CN114449011B - 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
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- H—ELECTRICITY
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Abstract
The embodiment of the invention provides a data analysis and time sequence broadcasting method and a system of a multi-source fusion positioning system, which are used for analyzing, assembling and time sequence broadcasting data such as SLAM maps, high-precision maps and the like with different data formats so as to meet the requirements of the multi-source fusion positioning system on the time sequence and the efficiency of input data, and realize real-time accurate, efficient and reliable analysis and transmission of the SLAM map data, the high-precision maps and the like with different data formats; the ProtoBuf and LCM data protocol are used for time sequence processing, so that the data structure can be dynamically updated, the deployed system program is not influenced by the change of the requirement, the difficulty of data analysis is reduced, the LCM data transmission method has the characteristic of fast and real-time data transmission, the transmission efficiency of a protocol analysis system is improved, and the format conversion and time sequence cost of the data is 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 the multi-source data fusion positioning system, SLAM (Simultaneous Localization And Mapping, synchronous positioning and drawing) map data and high-precision map data in a specified range are required to be received in real time, and a conventional defensive inertial navigation combined system is assisted to meet the positioning requirement under a complex scene. The input data of the system comprises data such as GPS (Global Positioning System ), IMU (Inertial Measurement Unit, inertial measurement unit), wheel speed information, real-time SLAM map in binary format, high-precision map in LCM format and the like. In order to accurately and effectively transmit various data to the multi-source positioning algorithm module in real time, the data in different formats and types need to be analyzed and arranged in time sequence, and the data are broadcast and applied according to the arrangement time sequence. The existing SLAM map data is in a binary format, and is not compatible with the high-precision map data LCM format. The conversion to LCM format if directly following a high precision map is labor intensive and complex.
Disclosure of Invention
The embodiment of the invention provides a data analysis and time sequence broadcasting method and a system of a multi-source fusion positioning system, which are used for analyzing, assembling and time sequence broadcasting data such as SLAM maps, high-precision maps and the like with different data formats so as to meet the requirements of the multi-source fusion positioning system on the time sequence and the efficiency of input data.
In a first aspect, an embodiment of the present invention provides a data parsing and timing broadcasting method of a multisource fusion positioning system, including:
s1, acquiring synchronous positioning and mapping SLAM map data, and carrying out sequential dynamic analysis on the SLAM map data to obtain sequential binary array type data;
step S2, subscribing the data of each sensor from each sensor data channel based on LCM data protocol, and performing time sequence decoding according to the signal channel;
and S3, 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 stream through an LCM.
Preferably, in the step S1, the performing a serialized dynamic analysis on the SLAM map data specifically includes:
opening up a SLAM map buffer space, analyzing the SLAM map data according to a custom data structure based on ProtoBuf protocol, if analysis is successful and a true value is returned, storing binary data type data obtained after analysis into the SLAM map buffer space, otherwise, judging that analysis fails, and outputting SLAM map data analysis failure information.
Preferably, in the step S2, the method further includes obtaining high-precision map data in 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 information of points of interest in the high-precision map data.
Preferably, 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 IMU data of a current frame, extracting SLAM map data which is matched with the time of the IMU data of the current frame from a SLAM map buffer space, 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 a time sequence.
Preferably, the method further comprises:
and S4, the data stream formed by the IMU data, the high-precision map data, the GPS data, the wheel speed data and the SLAM map data is transmitted 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 parsing and timing broadcasting system of a multisource fusion positioning system, including:
the hyperspectral image acquisition module acquires hyperspectral images of each sample to be analyzed;
the spectrum processing module is used for dividing 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 carrying out sequential dynamic analysis on the SLAM map data to obtain sequential binary array type data;
the multichannel analysis module subscribes the data of each sensor from each sensor data channel based on LCM data protocol, and performs time sequence decoding according to the signal channel;
and the assembly 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 stream 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 capable of running on the processor, where the steps of the data parsing and timing broadcasting method of the multi-source fusion positioning system according to the embodiment of the first aspect of the present invention are implemented when the processor executes the program.
