CN115200608A - Method for calibrating installation error of water laser radar and inertial navigation - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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Abstract
The invention discloses a method for calibrating installation errors of a water laser radar and an inertial navigation system, which comprises the following steps: (1) Collecting laser radar point cloud data of a relative static target A and position posture data of inertial navigation equipment at N different collecting positions; respectively recording the laser radar point cloud data of the relative static target A acquired at the kth acquisition position and the position and attitude data of the inertial navigation equipment as C k And I k (ii) a (2) According to C k And I k Obtaining the position coordinates of the relative static target A in the laser radar coordinate system
And the position coordinates of the k-th acquisition position in the navigation coordinate system
(3) According to
And
and obtaining the installation error E of the laser radar and the inertial navigation equipment based on a global search algorithm. According to the invention, by sampling a simple scene and applying a search algorithm and a statistical method, the calibration of the installation error of the laser radar and the inertial navigation is realized, the adaptability of the calibration scene to the environment is improved, and the calibration difficulty is reduced.
Description
Technical Field
The invention relates to a method for calibrating installation errors of a water laser radar and inertial navigation, and belongs to the field of unmanned ship intelligence and ocean intelligence equipment.
Background
At present, unmanned intelligent equipment is developed vigorously, and the development thereof cannot be separated from the capacity improvement of detection equipment. However, for the improvement of the accuracy of the detection position, besides the adoption of the laser radar with the measurement accuracy superior to 1 cm, the calibration method of the laser radar and the inertial navigation equipment also has an important role. The existing laser radar and inertial navigation installation error calibration is a mature technology in the field of unmanned vehicles, and a vehicle-mounted computer collects data of a surrounding static environment by controlling the vehicle to move according to a specific track. The method for calibrating the personnel point cloud data matching is used for calibration, and the method not only needs a large amount of calculation power of a computer, but also can not be suitable for the condition that the number of absolute still targets on water is small because the absolute still targets are basically all in the environment.
Disclosure of Invention
The invention aims to overcome the defects and provides a water laser radar and inertial navigation installation errorThe calibration method comprises the following steps: (1) Collecting laser radar point cloud data of a relative static target A and position posture data of inertial navigation equipment at N different collecting positions; respectively recording laser radar point cloud data of a relative static target A acquired at the kth acquisition position and position attitude data of inertial navigation equipment as C k And I k ，
Represents an integer; (2) Laser radar point cloud data C of relative static target A acquired according to kth acquisition position k And position attitude data I of inertial navigation device k Obtaining the position coordinates of the relative static target A in the laser radar coordinate system
And the position coordinates of the k-th acquisition position in the navigation coordinate system
Wherein lidar represents a laser radar coordinate system, and navi represents a navigation coordinate system; (3) Obtained according to the step (2)
And
and obtaining the installation error E of the laser radar and the inertial navigation equipment based on a global search algorithm. The method realizes the calibration of the installation error of the laser radar and the inertial navigation by sampling a simple scene and applying a search algorithm and a statistical method, improves the adaptability of the calibration scene to the environment and reduces the calibration difficulty.
In order to achieve the above purpose, the invention provides the following technical scheme:
a method for calibrating installation errors of a water laser radar and an inertial navigation system comprises the following steps:
(1) Collecting laser radar point cloud data of a relative static target A and position posture data of inertial navigation equipment at N different collecting positions; respectively recording laser radar point cloud data of a relative static target A acquired at the kth acquisition position and position attitude data of inertial navigation equipment as C k And I k ，
Represents an integer;
(2) Collecting laser radar point cloud data C of relative static target A according to kth collecting position k And position attitude data I of inertial navigation device k Obtaining the position coordinates of the relative static target A in the laser radar coordinate system
And the position coordinates of the k-th acquisition position in the navigation coordinate system
Wherein lidar represents a laser radar coordinate system, and navi represents a navigation coordinate system;
(3) Obtained according to the step (2)
And
and obtaining the installation error E of the laser radar and the inertial navigation equipment based on a global search algorithm.
