CN115540878A - Lunar surface driving navigation method and device, electronic equipment and storage medium - Google Patents
Lunar surface driving navigation method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application discloses a lunar surface driving navigation method, a lunar surface driving navigation device, electronic equipment and a storage medium, and belongs to the technical field of lunar exploration, wherein the lunar surface driving navigation method comprises the following steps: using meteorite pits or boulders of the satellite image map as road signs, extracting corresponding road signs, and constructing a global road sign map by using the shapes and sizes of the features of the road signs and the relative position relation of the road signs; acquiring a first lunar picture in a front visible area in the driving process by using a lunar vehicle navigation camera; constructing a navigation camera road sign graph according to the lunar salient features in the first lunar picture; and matching the navigation camera road sign graph with the global road sign graph to determine the pose of the lunar vehicle. According to the method, the lunar exploration satellite detection data and the navigation camera data are fused, so that the global path planning and the driving navigation of the lunar exploration lunar vehicle with high safety and high precision are realized.
Description
Technical Field
The application belongs to the technical field of lunar exploration, and particularly relates to a lunar surface driving navigation method and device, electronic equipment and a storage medium.
Background
The lunar rover is used as an important tool for the lunar surface circumambulation exploration of astronauts, and has strong autonomous driving capability and ground teleoperation supporting capability. In the round trip detection process, an astronaut drives the lunar vehicle to efficiently move on the lunar surface, and the lunar vehicle is sent to the lunar surface to carry out unmanned remote detection experiments before the astronaut logs on the moon.
How to realize the high-efficiency running navigation of the lunar vehicle by using a heaven and earth combined mode is the key for realizing large-range and long-distance detection. However, due to the influence of numerous factors such as a lunar unstructured environment, vehicle-mounted computing power and intelligent level, it is difficult to realize efficient and high-safety global path planning and large-range rapid movement completely and independently only by means of a vehicle-mounted navigation system, and the problem of large accumulated errors exists in the navigation system.
Disclosure of Invention
The application aims to provide a lunar driving navigation method, a lunar driving navigation device, electronic equipment and a storage medium so as to solve the problem that an existing lunar exploration navigation system is large in error.
According to a first aspect of embodiments of the present application, there is provided a lunar travel navigation method, which may include:
using the meteorite pits or the large stones of the satellite image map as road signs, extracting corresponding road signs, and constructing a global road sign map by using the shapes and the sizes of the road sign features and the relative position relation of the road signs;
acquiring a first lunar surface picture in a front visible area in the driving process by using a lunar vehicle navigation camera;
constructing a navigation camera road sign graph according to the lunar salient features in the first lunar picture;
and matching the navigation camera road sign graph with the global road sign graph to determine the position and the pose of the lunar vehicle.
In some optional embodiments of the present application, the constructing a navigation camera roadmap according to the lunar salient features in the first lunar picture includes:
identifying a first moon pit or stone in the first lunar surface picture;
and calculating the characteristic weight of the first moon pit or the stone block to obtain the navigation camera road sign map.
In some optional embodiments of the present application, the calculating the feature weight of the first moon pit includes:
calculating the edge position of the edge of the first moon pit or the stone block in a lunar surface coordinate system;
determining a geometric center, a major axis, and a minor axis of the first moon pool from the edge location;
calculating the position of the first moon pool or stone in a camera coordinate system from the geometric center, the major axis and the minor axis.
In some optional embodiments of the present application, before the identifying the first moon pit or stone in the first lunar picture, the lunar driving navigation method further comprises:
and calculating the position, the orientation and the boundary of the imaging range of the lunar vehicle navigation camera in a lunar surface coordinate system.
In some optional embodiments of the present application, the lunar roadmap is constructed by:
determining a second February pit or a stone block by using the lunar satellite image and lunar surface historical data;
and calculating the position of the second moon pit or the stone block in the lunar surface coordinate system to obtain the lunar surface road sign map, namely the global road sign map.
In some optional embodiments of the present application, the matching the navigation camera roadmap with the global roadmap to determine the pose of the lunar vehicle includes:
matching the navigation camera road sign graph with the lunar road sign graph by using a subgraph matching algorithm to obtain a matching relation;
and calculating the position and the posture of the lunar vehicle according to the matching relation to obtain the position and the posture of the lunar vehicle.