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, which when executed by a processor implements the steps of the data parsing and timing 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 SLAM map data, high-precision maps and other data with different data formats; the ProtoBuf and LCM data protocol are used for time sequence processing, so that the data structure can be dynamically updated, the deployed system program is not influenced by the change of the requirement, the difficulty of data analysis is reduced, the LCM data transmission method has the characteristic of fast and real-time data transmission, the transmission efficiency of a protocol analysis system is improved, and the format conversion and time sequence cost of the data is reduced.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a data parsing and timing broadcasting method of a multi-source fusion positioning system according to an embodiment of the invention;
fig. 2 is a specific flow chart of a data parsing and timing broadcasting method of a multi-source fusion positioning system according to an embodiment of the invention;
fig. 3 is a schematic diagram of a physical structure according to an embodiment of the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the embodiment of the present application, the term "and/or" is merely an association relationship describing the association object, which indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone.
The terms "first", "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 defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the terms "comprise" and "have," along with any variations thereof, are intended to cover non-exclusive inclusions. For example, a system, article, or apparatus that comprises a list of elements is not limited to only those elements or units listed but may alternatively include other elements not listed or inherent to such article, or apparatus. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases 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. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
In a multi-source data fusion positioning system, in order to accurately and effectively transmit various data to a multi-source positioning algorithm module in real time, data in different formats and types need to be analyzed and arranged in time sequence, and the data are broadcast and applied according to the arrangement time sequence. The existing SLAM map data is in a binary format, and is not compatible with the high-precision map data LCM format. The conversion to LCM format if directly following a high precision map is labor intensive and complex.
Therefore, the embodiment of the invention provides a data analysis and time sequence broadcasting method and a system of a multi-source fusion positioning system, which are characterized in that ProtoBuf analyzes SLAM map data and stores the SLAM map data into a SLAM map data cache space, meanwhile, LCM analyzes high-precision maps and related sensor data according to various signal channels, time sequence assembly is carried out on all data according to IMU data time and SLAM map data time, and result data is transmitted to a multi-source fusion positioning system algorithm module through LCM time sequence. The following description and description will be made with reference to various embodiments.
Fig. 1 is a schematic diagram of a data parsing and timing broadcasting method of a multi-source fusion positioning system according to an embodiment of the present invention, including:
s1, acquiring synchronous positioning and mapping SLAM map data, and carrying out sequential dynamic analysis on the SLAM map data to obtain sequential binary array type data;
step S2, subscribing the data of each sensor from each sensor data channel based on LCM data protocol, and performing time sequence decoding according to the signal channel;
and S3, 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 stream through an LCM.
In this embodiment, data such as SLAM map data and high-precision map data with different data formats are analyzed, assembled and time-sequence broadcast, so as to meet the requirements of the multi-source fusion positioning system on the time sequence and efficiency of input data. By carrying out time sequence processing on SLAM map data and data of each sensor, the data structure can be dynamically updated, deployed system programs are not influenced by change of requirements, the difficulty of data analysis is reduced, the LCM rapid real-time data transmission method has the characteristics of rapid real-time data transmission, the transmission efficiency of a protocol analysis system is improved, and the format conversion and time sequence cost of the data is reduced.
On the basis of the above embodiment, as a preferred implementation manner, as shown in fig. 2, in step S1, the serialized dynamic analysis is performed on the SLAM map data, which specifically includes:
opening up a SLAM map buffer space, analyzing the SLAM map data according to a custom data structure based on ProtoBuf protocol, if analysis is successful and a true value is returned, storing binary data type data obtained after analysis into the SLAM map buffer space, otherwise, judging that analysis fails, and outputting SLAM map data analysis failure information.
In the step S2, further obtaining high-precision map data in LCM format;
the data of each sensor comprises GPS data, IMU data and wheel speed data.