Further, in the step (1), the laser radar point cloud data of the relative static target A
Wherein
The coordinate value of each component of the ith point of the laser radar point cloud relative to the static target A in a laser radar coordinate system at the kth acquisition position, M k The point cloud total number of the laser radar at the kth acquisition position;
position and attitude data I of inertial navigation equipment k ＝(lat k ,lng k ,θ k ,ψ k ,φ k ) Wherein, lat k 、lng k 、θ k 、ψ k 、φ k Respectively the latitude, longitude, pitch angle, course angle and roll angle of the kth acquisition position.
Further, in the step (1), the total number N of the acquisition positions is not less than 20, and the relative static object a is located in an area surrounded by the 1 st to N-th acquisition positions.
Further, the specific method of the step (2) is as follows:
(2.1) using the longitude and the latitude of the 1 st acquisition position as the origin of a navigation coordinate system;
(2.2) let k =1;
(2.3) laser radar point cloud data C according to relative static target A k Obtaining the position coordinates of the relative static target A under the laser radar coordinate system
(2.4) according to the latitude lat at the 1 st acquisition position 1 And longitude lng 1 And the latitude lat of the kth acquisition location k And longitude lng k Obtaining the position coordinates of the kth acquisition position in a navigation coordinate system
(2.7) if k = N, ending the calculation, otherwise let k = k +1, and returning to step (2.3).
Further, in the step (2.3),
the calculation formula of (c) is as follows:
further, in the step (2.4),
the calculation formula of (a) is as follows:
wherein R is M And R N Respectively, the latitude is lat 1 The meridian plane curvature radius of the earth and the prime plane curvature radius of the prime plane.
Further, in the step (3), an installation error E between the laser radar and the inertial navigation device is as follows:
E＝(Δθ,Δψ,Δφ,Δx imu ,Δy imu ,Δz imu )
wherein, the delta theta, the delta psi and the delta phi respectively represent a pitch angle installation error, a course angle installation error and a roll angle installation error of the laser radar and the inertial navigation equipment, and the delta x imu 、Δy imu 、Δz imu And the position installation error of each component of the laser radar and the inertial navigation equipment in the inertial navigation equipment coordinate system is shown, and the imu shows the inertial navigation equipment coordinate system.
Further, in the step (3), the product obtained according to the step (2)
And
based on a global search algorithm, finding a point which minimizes the J value, namely the mounting error E of the laser radar and the inertial navigation equipment:
wherein the content of the first and second substances,
Further, the maximum value of S (E) is:
wherein
Representing the entire real space.
Further, S (E) is:
wherein the content of the first and second substances,
the range of the mounting error of the maximum pitch angle, the range of the mounting error of the course angle and the range of the mounting error of the roll angle which are estimated according to the angle deviation of the actual mounting positions of the laser radar and the inertial navigation are respectively; for example, in a typical installation, the lidar and inertial navigation systems are each substantially identical in coordinate system, i.e., the directions in which the respective components are directed in the two coordinate systems substantially coincide (i.e., less than 10 °), which may be desirable
compared with the prior art, the invention has the following beneficial effects:
(1) The invention relates to a method for calibrating installation errors of a water laser radar and an inertial navigation, which realizes the calibration of the installation errors of the laser radar and the inertial navigation by sampling a simple scene and applying a search algorithm and a statistical method;
(2) The invention can calibrate only by collecting a certain relative static obstacle (such as a buoy) on water, thereby greatly reducing the requirement of a calibration site and improving the adaptability of a calibration scene to the environment;
(3) The invention meets the requirement of computing power brought by a large number of points, reduces the calibration difficulty while ensuring the calibration precision, and has practical application value.
Drawings
FIG. 1 is a flow chart of a method for calibrating installation errors of a water laser radar and an inertial navigation system.
Detailed Description
The features and advantages of the present invention will become more apparent and apparent from the following detailed description of the invention.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The invention provides a method for calibrating installation errors of a water laser radar and an inertial navigation system, which can calculate by using an existing small-sized relative static target on water as a reference object. Firstly, collecting data of laser radars and inertial navigation equipment at different positions around the static target; then, calculating the detection results of different positions on the static target position; and finally, calculating the installation error between the two devices by a region search method according to detection results obtained at different positions. The method has the advantages of simple operation, low requirement on the field and simple data processing method.