In some optional embodiments of the present application, after the navigation camera roadmap is matched with the global roadmap to determine the pose of the lunar vehicle, the lunar driving navigation method further includes:
verifying the validity of the pose of the lunar vehicle by using a simulation method, namely simulating a navigation camera to photograph and image the lunar surface by using a virtual lunar surface simulation environment according to a camera imaging principle, and comparing and analyzing the similarity relation between the simulation imaging and an actual image according to the corresponding relation of the significant features.
According to a second aspect of the embodiments of the present application, there is provided a lunar navigation device, which may include:
the acquisition module is used for acquiring a first lunar surface picture in a visible area by using a lunar vehicle navigation camera;
the navigation camera road sign graph construction module is used for constructing a navigation camera road sign graph according to the lunar salient features in the first lunar picture;
and the matching module is used for matching the navigation camera road sign graph with the global road sign graph to determine the pose of the lunar vehicle.
According to a third aspect of embodiments herein, there is provided an electronic device, which may include:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the method of lunar travel navigation as shown in any embodiment of the first aspect.
According to a fourth aspect of embodiments of the present application, there is provided a storage medium in which instructions are executed by a processor of an information processing apparatus or a server to cause the information processing apparatus or the server to implement the lunar navigation method as shown in any one of the embodiments of the first aspect.
The technical scheme of the application has the following beneficial technical effects:
according to the method, a first lunar surface picture in a visible area is obtained by using a lunar vehicle navigation camera; constructing a navigation camera road sign graph according to the lunar salient features in the first lunar picture; and matching the navigation camera road sign graph with the global road sign graph to determine the position and posture of the lunar vehicle. According to the method, the lunar exploration satellite detection data and the navigation camera data are fused, so that the global path planning and the driving navigation of the lunar exploration lunar vehicle with high safety and high precision are realized.
Drawings
FIG. 1 is a flow chart illustrating a method for navigating by driving a moon in an exemplary embodiment of the present application;
FIG. 2 is a driving navigation roadmap fusion schematic in an exemplary embodiment of the present application;
FIG. 3 is a graph of upper imaging distance limits for cameras of different pitch angles in an exemplary embodiment of the present application;
FIG. 4 is a graph of spatial resolution in the image width direction in an exemplary embodiment of the present application;
FIG. 5 is a graph of spatial resolution in the image height direction in an exemplary embodiment of the present application;
FIG. 6 is a diagram of a lunar simulation area in an exemplary embodiment of the present application;
FIG. 7 is a distribution graph of landmarks within a viewable area in an exemplary embodiment of the present application;
FIG. 8 is a lunar roadmap in an exemplary embodiment of the present application;
FIG. 9 is a navigation camera roadmap for 3 random point locations in an exemplary embodiment of the present application;
FIG. 10 is a graph of a matching result of a lunar roadmap and a navigation camera roadmap in an exemplary embodiment of the present application;
FIG. 11 is a schematic structural diagram of a lunar navigation device in an exemplary embodiment of the present application;
FIG. 12 is a schematic diagram of an electronic device according to an exemplary embodiment of the present application;
fig. 13 is a schematic diagram of a hardware structure of an electronic device in an exemplary embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to the accompanying drawings in combination with the detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present application. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present application.
In the drawings, a schematic diagram of a layer structure according to an embodiment of the application is shown. The figures are not drawn to scale, wherein certain details are exaggerated and possibly omitted for clarity. The shapes of various regions, layers, and relative sizes and positional relationships therebetween shown in the drawings are merely exemplary, and deviations may occur in practice due to manufacturing tolerances or technical limitations, and a person skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions, as actually required.
It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. 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 application.
In the description of the present application, it is noted that the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In addition, the technical features mentioned in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.
The method for navigating the lunar surface driving provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings through specific embodiments and application scenarios thereof.
As shown in fig. 1, in a first aspect of an embodiment of the present application, there is provided a lunar surface travel navigation method, which may include:
s110: using meteorite pits or boulders of the satellite image map as road signs, extracting corresponding road signs, and constructing a global road sign map by using the shapes and sizes of the features of the road signs and the relative position relation of the road signs;
s120: acquiring a first lunar surface picture in a front visible area in the driving process by using a lunar vehicle navigation camera;
s130: constructing a navigation camera road sign graph according to the lunar salient features in the first lunar picture;
s140: and matching the navigation camera road sign graph with the global road sign graph to determine the position and the pose of the lunar vehicle.
