest points in the high-precision map data is extracted; the ProtoBuf and LCM data protocols carry out time sequence processing on corresponding data, a data structure can be dynamically updated, deployed system programs cannot be influenced due to changes of requirements, the difficulty of data analysis is reduced, the characteristics of LCM rapid real-time data transmission are achieved, the transmission efficiency of a protocol analysis system is improved, and format conversion and time sequence cost of the data are reduced.
On the basis of the foregoing embodiment, as a preferred implementation manner, in step S3, the assembling the binary data type data and the data of each sensor into a data stream according to a time sequence specifically includes:
selecting SLAM map data of a frame closest to the time of the current frame of IMU data, extracting the SLAM map data matched with the time of the current frame of IMU data from the cache space of the SLAM map, and assembling the IMU data, the high-precision map data, the GPS data, the wheel speed data and the SLAM map data into a data stream according to the time sequence.
On the basis of the above embodiment, as a preferred implementation, the method further includes:
and step S4, transmitting a data stream formed by assembling IMU data, high-precision map data, GPS data, wheel speed data and SLAM map data to a multi-source fusion positioning system through LCM time sequence so that the multi-source fusion positioning system can complete positioning according to the received LCM data.
The embodiment of the invention also provides a data analysis and time sequence broadcasting system of the multi-source fusion positioning system, and the data analysis and time sequence broadcasting method based on the multi-source fusion positioning system in the embodiments comprises the following steps:
the hyperspectral image acquisition module is used for acquiring a hyperspectral image of each sample to be analyzed;
the spectrum processing module is used for segmenting the hyperspectral image to obtain effective pixels of each sample to be analyzed;
the SLAM analysis module is used for acquiring synchronous positioning and drawing SLAM map data and performing serialized dynamic analysis on the SLAM map data to obtain serialized binary array type data;
the multi-channel analysis module subscribes data of each sensor from each sensor data channel based on an LCM data protocol and carries out time-sequence decoding according to the signal channel;
and the assembling and broadcasting module is used for assembling the binary data type data and the data of each sensor into a data stream according to a time sequence and broadcasting the data through the LCM.
Based on the same concept, an embodiment of the present invention further provides an entity structure schematic diagram, as shown in fig. 3, the server may include: a processor (processor)810, a communication Interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication Interface 820 and the memory 830 communicate with each other via the communication bus 840. The processor 810 may call logic instructions in the memory 830 to perform the steps of the data parsing and timing dissemination method of the multi-source fusion positioning system as described in the above embodiments. Examples include:
step S1, acquiring synchronous positioning and drawing SLAM map data, and performing serialized dynamic analysis on the SLAM map data to obtain serialized binary array type data;
step S2, subscribing the data of each sensor from each sensor data channel based on LCM data protocol, and carrying out time-sequence decoding according to signal channel;
and step S3, the binary data type data and the data of each sensor are assembled into a data stream according to time sequence and are broadcasted through LCM.
In addition, the logic instructions in the memory 830 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Based on the same conception, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, where the computer-readable storage medium stores a computer program, where the computer program includes at least one code, and the at least one code is executable by a main control device to control the main control device to implement the steps of the data parsing and time-sequence broadcasting method of the multi-source fusion positioning system according to the foregoing embodiments. Examples include:
step S1, acquiring synchronous positioning and drawing SLAM map data, and performing serialized dynamic analysis on the SLAM map data to obtain serialized binary array type data;
step S2, subscribing the data of each sensor from each sensor data channel based on LCM data protocol, and carrying out time-sequence decoding according to signal channel;
and step S3, the binary data type data and the data of each sensor are assembled into a data stream according to time sequence and are broadcasted through LCM.
Based on the same technical concept, the embodiment of the present application further provides a computer program, which is used to implement the above method embodiment when the computer program is executed by the main control device.
The program may be stored in whole or in part on a storage medium packaged with the processor, or in part or in whole on a memory not packaged with the processor.
Based on the same technical concept, the embodiment of the present application further provides a processor, and the processor is configured to implement the above method embodiment. The processor may be a chip.
In summary, the data analysis and timing sequence broadcasting method and system for the multi-source fusion positioning system provided by the embodiment of the invention analyze, assemble and time sequence broadcast the data such as the SLAM map and the high-precision map with different data formats, so as to meet the requirements of the multi-source fusion positioning system on the timing sequence and efficiency of the input data, and realize real-time, accurate, efficient and reliable analysis and transmission of the data such as the SLAM map data and the high-precision map with different data formats; the ProtoBuf and LCM data protocols are used for time-series processing, a data structure can be dynamically updated, deployed system programs cannot be influenced due to change of requirements, the difficulty of data analysis is reduced, the characteristics of rapid real-time data transmission of the LCM are achieved, the transmission efficiency of a protocol analysis system is improved, and format conversion and time-series cost of data are reduced.