As shown in fig. 1, the invention provides a method for calibrating installation errors of a water laser radar and an inertial navigation system, which comprises the following specific steps:
(1) In N different acquisition positions, acquiring laser radar point cloud data on a ship and position attitude data of inertial navigation equipment for a relatively static target A, and combining the point cloud data and the position attitude data into a number set D:
wherein the point cloud data of the laser radar at the k-th acquisition position is C k The position and attitude data of the inertial navigation equipment is I k ，
N represents the total number of acquisition positions,
represents an integer;
position and attitude data I of inertial navigation equipment k ＝(lat k ,lng k ,θ k ,ψ k ,φ k ) Wherein, lat k 、lng k 、θ k 、ψ k 、φ k Respectively the latitude, longitude, pitch angle, course angle and roll angle of the k-th collection position, and actually the latitude, longitude, pitch angle, course angle and roll angle of the unmanned boat/ship.
The more acquisition positions the better, but not less than 20, and the area that each acquisition position encloses in sequence should contain the target a.
(2) Lidar point cloud data C from relatively static target A k And position and attitude data I of inertial navigation device k Obtaining the position of a relative static target A in a laser radar coordinate system
And acquiring the position of the location in the navigation coordinate system
Where navi represents the navigational coordinate system:
(a) Let lat 1 And lng 1 Is the origin in the navigation coordinate system, the origin coordinate is
(b) Initializing a parameter k to be 1, and calculating the curvature radius R of the meridian plane of the earth M Radius of curvature R of prime and prime plane N 。
Wherein R is e Radius of the major axis of the earth, f is the ovality of the earth (R in WGS84 model) e ＝6356752，f＝1/298.257)。
(c) Calculating the position of A in the laser radar coordinate system under the k acquisition position
(d) Calculating the coordinates of the kth acquisition position in the navigation coordinate system
The calculation method is as follows.
(e) If k is equal to N, ending, otherwise k is equal to k +1, and returning to step (c).
(3) According to step (2)
And
and obtaining the installation error E of the laser radar and the inertial navigation equipment based on a global search algorithm. Wherein the installation error E is defined as follows:
E＝(Δθ,Δψ,Δφ,Δx imu ,Δy imu ,Δz imu )
wherein, delta theta, delta psi and delta phi respectively represent installation errors of a pitch angle, a course angle and a roll angle, and delta x imu 、Δy imu 、Δz imu Respectively representing the installation errors of the components under the coordinate system of the inertial navigation equipment (namely the coordinate system of the inertial navigation equipment).
By global search algorithms (e.g., bee colony, genetic algorithm, annealing algorithm, etc.), at Δ θ, Δ ψ, Δ φ, Δ x imu 、Δy imu 、Δz imu And in a possible value space S (E), a point which enables the J value to be minimum is searched, namely the installation error E of the laser radar and the inertial navigation equipment.
Where cov denotes the covariance matrix, det denotes the determinant of the matrix,
is defined as follows.
Wherein
Is a posture conversion matrix from a laser radar coordinate system to an inertial navigation equipment coordinate system,
is a posture conversion matrix from the inertial navigation equipment coordinate system to the navigation coordinate system.
Δ v is defined as follows.
S (E) is delta theta, delta psi, delta phi and delta x imu 、Δy imu 、Δz imu The maximum value of S (E) is
Wherein
Representing the entire real space.
In order to accelerate the global search, S (E) can estimate the maximum error angle and the error distance of the actual installation in advance for setting, and the value space of S (E) is
The method can calibrate only by acquiring a certain relative static obstacle (such as a buoy) on the water, thereby improving the adaptability of a calibration scene to the environment. And the target position of the point cloud data of each acquisition point is extracted, and finally, calibration parameters are calculated by a mature global search algorithm and a statistical method. Compared with the prior art, the method has the advantages that the calculation complexity of the calibration algorithm is reduced, the requirement on the calculation force is reduced, and the method has practical application value.
The invention has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to be construed in a limiting sense. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention. The scope of the invention is defined by the appended claims.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are not particularly limited to the specific examples described herein.