In the method of the embodiment, the first lunar surface picture in the visible area is acquired by using the lunar vehicle navigation camera; constructing a navigation camera road sign graph according to the lunar salient features in the first lunar picture; and matching the navigation camera road sign graph with the global road sign graph to determine the position and the pose of the lunar vehicle. The method is a lunar large-range efficient driving guide method based on regional road sign guidance, and comprises the steps of constructing a lunar pit in a full-route visible area as a lunar road sign map by analyzing an imaging area of a lunar vehicle navigation camera; and a navigation camera road sign graph is constructed from the moon pits in the moon rover navigation camera image, and the corresponding relation between the moon pits in the moon rover visible area and the moon pits in the moon-surrounding satellite image can be determined by using a sub-graph matching method, so that the calculation of the position and posture of the moon rover is completed, and the global path planning and the driving navigation of the moon rover with high safety and high precision are further realized.
The method of the embodiment comprehensively considers the complexity of the lunar environment, the high efficiency required by implementation of a lunar mobile detection task and the existing supporting conditions, utilizes the existing lunar satellite reconnaissance image and lunar surface historical data at home and abroad to construct a road sign map from natural features such as lunar meteor craters and the like, combines an environmental image and telemetering information which are downloaded by a lunar vehicle navigation camera in real time, accurately estimates the real-time position of the lunar vehicle, and assists the lunar vehicle in completing large-range high-efficiency driving of the lunar surface. For example, areas to be avoided of the lunar vehicles such as a moon pit and a steep slope can be identified in the lunar satellite image, a lunar surface map is established, and a driving route of the lunar vehicles is planned through an A-star algorithm; analyzing a driving path of the lunar rover to obtain a camera visible area, and constructing a moon pit in the visible area around the path into a lunar surface road marking map; then identifying the moon pit from the moon rover navigation camera image, and constructing a navigation camera road sign map. And finally, determining the corresponding relation between the moon pit in the visible area of the lunar vehicle and the moon pit in the lunar satellite image by using a subgraph matching method, and calculating the position and posture of the lunar vehicle, as shown in figure 2. According to the method, the lunar surface is obviously constructed into graph nodes, a graph is constructed by combining the structural relation among the obvious features, and the registration of the lunar satellite images and the navigation camera images is completed by utilizing a graph matching technology, so that the problem that affine invariant features are not easy to find in variable-scale and large-inclination-angle image matching is solved, and the fusion of lunar satellite detection data and navigation camera data is realized.
In some embodiments, the constructing a navigation camera roadmap according to the lunar salient features in the first lunar picture comprises:
identifying a first moon pit or stone in the first lunar surface picture;
and calculating the characteristic weight of the first moon pit or the stone block to obtain the navigation camera road sign map.
In some embodiments, said calculating a feature weight of said first moon pit or stone block comprises:
calculating the edge position of the edge of the first moon pit in a lunar surface coordinate system;
determining a geometric center, a major axis and a minor axis of the first moon pool according to the edge position;
calculating the position of the first moon pool in a camera coordinate system according to the geometric center, the long axis and the short axis.