In this embodiment, the Protocal Buffers are abbreviated as ProtoBuf, which is a data description language. The data structure can be customized and code based on various languages can be generated through ProtoBuf. PProtoBuf is widely used for various structured information storage and interaction. LCM (Lightweight Communications and Marshalling) is a set of libraries and tools for messaging and data marshalling, based on UDP transmission, with faster transmission speeds, applicable to high bandwidth and low latency real-time systems.
Analyzing SLAM map data through ProtoBuf, storing the SLAM map data into an SLAM map cache space, analyzing high-precision map data and related sensor data according to each signal channel through LCM to obtain GPS data, IMU data and wheel speed data, processing the high-precision map, and extracting POI information of points of interest in the high-precision map; the ProtoBuf and LCM data protocol perform time sequence processing on corresponding data, can dynamically update a data structure, does not influence deployed system programs due to change of requirements, reduces difficulty of data analysis, has the characteristic of rapid real-time data transmission of LCM, improves transmission efficiency of a protocol analysis system, and reduces format conversion and time sequence cost of data.
On the basis of the foregoing embodiment, as a preferred implementation manner, in 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 IMU data of a current frame, extracting SLAM map data which is matched with the time of the IMU data of the current frame from a SLAM map buffer space, 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 a time sequence.
On the basis of the above embodiment, as a preferred implementation manner, the method further includes:
and S4, the data stream formed by the IMU data, the high-precision map data, the GPS data, the wheel speed data and the SLAM map data is transmitted 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, which is based on the data analysis and time sequence broadcasting method of the multi-source fusion positioning system in the embodiments, and comprises the following steps:
the hyperspectral image acquisition module acquires hyperspectral images of each sample to be analyzed;
the spectrum processing module is used for dividing 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 carrying out sequential dynamic analysis on the SLAM map data to obtain sequential binary array type data;
the multichannel analysis module subscribes the data of each sensor from each sensor data channel based on LCM data protocol, and performs time sequence decoding according to the signal channel;
and the assembly 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 stream through the LCM.
Based on the same conception, the embodiment of the present invention further provides a physical structure schematic diagram, as shown in fig. 3, where the server may include: processor 810, communication interface (Communications Interface) 820, memory 830, and communication bus 840, wherein processor 810, communication interface 820, memory 830 accomplish communication with each other through communication bus 840. The processor 810 may invoke logic instructions in the memory 830 to perform the steps of the data parsing and timing distribution method of the multi-source fusion positioning system as described in the embodiments above. Examples include:
s1, acquiring synchronous positioning and mapping SLAM map data, and carrying out sequential dynamic analysis on the SLAM map data to obtain sequential binary array type data;
step S2, subscribing the data of each sensor from each sensor data channel based on LCM data protocol, and performing time sequence decoding according to the signal channel;
and S3, 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 stream through an LCM.
Further, the logic instructions in the memory 830 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Based on the same conception, the embodiments of the present invention also provide a non-transitory computer readable storage medium storing a computer program, where the computer program includes at least one piece of code, and the at least one piece of code may be executed by a master control device to control the master 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 embodiments above. Examples include:
s1, acquiring synchronous positioning and mapping SLAM map data, and carrying out sequential dynamic analysis on the SLAM map data to obtain sequential binary array type data;
step S2, subscribing the data of each sensor from each sensor data channel based on LCM data protocol, and performing time sequence decoding according to the signal channel;
and S3, 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 stream through an LCM.
Based on the same technical concept, the embodiments of the present application also provide a computer program, which is used to implement the above-mentioned method embodiments when the computer program is executed by the master control device.
The program may be stored in whole or in part on a storage medium that is packaged with the processor, or in part or in whole on a memory that is not packaged with the processor.
Based on the same technical concept, the embodiment of the application also provides a processor, which is used for realizing the embodiment of the method. The processor may be a chip.