The embodiments of the present invention can be arbitrarily combined to achieve different technical effects.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the procedures or functions described in accordance with the present application are generated, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, digital subscriber line) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid state disk), among others.
Those skilled in the art can understand that all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer readable storage medium and can include the processes of the method embodiments described above when executed. And the aforementioned storage medium includes: various media capable of storing program codes, such as ROM or RAM, magnetic or optical disks, etc.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A data analysis and time sequence broadcasting method of a multi-source fusion positioning system is characterized by comprising the following steps:
step S1, acquiring synchronous positioning and drawing SLAM map data, and performing serialized dynamic analysis on the SLAM map data to obtain serialized binary array type data;
step S2, subscribing the data of each sensor from each sensor data channel based on LCM data protocol, and carrying out time-sequence decoding according to signal channel;
and step S3, the binary data type data and the data of each sensor are assembled into a data stream according to the time sequence and are broadcasted by LCM.
2. The data analysis and time-series broadcasting method of the multi-source fusion positioning system according to claim 1, wherein in the step S1, the sequential dynamic analysis is performed on the SLAM map data, which specifically includes:
and opening up a SLAM map cache space, analyzing the SLAM map data according to a custom data structure based on a ProtoBuf protocol, if the analysis is successful and a true value is returned, storing binary data type data obtained after the analysis into the SLAM map cache space, otherwise, judging that the analysis is failed, and outputting a SLAM map data analysis failure message.
3. The method for analyzing data and broadcasting time sequence of the multi-source fusion positioning system according to claim 2, wherein the step S2 further includes obtaining high-precision map data in LCM format;
the data of each sensor comprises GPS data, IMU data and wheel speed data.
4. The method for data parsing and time-series broadcasting of a multi-source fusion positioning system according to claim 3, wherein the step S2 further includes:
analyzing the high-precision map data, and extracting POI (point of interest) information in the high-precision map data.
5. The method for analyzing data and broadcasting in time series of the multi-source fusion positioning system according to claim 3, wherein in the step S3, the binary data type data and the data of each sensor are assembled into a data stream according to a time sequence, which specifically includes:
selecting SLAM map data of a frame closest to the time of the current frame of IMU data, extracting the SLAM map data matched with the time of the current frame of IMU data from the cache space of the SLAM map, and assembling the IMU data, the high-precision map data, the GPS data, the wheel speed data and the SLAM map data into a data stream according to the time sequence.
6. The method for data parsing and time-series broadcasting of the multi-source fusion positioning system according to claim 5, further comprising:
and step S4, transmitting a data stream formed by assembling IMU data, high-precision map data, GPS data, wheel speed data and SLAM map data to a multi-source fusion positioning system through LCM time sequence so that the multi-source fusion positioning system can complete positioning according to the received LCM data.
7. A data analysis and time sequence broadcasting system of a multi-source fusion positioning system is characterized by comprising:
the SLAM analysis module is used for acquiring synchronous positioning and drawing SLAM map data and performing serialized dynamic analysis on the SLAM map data to obtain serialized binary array type data;
the multi-channel analysis module subscribes data of each sensor from each sensor data channel based on an LCM data protocol and carries out time-sequence decoding according to the signal channel;
and the assembling and broadcasting module is used for assembling the binary data type data and the data of each sensor into a data stream according to a time sequence and broadcasting the data through the LCM.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the steps of the data parsing and time-series broadcasting method of the multi-source fusion positioning system according to any one of claims 1 to 6.