And constructing a landmark subgraph of the lunar vehicle navigation camera by considering the projection transformation relation from the meteor crater of the lunar satellite image to the lunar vehicle image. Assuming that the lunar tunnel landmark is similar to an ellipse, for an ellipse first lunar tunnel landmark of a lunar satellite image, the edge of the first lunar tunnel landmark is still a quadratic curve in the image according to the nature of projection transformation, and the equation of the quadratic curve in the image is set as follows:
Au 2 +2Buv+Cv 2 +2Du+2Ev+F＝0
its quadratic form is represented as:
since all points on the elliptical landmark are on the lunar surface with the coordinate z =0, the imaging model of the camera for one point (x, y) on the elliptical first-moon-pit landmark is:
wherein, the first and the second end of the pipe are connected with each other,
is provided with
According to the property of projective transformation, the equation of the elliptical first moon pit edge in the lunar surface coordinate system is as follows:
expressed by the general formula:
A′x 2 +2B′xy+C′y 2 +2D′x+2E′y+F′＝0
can be solved in a world coordinate system, the geometric center of the moon pit is
The long axis and the short axis of the moon pit are respectively
Under the condition that the lunar vehicle cannot obtain the real position and the real posture of the lunar vehicle, the equation, the geometric center, the long axis and the short axis and other parameters of the first moon pit under the lunar vehicle coordinate system (or the camera coordinate system) are calculated as long as the yaw angle phi =0, the roll angle phi =0 and the plane are takenMotion vector t = (0,0,z) c )。
Defining all identifiable M in lunar vehicle visual field sight The first month pit is a point set
Wherein p is sight,i Representing a first moon pit, forming an edge by connecting two points in the set to form an edge set
Thereby defining a navigation camera road map G sight ＝{V sight ,E sight }. Since the visual area of the navigation camera is a proper subset of the lunar satellite images, the navigation camera road sign map is a sub-map of the lunar road sign map, namely
To facilitate accurate matching of the navigation camera roadmap with the lunar roadmap, assign G sight The points and edges of (a) are characterized. Specifically, the moon pit p sight,i Characteristic (l) of sight,i Expressed by the length of the long and short axes, denoted as l sight,i ＝[a i ,b i ](ii) a The edge being characterised by its length d i,j Is represented by the reciprocal of (a), denoted as w i,j ＝1/d i,j . The characteristics of the edges are also referred to as weights in the graph theory field. And at this point, the construction of the authorized undirected graph of the navigation camera road sign is completed.
In some embodiments, prior to said identifying a first moon pit or stone in said first lunar picture, said lunar navigation method further comprises:
and calculating the position, the orientation and the boundary of the imaging range of the lunar vehicle navigation camera in a lunar surface coordinate system.
The method for calculating the imaging range of the camera comprises the following steps:
at a certain point on the predetermined planned path, the coordinate of the navigation camera of the lunar vehicle in the lunar coordinate system is (x, y, z), the pitch angle is theta, the yaw angle is phi, and the roll angle is psi, then the rotation matrix R and the translation vector t of the lunar vehicle navigation camera coordinate system relative to the lunar (world) coordinate system can be expressed as:
wherein z is c Indicates the height, x, of the camera c 、y c Showing the coordinates of the lunar vehicle, and
let the resolution of the camera be w x h, and the horizontal and vertical field angles of the camera be fov h And fov v And the optical center of the camera is located at the center of the image, the internal reference matrix of the camera can be expressed as:
according to the pinhole imaging model, a certain point (u, v) in the image coordinate system and a point (x) on the lunar surface (world) coordinate system w ,y w ,z w ) The relationship of (1) is:
where 0 denotes a zero vector of size 3 x 1, 0 T The transpose of a zero vector of size 3 x 1 is shown. Substituting the coordinates (0, 0), (w, 0), (0, h) and (w, h) of the four corner points of the image into the sequence of z w =0, respectively to obtain (x) w,1 ,y w,1 ),(x w,2 ,y w,2 ),(x w,3 ,y w,3 ),(x w,4 ,y w,4 ). The trapezoid formed by the four points on the lunar surface is the imaging range of the lunar vehicle navigation camera at the moment.
In some embodiments, the lunar roadmap is constructed by:
determining a second February pit or a stone block by using the lunar satellite image and lunar surface historical data;
and calculating the position of the second moon pit or the stone block in the lunar surface coordinate system to obtain the lunar surface road map, namely the global road map.
The lunar surface is distributed with meteor craters with similar shapes, and the salient marks are lacked, so that the lunar vehicle can distinguish road signs for long-distance navigation. Considering that in the annular moon satellite image, the shape of the moon pit edge is approximate to a quadratic curve such as a circle or an ellipse, the imaging projection transformation is still the quadratic curve, and the identification and comparison analysis on the satellite image and the lunar rover image are convenient.
In order to construct a lunar driving road map, second moon pits, steep slopes and large stones with different sizes in the lunar satellite image are extracted in an automatic or manual marking mode, and planning of a driving path of the lunar vehicle is completed by adopting an A-star algorithm. According to the path planning result, the position of each point on the driving path of the camera and the orientation of the camera at the moment can be obtained. Therefore, the imaging range of the lunar vehicle navigation camera can be calculated, whether the moon pit is in the imaging range of the camera or not is judged, and therefore the second moon pit which can be used as a candidate road sign around the route is screened.
And traversing all points on the path, and screening all second moon pits in the visible area in the moving process of the lunar vehicle according to the planned route. And taking the moon pits as candidate road signs for building a moon surface road sign graph.
The total number of M in a visible area on the moving path of the lunar vehicle is set moon Month pit target, definition of point set
Wherein p is moon,i A second moon pool is shown. The moon pool is oval, and the geometric center coordinate of the moon pool is (x) moon,i ,y moon,i ) The long and short axes are respectivelyIs a moon,i And b moon,i . Forming an edge by connecting two points in the set of points to form an edge set
Form a lunar road map G moon ＝{V moon ,E moon Two nodes connected by an edge are called neighbors. Further, is G moon Define the feature. In particular, moon pit p moon,i Characteristic (l) of moon,i Expressed by the length of the long and short axes, denoted as l moon,i ＝[a moon,i ,b moon,i ](ii) a The edge being characterised by its geometric centre distance d i,j Is represented by the reciprocal of (a), denoted as w i,j ＝1/d i,j . The characteristics of an edge are also referred to as weights in the graph art. Setting a threshold t when the weight w i,j <And when t is reached, the weight of the edge is considered to be 0, the edge is deleted from the edge set, and the construction of the weighted undirected graph of the lunar road sign is completed.
In some embodiments, the matching the navigation camera roadmap to the global roadmap determining the pose of the lunar vehicle comprises:
matching the navigation camera road sign graph with the lunar road sign graph by utilizing a subgraph matching algorithm to obtain a matching relation;
and calculating the position and the posture of the lunar vehicle according to the matching relation to obtain the position and the posture of the lunar vehicle.
The method comprises the steps of firstly matching a lunar satellite image landmark graph and a lunar vehicle navigation camera landmark sub-graph by using a graph matching algorithm, and then solving the pose of the lunar vehicle on a satellite image based on a matching relation.
Navigation camera road mark graph G sight Is a lunar surface road map G moon Thus, the matching of a moon pit can be modeled as a problem as a sub-graph matching problem. For G sight ＝{V sight ,E sight } and G moon ＝{V moon ,E moon The goal of subgraph matching is to find a slave V sight To V moon Is mapped to sight →V moon， While enabling point features to be betweenAnd the similarity between the edge feature and the edge feature is the greatest. A similarity function can thus be defined:
f＝f v +f e
wherein, f v A function representing the similarity between points, f e Representing the similarity function between edges, l sight,i Represents V sight C (i) denotes the i point at V moon N (i) denotes the neighbours of i, s l And s w Respectively, a similarity measure between a point feature and an edge feature, herein a 1 norm is used.
First, k and G are obtained using the VF2 algorithm sight Isomorphic G moon Subfigure G of (1) i (i =1,2, \8230;, k), as initial values for the match, then G is calculated sight And G i The sub-graph G with the maximum similarity function i Namely the optimal matching of the lunar surface road sign map and the navigation camera road sign map. At this time, obtain from V sight To V moon Is in a mapping relation V sight →V moon That is, the target p of any January pit in the image can be known sight,i Geometric center, major axis, minor axis and ellipse equations in a lunar coordinate system. And if the navigation camera image has not less than 3 moon pits, the pose of the lunar vehicle can be solved.
Knowing the equation of a certain moon pit in the image coordinate system is
Au 2 +2Buv+Cv 2 +2Du+2Ev+F＝0
Meanwhile, the equation under the lunar coordinate system is as follows:
A′x 2 +2B′xy+C′y 2 +2D′x+2E′y+F′＝0
known from the construction method of road map of navigation camera
The degree of freedom of the matrix H is 5, 8 unknowns exist, and the matrix H can be solved by an equation corresponding to 3 months of pits. The method for solving the pose of the lunar vehicle navigation camera at the moment according to the matrix H comprises the following steps:
according to the construction method of the road map of the navigation camera, r can be obtained 21 ，r 31 ，r 32 ，t 1 ，t 1 (ii) a The position of the camera under the lunar coordinate system is (t) 1 ,t 2 ,z c ) Wherein z is c For a known camera height, the attitude angles θ, φ, ψ of the camera are:
θ＝-arcsin(r 31 ),
φ＝arcsin(r 21 /cos(θ)),
ψ＝arcsin(r 21 /cos(θ)).
in some embodiments, after the navigation camera roadmap is matched with a global roadmap to determine the pose of the lunar vehicle, the lunar driving navigation method further comprises:
and verifying the effectiveness of the pose of the lunar vehicle by using a simulation method, namely simulating a navigation camera to shoot and image the lunar surface by using a virtual simulation environment of the lunar surface according to a camera imaging principle, and comparing and analyzing the similarity between the simulation imaging and an actual image according to the corresponding relation of the significant features.