Claims (10)
1. A method for calibrating installation errors of a water laser radar and an inertial navigation system is characterized by comprising the following steps:
collecting laser radar point cloud data of a relative static target A and position posture data of inertial navigation equipment at N different collecting positions; respectively recording laser radar point cloud data of a relative static target A acquired at the kth acquisition position and position attitude data of inertial navigation equipment as C k And I k ，
Represents an integer;
collecting the laser radar point cloud data C of the relative static target A according to the k acquisition position k And position attitude data I of inertial navigation device k Obtaining the position coordinates of the relative static target A in the laser radar coordinate system
And the position coordinates of the k-th acquisition position in the navigation coordinate system
Wherein lidar represents a laser radar coordinate system, and navi represents a navigation coordinate system;
according to
And
obtaining the laser radar and the inertial guidance based on the global search algorithmInstallation error E of the navigation equipment.
2. The method for calibration of installation error of lidar and inertial navigation system of claim 1, wherein the lidar point cloud data is relative to a static target a
Wherein
The coordinate value M of each component of the ith point of the laser radar point cloud relative to the static target A in the laser radar coordinate system at the kth acquisition position k The point cloud total number of the laser radar at the kth acquisition position;
position and attitude data I of inertial navigation equipment k ＝(lat k ,lng k ,θ k ,ψ k ,φ k ) Wherein, lat k 、lng k 、θ k 、ψ k 、φ k Respectively the latitude, longitude, pitch angle, course angle and roll angle of the kth acquisition position.
3. The method for calibrating the installation error of the water laser radar and the inertial navigation system according to claim 1 or 2, wherein the total number N of the acquisition positions is not less than 20, and the relative static target A is located in an area surrounded by the 1 st to the N th acquisition positions.
4. The method for calibration of installation error of lidar and inertial navigation system according to claim 2, wherein the position coordinates of the relative static target a in the lidar coordinate system are obtained
And the position coordinates of the k-th acquisition position in the navigation coordinate system
The specific method comprises the following steps:
lidar point cloud data C from a relatively static target A k Obtaining the position coordinates of the relative static target A under a laser radar coordinate system
Taking the longitude and latitude of the 1 st acquisition position as the origin of a navigation coordinate system; according to the latitude lat at the 1 st acquisition position 1 And longitude lng 1 And the latitude lat of the kth acquisition location k And longitude lng k Obtaining the position coordinates of the k acquisition position in the navigation coordinate system
5. The method for calibrating installation errors of the water laser radar and the inertial navigation system according to claim 4,
the calculation formula of (a) is as follows:
6. the method for calibrating installation errors of the water laser radar and the inertial navigation system according to claim 4,
the calculation formula of (a) is as follows:
wherein R is M And R N Respectively has a latitude of lat 1 The meridian plane curvature radius of the earth and the prime plane curvature radius of the prime plane.
7. The method for calibrating the installation error of the water laser radar and the inertial navigation device according to claim 1, wherein the installation error E of the laser radar and the inertial navigation device is as follows:
E＝(Δθ,Δψ,Δφ,Δx imu ,Δy imu ,Δz imu )
wherein, the delta theta, the delta psi and the delta phi respectively represent a pitch angle installation error, a course angle installation error and a roll angle installation error of the laser radar and the inertial navigation equipment, and the delta x imu 、Δy imu 、Δz imu And the position installation error of each component of the laser radar and the inertial navigation equipment in the inertial navigation equipment coordinate system is shown, and the imu shows the inertial navigation equipment coordinate system.
8. The method for calibration of installation error of lidar and inertial navigation system of claim 7, wherein the calibration is based on
And
based on a global search algorithm, finding a point which minimizes the J value, namely the mounting error E of the laser radar and the inertial navigation equipment:
wherein, the first and the second end of the pipe are connected with each other,
9. The method for calibration of installation errors of lidar and inertial navigation system according to claim 8, wherein the maximum value of S (E) is:
wherein
Representing the entire real space.
10. The method for calibration of installation errors of lidar and inertial navigation system of claim 9, wherein S (E) is:
wherein the content of the first and second substances,
the maximum pitch angle installation error range, the course angle installation error range and the roll angle installation error range are respectively estimated according to the angle deviation of the actual installation positions of the laser radar and the inertial navigation;
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| CN115683170A (en) * | 2023-01-04 | 2023-02-03 | 成都西物信安智能系统有限公司 | Calibration method based on radar point cloud data fusion error |
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