In summary, according to the data analysis and time sequence broadcasting method and system for the multi-source fusion positioning system provided by the embodiment of the invention, analysis, assembly and time sequence broadcasting are performed on SLAM map data, high-precision map data and other data in different data formats, so that the requirement of the multi-source fusion positioning system on the time sequence and efficiency of input data is met, and real-time accurate, efficient and reliable analysis and transmission of SLAM map data, high-precision map data and other data in different data formats are realized; the ProtoBuf and LCM data protocol are used for time sequence processing, so that the data structure can be dynamically updated, the deployed system program is not influenced by the change of the requirement, the difficulty of data analysis is reduced, the LCM data transmission method has the characteristic of fast and real-time data transmission, the transmission efficiency of a protocol analysis system is improved, and the format conversion and time sequence cost of the data is reduced.
The embodiments of the present invention may be arbitrarily combined to achieve different technical effects.
In the above embodiments, it may be implemented in whole or in part 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 processes or functions described in the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, 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 a wired (e.g., coaxial cable, fiber optic, digital subscriber line), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk), etc.
Those of ordinary skill in the art will appreciate that implementing all or part of the above-described method embodiments may be accomplished by a computer program to instruct related hardware, the program may be stored in a computer readable storage medium, and the program may include the above-described method embodiments when executed. And the aforementioned storage medium includes: ROM or random access memory RAM, magnetic or optical disk, etc.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. The data analysis and time sequence broadcasting method of the multisource fusion positioning system is characterized by comprising the following steps of:
step S1, acquiring synchronous positioning and mapping SLAM map data, and carrying out sequential dynamic analysis on the SLAM map data to obtain sequential binary data type data; opening up a SLAM map cache space, analyzing the SLAM map data according to a custom data structure based on a ProtoBuf protocol, storing binary data type data obtained after analysis into the SLAM map cache space if analysis is successful and a true value is returned, otherwise, judging that analysis fails, and outputting SLAM map data analysis failure information;
step S2, obtaining high-precision map data in LCM format; subscribing the data of each sensor from each sensor data channel based on LCM data protocol, and performing time sequence decoding according to the signal channel; the data of each sensor comprises GPS data, IMU data and wheel speed data;
step S3, 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 stream through LCM;
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 IMU data of a current frame, extracting SLAM map data which is matched with the time of the IMU data of the current frame from a SLAM map buffer space, 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 a time sequence.
2. The method for data analysis and time sequence broadcasting of the multi-source fusion positioning system according to claim 1, wherein the step S2 further comprises:
analyzing the high-precision map data, and extracting POI information of points of interest in the high-precision map data.
3. The method for data parsing and timing broadcasting of a multi-source fusion positioning system according to claim 1, further comprising:
and S4, the data stream formed by the IMU data, the high-precision map data, the GPS data, the wheel speed data and the SLAM map data is transmitted 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.
4. The utility model provides a multisource fuses data analysis and time sequence broadcast system of positioning system which characterized in that includes:
the SLAM analysis module is used for acquiring synchronous positioning and drawing SLAM map data, and carrying out sequential dynamic analysis on the SLAM map data to obtain sequential binary data type data; opening up a SLAM map cache space, analyzing the SLAM map data according to a custom data structure based on a ProtoBuf protocol, storing binary data type data obtained after analysis into the SLAM map cache space if analysis is successful and a true value is returned, otherwise, judging that analysis fails, and outputting SLAM map data analysis failure information;
the multichannel analysis module is used for acquiring high-precision map data in LCM format; subscribing the data of each sensor from each sensor data channel based on LCM data protocol, and performing time sequence decoding according to the signal channel; the data of each sensor comprises GPS data, IMU data and wheel speed data;
the assembly 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 stream through LCM;
assembling the binary data type data and the data of each sensor into a data stream according to a time sequence, wherein the data stream specifically comprises the following steps:
selecting SLAM map data of a frame closest to the time of IMU data of a current frame, extracting SLAM map data which is matched with the time of the IMU data of the current frame from a SLAM map buffer space, 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 a time sequence.
5. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor performs the steps of the data parsing and timing distribution method of the multi-source fusion location system of any one of claims 1 to 3 when the program is executed by the processor.
6. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor performs the steps of the data parsing and timing broadcasting method of a multi-source fusion positioning system according to any of claims 1 to 3.
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