The method comprises the steps of analyzing effectiveness of the method according to the embodiment by using simulation synthetic data, firstly generating a simulated lunar satellite image, planning a path by using an A-x algorithm, and then constructing a lunar road map and a navigation road map and performing a driving process positioning experiment.
In the experiment, a 1000 m by 1000 m lunar surface area is assumed, the moon pits are distributed in the area in a uniform distribution mode, the long axis of each moon pit is subjected to normal distribution with the average value of 15 and the standard deviation of 5, the short axis of each moon pit is subjected to normal distribution with the average value of 10 and the standard deviation of 3. The lunar rover starts from the position (10, 10), travels to the position (990 ) according to the path planned by the A-x algorithm, the navigation camera always faces to the speed direction of the lunar rover on the way, the rolling angle is 0, and the horizontal and vertical field angles are both 60 degrees. Firstly, the imaging ranges of the cameras under different pitch angles are analyzed to obtain the upper limit variation condition of the imaging distance under different pitch angles, as shown in fig. 3.
The imaging range and spatial resolution under different pitch angles and different imaging distances are analyzed, the size of the meteor crater with specific size in the image under different distances is estimated, and the result of spatial resolution calculation is shown in fig. 4-5.
In order to expand the visual field range as much as possible and ensure that the spatial resolution of the image is high enough to make the meteorite crater distinguishable in the image, a pitch angle of 32 degrees is selected in the experiment, and under the condition, a lunar surface simulation region diagram and a road sign diagram in the visible region thereof are generated, as shown in fig. 6-7.
And constructing the lunar road sign map by taking meteor craters in the lunar region as the vertex of the map and taking the reciprocal of the distance between the meteor craters as the weight of an edge. According to the principle, only the meteorite crater which is smaller than a certain distance is provided with a connecting edge, and the meteorite crater is not connected when the certain distance is exceeded. The structure of the lunar roadmap for extracting 100 nodes is shown in fig. 8. Randomly selecting 3 point locations on the driving path of the lunar vehicle, constructing a road sign diagram of visible meteor craters of the navigation camera, and obtaining a result as shown in FIG. 9.
Randomly pick points along the path, and represent the visible area with green frame lines and the matching result with yellow ellipses, as shown in fig. 10.
On simulation data, the accuracy of the used sub-graph matching method is 100%, and for a navigation camera road sign graph containing 5 points, the matching time is about 3ms. However, the matching time consumption is approximately proportional to the factorial ratio of the number of landmark points in the road map of the navigation camera, i.e., when the road map of the navigation camera contains 9 or more landmark points, the matching cannot be completed within the time of once-month communication (about 2.5 s).
And randomly taking 10 points on the path, and calculating the position of the point according to the road sign matching result. In order to simulate the precision loss in the process of identifying the road signs, the operations of rounding the solved geometric centers of the road signs, adding random noise and the like are carried out in the calculation process, and the true value, the calculated value and the error of the position of the lunar rover are shown in table 1. After the noise is added, the average error of the method is less than 0.4 meter, and certain accuracy is achieved.
TABLE 1 true, calculated, and error values for lunar vehicle position
The embodiment provides a lunar surface large-range efficient driving navigation technology based on regional road sign guidance aiming at the problem of large-range long-distance efficient navigation, analyzes the imaging range of a lunar vehicle navigation camera, and constructs a lunar surface road sign image and a navigation camera road sign image by utilizing the structural relationship of a moon pit; on the basis, an imaging model of landmarks such as moon pits in the navigation camera is established, a matching method of a navigation camera subgraph and a lunar surface landmark global graph is designed, and lunar vehicle pose calculation based on regional landmark graph matching is achieved. And further combining with engineering application scenes, designing a generation method of lunar image simulation, developing road sign map construction and lunar vehicle positioning experiments by using simulation data, and verifying the effectiveness of a lunar road sign map, a navigation camera road sign map model and a lunar vehicle positioning method based on sub-graph matching.
In the lunar surface travel navigation method provided in the embodiment of the present application, the execution subject may be a lunar surface travel navigation device, or a control module of the lunar surface travel navigation device for executing the lunar surface travel navigation method. In the embodiment of the present application, a method for executing a lunar travel navigation by a lunar travel navigation device is taken as an example, and the device for lunar travel navigation provided in the embodiment of the present application is described.
As shown in fig. 11, in a second aspect of the embodiment of the present application, there is provided a lunar navigation device, which may include:
an obtaining module 1110, configured to obtain a first lunar image in a visible area by using a lunar vehicle navigation camera;
a navigation camera road map construction module 1120, configured to construct a navigation camera road map according to the lunar salient features in the first lunar picture;
the matching module 1130 is configured to match the navigation camera roadmap with the global roadmap to determine the pose of the lunar vehicle.
The lunar navigation device in the embodiment of the present application may be a device, or may be a component, an integrated circuit, or a chip in a terminal. The device can be mobile electronic equipment or non-mobile electronic equipment. By way of example, the mobile electronic device may be a mobile phone, a tablet computer, a notebook computer, a palm top computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a Personal Digital Assistant (PDA), and the like, and the non-mobile electronic device may be a server, a Network Attached Storage (NAS), a Personal Computer (PC), a Television (TV), a teller machine or a self-service machine, and the like, and the embodiment of the present application is not particularly limited.
The lunar navigation device in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an ios operating system, or other possible operating systems, which is not specifically limited in the embodiment of the present application.
The lunar travel navigation device provided in the embodiment of the present application can implement each process implemented in the method embodiment of fig. 1, and is not described here again to avoid repetition.
Optionally, as shown in fig. 12, an electronic device 1200 is further provided in an embodiment of the present application, and includes a processor 1201, a memory 1202, and a program or an instruction stored in the memory 1202 and executable on the processor 1201, where the program or the instruction is executed by the processor 1201 to implement each process of the above-mentioned embodiment of the method for navigating lunar surface traveling, and can achieve the same technical effect, and is not described herein again to avoid repetition.
It should be noted that the electronic device in the embodiment of the present application includes the mobile electronic device and the non-mobile electronic device described above.
Fig. 13 is a schematic hardware structure diagram of an electronic device implementing an embodiment of the present application.
The electronic device 1300 includes, but is not limited to: a radio frequency unit 1301, a network module 1302, an audio output unit 1303, an input unit 1304, a sensor 1305, a display unit 1306, a user input unit 1307, an interface unit 1308, a memory 1309, a processor 1310, and the like.
Those skilled in the art will appreciate that the electronic device 1300 may further comprise a power source (e.g., a battery) for supplying power to the various components, and the power source may be logically connected to the processor 1310 via a power management system, so as to manage charging, discharging, and power consumption management functions via the power management system. The electronic device structure shown in fig. 13 does not constitute a limitation of the electronic device, and the electronic device may include more or less components than those shown, or combine some components, or arrange different components, and thus, the description is omitted here.
It should be understood that in the embodiment of the present application, the input Unit 1304 may include a Graphics Processing Unit (GPU) 13041 and a microphone 13042, and the Graphics processor 13041 processes image data of still pictures or videos obtained by an image capturing apparatus (such as a camera) in a video capturing mode or an image capturing mode. The display unit 1306 may include a display panel 13061, and the display panel 13061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 1307 includes a touch panel 13071 and other input devices 13072. A touch panel 13071, also referred to as a touch screen. The touch panel 13071 may include two parts of a touch detection device and a touch controller. Other input devices 13072 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which are not described in detail herein. Memory 1309 can be used to store software programs as well as various data including, but not limited to, application programs and an operating system. The processor 1310 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into processor 1310.
The embodiment of the present application further provides a readable storage medium, where a program or an instruction is stored, and when the program or the instruction is executed by a processor, the program or the instruction implements each process of the above-mentioned embodiment of the lunar navigation method, and can achieve the same technical effect, and in order to avoid repetition, the detailed description is omitted here.
The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and so on.
The embodiment of the present application further provides a chip, where the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is configured to run a program or an instruction to implement each process of the above embodiment of the lunar navigation method, and can achieve the same technical effect, and in order to avoid repetition, the description is omitted here.
It should be understood that the chips mentioned in the embodiments of the present application may also be referred to as system-on-chip, system-on-chip or system-on-chip, etc.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a component of' 8230; \8230;" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solutions of the present application may be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A lunar surface driving navigation method is characterized by comprising the following steps:
using meteorite pits or boulders of the satellite image map as road signs, extracting corresponding road signs, and constructing a global road sign map by using the shapes and sizes of the features of the road signs and the relative position relation of the road signs;
acquiring a first lunar picture in a front visible area in the driving process by using a lunar vehicle navigation camera;
constructing a navigation camera road sign graph according to the lunar salient features in the first lunar picture;
and matching the navigation camera road sign graph with the global road sign graph to determine the position and the pose of the lunar vehicle.
2. The lunar driving navigation method according to claim 1, wherein the constructing of the navigation camera road map according to the lunar salient features in the first lunar picture comprises:
identifying a first moon pit or stone in the first lunar surface picture;
and calculating the characteristic weight of the first moon pit or the stone block to obtain the navigation camera road sign map.
3. The lunar travel navigation method according to claim 2, characterized in that said calculating a characteristic weight of said first moon pit or stone comprises:
calculating the edge position of the edge of the first moon pit in a lunar surface coordinate system;
determining a geometric center, a major axis, and a minor axis of the first moon pool from the edge location;
calculating the position of the first moon pool in a camera coordinate system according to the geometric center, the long axis and the short axis.
4. The lunar navigation method according to claim 2, wherein before said identifying a first moon pit or stone in said first lunar picture, said lunar navigation method further comprises:
and calculating the position, the orientation and the boundary of the imaging range of the lunar vehicle navigation camera in a lunar surface coordinate system.
5. The lunar travel navigation method according to claim 1, characterized in that said lunar road map is constructed by:
determining a second february pit or a stone block by using the lunar-circle satellite image and lunar surface historical data;
and calculating the position of the second moon pit or the stone block in the lunar surface coordinate system to obtain the lunar surface road sign map, namely the global road sign map.
6. The lunar driving navigation method according to claim 1, wherein the matching the navigation camera roadmap with the global roadmap to determine the pose of the lunar vehicle comprises:
matching the navigation camera road sign graph with the lunar road sign graph by using a subgraph matching algorithm to obtain a matching relation;
and calculating the position and the posture of the lunar vehicle according to the matching relation to obtain the posture of the lunar vehicle.
7. The lunar driving navigation method according to claim 1, wherein after the navigation camera roadmap is matched with the global roadmap to determine the pose of the lunar vehicle, the lunar driving navigation method further comprises:
and verifying the effectiveness of the pose of the lunar vehicle by using a simulation method, namely simulating a navigation camera to shoot and image the lunar surface by using a virtual simulation environment of the lunar surface according to a camera imaging principle, and comparing and analyzing the similarity between the simulation imaging and an actual image according to the corresponding relation of the significant features.
8. A lunar navigation device, comprising:
the acquisition module is used for acquiring a first lunar surface picture in a visible area by using a lunar vehicle navigation camera;
the navigation camera road sign graph construction module is used for constructing a navigation camera road sign graph according to the lunar salient features in the first lunar picture;
and the matching module is used for matching the navigation camera road sign graph with the global road sign graph to determine the pose of the lunar vehicle.
9. An electronic device, comprising: a processor, a memory and a program or instructions stored on the memory and executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the lunar navigation method as claimed in any one of claims 1 to 7.
10. A readable storage medium, characterized in that it stores thereon a program or instructions which, when executed by a processor, implement the steps of the lunar travel navigation method according to any one of claims 1-7.
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| CN117990111A (en) * | 2024-04-03 | 2024-05-07 | 北京盛安同力科技开发有限公司 | Method and system for planning partial path of lunar exploration robot based on MBSE model |
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| CN117990111A (en) * | 2024-04-03 | 2024-05-07 | 北京盛安同力科技开发有限公司 | Method and system for planning partial path of lunar exploration robot based on MBSE model |
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