9. A non-transitory computer readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the data parsing and timing distribution method of the multi-source fusion positioning system according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111574879.7A CN114449011B (en) | 2021-12-21 | 2021-12-21 | Data analysis and time sequence broadcasting method and system of multi-source fusion positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111574879.7A CN114449011B (en) | 2021-12-21 | 2021-12-21 | Data analysis and time sequence broadcasting method and system of multi-source fusion positioning system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114449011A true CN114449011A (en) | 2022-05-06 |
| CN114449011B CN114449011B (en) | 2023-06-02 |
Family
ID=81362933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111574879.7A Active CN114449011B (en) | 2021-12-21 | 2021-12-21 | Data analysis and time sequence broadcasting method and system of multi-source fusion positioning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114449011B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019018315A1 (en) * | 2017-07-17 | 2019-01-24 | Kaarta, Inc. | Aligning measured signal data with slam localization data and uses thereof |
| CN110118549A (en) * | 2018-02-06 | 2019-08-13 | 刘禹岐 | A kind of Multi-source Information Fusion localization method and device |
| US20200004266A1 (en) * | 2019-08-01 | 2020-01-02 | Lg Electronics Inc. | Method of performing cloud slam in real time, and robot and cloud server for implementing the same |
| WO2020159397A1 (en) * | 2019-01-30 | 2020-08-06 | Siemens Aktiengesellschaft | Method and computerized device for processing numeric time series data |
| CN112231343A (en) * | 2020-10-16 | 2021-01-15 | 韶关市华思迅飞信息科技有限公司 | Cloud computing intelligent safety system based on time sequence |
| CN112683263A (en) * | 2020-12-12 | 2021-04-20 | 西北工业大学 | UWB/IMU/ODOM multi-sensor data fusion mobile robot positioning method based on improved model |
-
2021
- 2021-12-21 CN CN202111574879.7A patent/CN114449011B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019018315A1 (en) * | 2017-07-17 | 2019-01-24 | Kaarta, Inc. | Aligning measured signal data with slam localization data and uses thereof |
| CN110118549A (en) * | 2018-02-06 | 2019-08-13 | 刘禹岐 | A kind of Multi-source Information Fusion localization method and device |
| WO2020159397A1 (en) * | 2019-01-30 | 2020-08-06 | Siemens Aktiengesellschaft | Method and computerized device for processing numeric time series data |
| US20200004266A1 (en) * | 2019-08-01 | 2020-01-02 | Lg Electronics Inc. | Method of performing cloud slam in real time, and robot and cloud server for implementing the same |
| CN112231343A (en) * | 2020-10-16 | 2021-01-15 | 韶关市华思迅飞信息科技有限公司 | Cloud computing intelligent safety system based on time sequence |
| CN112683263A (en) * | 2020-12-12 | 2021-04-20 | 西北工业大学 | UWB/IMU/ODOM multi-sensor data fusion mobile robot positioning method based on improved model |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114449011B (en) | 2023-06-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110213614B (en) | Method and device for extracting key frame from video file | |
| CN111950555A (en) | Text recognition method and device, readable medium and electronic equipment | |
| CN111586473A (en) | Video clipping method, device, equipment and storage medium | |
| CN115391422B (en) | Vehicle perception information generation method, device, equipment, medium and program product | |
| CN114894205B (en) | Three-dimensional lane line information generation method, device, equipment and computer readable medium | |
| CN113269168B (en) | Obstacle data processing method and device, electronic equipment and computer readable medium | |
| CN114449011A (en) | Data analysis and time sequence broadcasting method and system of multi-source fusion positioning system | |
| CN112783827A (en) | Multi-sensor data storage method and device | |
| CN113297453A (en) | Network request response method and device, electronic equipment and storage medium | |
| CN116860286A (en) | Page dynamic update method, device, electronic equipment and computer readable medium | |
| CN115622954B (en) | Data transmission method, device, electronic equipment and storage medium | |
| CN110598049A (en) | Method, apparatus, electronic device and computer readable medium for retrieving video | |
| CN113780247B (en) | Traffic light detection method and device, electronic equipment and computer readable medium | |
| CN114445812A (en) | Character recognition method, device, equipment and medium | |
| CN113222050A (en) | Image classification method and device, readable medium and electronic equipment | |
| CN113590986A (en) | Page link configuration method and device, electronic equipment and computer readable medium | |
| CN113568997A (en) | Point cloud map updating method and device, electronic equipment and computer readable medium | |
| CN108259931B (en) | Video file playing method and device | |
| CN112417276A (en) | Paging data acquisition method and device, electronic equipment and computer readable storage medium | |
| CN110991312A (en) | Method, apparatus, electronic device, and medium for generating detection information | |
| CN112713956B (en) | Frequency selection method, device, equipment and storage medium of synchronous Ethernet | |
| CN111738311A (en) | Multitask-oriented feature extraction method and device and electronic equipment | |
| CN112311477A (en) | Method, device and system for transmitting data | |
| CN111694875A (en) | Method and apparatus for outputting information | |
| CN112668194B (en) | Automatic driving scene library information display method, device and equipment based on page |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |