KR20200135088A - Apparatus for measureing pose based on precise positioning system and method for the same - Google Patents

Abstract

Provided is a GPS-based posture measurement apparatus. According to one embodiment of the present invention, the GPS-based posture measurement apparatus includes: an L-shaped instrument including an X-axis unit reference point, an Y-axis unit reference point and a starting point based on an XYZ coordinate system; a high-precision GPS receiver measuring and providing latitude, longitude and altitude values at the X-axis unit reference point, the Y-axis unit reference point and the starting point; and a posture measurement part measuring posture information including roll, pitch and yaw values of an apparatus by using the latitude, longitude and altitude values at the X-axis unit reference point, the Y-axis unit reference point and the starting point. Therefore, the present invention is capable of accurately measuring posture information of an apparatus in an environment with a magnetic distortion.

Description

Position measurement device and method based on precision positioning system {APPARATUS FOR MEASUREING POSE BASED ON PRECISE POSITIONING SYSTEM AND METHOD FOR THE SAME}

The present disclosure relates to a radar technology for detecting a target, and more particularly, to a method and apparatus for measuring attitude information of a radar device.

An electronic compass is widely used as a device capable of measuring the attitude of a device.

In general, an IMU (Inertial Measurement Unit) device measures how far its x-axis, y-axis, and z-axis are in the east, north, and opposite directions of the Earth's gravity (sky direction). And angle data such as yaw. However, since the IMU device calculates angular data based on data measured through a geomagnetic sensor, there is a problem in that yaw data is not accurately measured, especially in an environment where magnetic field distortion occurs.

In particular, in an environment in which a metal structure or a motor device that generates magnetic field distortion is provided, there is a problem in that the attitude information of the device cannot be accurately measured.

The radar device is configured to measure and provide location information of the target using the distance r to the target, the elevation angle of the target θ, the azimuth angle of the target Φ, and the like. In this way, since the position information of the target is measured based on the radar device, if the posture of the radar device is not accurately set, the position information of the target cannot be accurately measured. That is, when the attitude information of the radar device is accurately checked and the attitude of the radar device must be accurately set based on this, the position information of the target can be accurately detected.

However, since the radar device is generally required to secure a line-of-sight as much as possible, it may be installed on a rooftop of a building or a structure provided in an open area. In this way, when the radar device is installed on a building or structure built on a steel frame, distortion of the magnetic field may occur due to the magnetic material. In addition, since the radar device is provided with a metal support for fixing the equipment, and may include a motor device for rotating a detection antenna or the like, it may be exposed to an environment where distortion of a magnetic field occurs.

Accordingly, there is a need for a method or apparatus capable of accurately measuring the attitude information of a radar device in an environment in which magnetic field distortion occurs.

An object of the present disclosure is to provide an apparatus and method capable of accurately measuring attitude information of a device in an environment in which magnetic field distortion occurs.

The technical problems to be achieved in the present disclosure are not limited to the technical problems mentioned above, and other technical problems that are not mentioned will be clearly understood by those of ordinary skill in the technical field to which the present disclosure belongs from the following description. I will be able to.

According to an aspect of the present disclosure, a GPS-based attitude measuring apparatus is provided. The device includes an "a" shaped apparatus having an X-axis unit reference point, a Y-axis unit reference point, and an origin based on the XYZ coordinate system, and the X-axis unit reference point, Y-axis unit reference point, and latitude, longitude, and altitude at the origin. A high-precision GPS receiver that measures and provides values, and the roll, pitch, and yaw of the device using the X-axis unit reference point, Y-axis unit reference point, and latitude, longitude, and altitude values at the origin. It may include a posture measuring unit that measures posture information including a (yaw) value.

Features briefly summarized above with respect to the present disclosure are only exemplary aspects of the detailed description of the present disclosure described below, and do not limit the scope of the present disclosure.

According to the present disclosure, an apparatus and method capable of accurately measuring posture information of a device in an environment in which magnetic field distortion occurs may be provided.

The effects that can be obtained in the present disclosure are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those of ordinary skill in the art from the following description. will be.

1 is a diagram illustrating a configuration of a GPS-based attitude measuring apparatus according to an embodiment of the present disclosure.
2 is a flowchart illustrating a procedure of a GPS-based attitude measuring method according to an embodiment of the present disclosure.
3 is a block diagram illustrating a computing system that executes a GPS-based attitude measuring method and apparatus according to an embodiment of the present disclosure according to an embodiment of the present disclosure.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art may easily implement the embodiments. However, the present disclosure may be implemented in various different forms and is not limited to the embodiments described herein.

In describing an embodiment of the present disclosure, if it is determined that a detailed description of a known configuration or function may obscure the subject matter of the present disclosure, a detailed description thereof will be omitted. In addition, parts not related to the description of the present disclosure in the drawings are omitted, and similar reference numerals are attached to similar parts.

In the present disclosure, when a component is said to be "connected", "coupled" or "connected" with another component, it is not only a direct connection relationship, but an indirect connection relationship in which another component exists in the middle. It can also include. In addition, when a certain component "includes" or "have" another component, it means that other components may be further included rather than excluding other components unless otherwise stated. .

In the present disclosure, terms such as first and second are used only for the purpose of distinguishing one component from other components, and do not limit the order or importance of the components unless otherwise noted. Accordingly, within the scope of the present disclosure, a first component in one embodiment may be referred to as a second component in another embodiment, and similarly, a second component in one embodiment is a first component in another embodiment. It can also be called.

In the present disclosure, components that are distinguished from each other are intended to clearly describe each feature, and do not necessarily mean that the components are separated. That is, a plurality of components may be integrated to be formed in one hardware or software unit, or one component may be distributed in a plurality of hardware or software units. Therefore, even if not stated otherwise, such integrated or distributed embodiments are also included in the scope of the present disclosure.

In the present disclosure, components described in various embodiments do not necessarily mean essential components, and some may be optional components. Accordingly, an embodiment consisting of a subset of components described in the embodiment is also included in the scope of the present disclosure. In addition, embodiments including other components in addition to the components described in the various embodiments are included in the scope of the present disclosure.

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings.

1 is a diagram illustrating a configuration of a GPS-based attitude measuring apparatus according to an embodiment of the present disclosure.

A GPS-based attitude measuring apparatus according to an embodiment of the present disclosure may include a "b" shaped object 110, a high-precision GPS receiver 120, and a posture measuring unit 130, and a high-precision GPS receiver 120 The and posture measuring unit 130 may be connected through a wired or wireless communication network.

The "a" shaped device 110 may have a first point 111, a second point 112 and a third point 113 located on the same plane, which extends from the first point 111 A line and a line extending from the third point 113 may be provided to be orthogonal to the second point 112.

The "a" shaped fixture 110 is a structure for setting the standard of location information measured through the high-precision GPS receiver 120, and the center point (O), X-axis (X), and Y-axis (Y) of the XYZ coordinate system It may be configured in a structure and shape corresponding to. For example, the second point 112 is set as the center point (O) of the XYZ coordinate system, the first point 111 is set as an X-axis reference point of a predetermined unit size, and the third point 113 is a predetermined unit size. It can be set as the Y-axis reference point. Here, the predetermined unit size may be 1 m or more.

The "a" shaped device 110 is a device for measuring precise location information at the positions of the first point 111, the second point 112 and the third point 113, and the "a" shaped device 110 The first point 111, the second point 112, and the third point 113 may have a structure in which the high-precision GPS receiver 120 can be maintained in a fixed state. For example, at least one part of the high-precision GPS receiver 120 is inserted into each of the first point 111, the second point 112, and the third point 113 of the "a" shaped device 110 and fixed Hall of can be prepared.

The posture measurement unit 130 provides location information, that is, latitude, longitude, and altitude, provided from the GPS receiver 120 at the positions of the first point 111, the second point 112 and the third point 113. It is possible to provide an environment in which a value can be input, and the roll and pitch of the device using the location information at the positions of the first point 111, the second point 112, and the third point 113 Posture information including (pitch) and yaw values can be measured.

For example, the posture measurement unit 130 provides a menu or user interface for requesting input of location information at the first point 111 through a display, etc., and input from the GPS receiver 120 at the first point 111 The first location information can be input. Similarly, the posture measuring unit 130 provides a menu or user interface for requesting input of location information at the second point 112 through a display, etc., and input from the GPS receiver 120 at the second point 112 The second location information can be input. In addition, the posture measurement unit 130 provides a menu or user interface for requesting input of location information at the third point 113 through a display, etc., and input from the GPS receiver 120 at the third point 113 Third location information can be input.

When the position information at the positions of the first point 111, the second point 112 and the third point 113 is all input, the posture measuring unit 130 is the first point 111, the second point 112 ) And the location information at the location of the third point 113 may be converted into ECEF (Earth-Centered-Earth-Fixed) coordinates, respectively. For example, the posture measurement unit 130 may perform ECEF coordinate transformation of the location information through the operation of Equation 1 below.

는 n위치에서의 위도,

는 n위치에서의 경도,

는 n위치에서의 고도를 나타낸다. 그리고, R_N은 radius of curvature in prime vertical라 불리며, 위도에 따라 변하는 값을 가지며, 하기의 수학식 2의 연산을 통해 산출할 수 있다. Here, X _n represents the ECEF coordinate converted ECEF value,

Is the latitude at position n,

Is the hardness at the n position,

Represents the altitude at the n position. In addition, R _N is called radius of curvature in prime vertical, has a value that changes according to latitude, and can be calculated through an operation of Equation 2 below.

a and b are values defined by the WGS84 (World Geodetic System 84) model, and have a = 6,378,137 [m], b = 6,356,752.3142 [m].

The posture measuring unit 130 uses the ECEF values at the positions of the first point 111, the second point 112, and the third point 113, and the first point and the Y-axis reference point corresponding to the X-axis reference point The ENU (East-North-Up) value of the third point corresponding to may be calculated.

Specifically, the posture measurement unit 130 may calculate the ENU value of the X-axis reference point, that is, X ₁ through the calculation of Equation 3 below.

In Equation 3, the ECEF value of the second point is P ₀ , the ECEF value of the first point is P ₁ , and the ECEF value of the third point is P ₂ . The D matrix may be calculated using the latitude and longitude of the second point, and may be calculated, for example, through an operation of Equation 4 below.

Similarly, the posture measurement unit 130 may calculate the ENU value of the Y-axis reference point, that is, X ₂ through the calculation of Equation 5 below.

Then, the position measurement unit 130 ENU value for the fourth point of the virtual through the cross product of two vectors, the ENU value of the X-axis reference point (X ₁₎ and ENU value of the Y-axis reference point (X ₂₎ (X ₃₎ Can be calculated.

Then, the posture measurement unit 130 normalizes the size of the vector to ENU values (X ₁ , X ₂ , X ₃ ) to 1, and then calculates the roll, pitch, and yaw values of the device. It is possible to calculate the posture information to include.

For example, the posture measuring unit 130 may calculate posture information of the device through the calculation of Equation 6 below.

Here, X _ij represents the j- th element of the X _i vector. In the case of Yaw, it represents a value between -180˚ to 180˚, so if you use the atan() function, it can be expressed as a value with 180 degree periodicity. Taking this into account, it can be calculated using the atan2() function so that the yaw value represents a more clear value without ambiguity.

Preferably, the posture measurement unit 130 may be a hardware, a software module, or an electronic device in which the two are combined to perform an operation of calculating the posture information of the object according to the above-described method, and the electronic device is a smart device. It may include various electronic devices such as phones, desktop PCs, tablet PCs, notebook PCs, and navigation systems.

2 is a flowchart illustrating a procedure of a GPS-based attitude measuring method according to an embodiment of the present disclosure.

The GPS-based attitude measuring method according to an embodiment of the present disclosure may be performed by the above-described GPS-based attitude measuring apparatus.

In order to accurately measure the posture of the object, the posture measuring apparatus needs to align the location at which location information is measured based on the XYZ coordinate system. To this end, a state in which the "a" shaped device is mounted on the object may be prepared (S200).

The "a" shaped device 110 may have a first point 111, a second point 112 and a third point 113 located on the same plane, and extending from the first point 111 A line and a line extending from the third point 113 may be provided to be orthogonal to the second point 112. In addition, the "a" shaped device is a structure for setting the standard of location information measured through a high-precision GPS receiver, and a structure corresponding to the center point (O), X axis (X), and Y axis (Y) of the XYZ coordinate system And may be configured in a shape. For example, the second point 112 may be set as a center point O, the first point may be set as a reference point on the X-axis of a predetermined size, and the third point 113 may be set as a reference point on the Y-axis of a predetermined size. have.

In step S201, the posture measuring device is the position information measured at the position of the first point 111, the second point 112 and the third point 113 of the "a" shaped device, that is, latitude, longitude, and You can check the altitude value. For example, the posture measuring apparatus may check position information measured from the GPS receiver at the positions of the first point 111, the second point 112, and the third point 113.

In step S202, the posture measuring apparatus converts the position information at the positions of the first point 111, the second point 112, and the third point 113 into ECEF (Earth-Centered-Earth-Fixed) coordinates, respectively. I can. For example, the posture measuring apparatus may perform ECEF coordinate transformation of the location information through the calculation of Equations 1 and 2 described above.

Thereafter, in step S203, the posture measuring apparatus uses the ECEF values at the positions of the first point 111, the second point 112, and the third point 113, and the first point corresponding to the X-axis reference point ( 111) and the ENU (East-North-Up) value of the third point 113 corresponding to the Y-axis reference point may be calculated.

For example, the posture measuring apparatus may calculate the ENU value of the X-axis reference point, that is, X ₁ through the operation of Equation 3, and the ENU value of the Y-axis reference point, ie, through the operation of Equation 5 X ₂ can be calculated.

In S204 step, the position measuring device is an ENU value (X ₃₎ for the Z axis reference point of the virtual through the cross product of two vectors in the X-axis reference point of ENU values (X ₁₎ and ENU value of the Y-axis reference point (X ₂₎ Can be calculated.

In step S205, the posture measurement device normalizes the ENU value (X ₁ , X ₂ , X ₃ ) vector size to 1, and then includes the roll, pitch, and yaw values of the device. You can calculate the posture information. For example, the posture measuring device may calculate posture information of the device through the calculation of Equation 6 described above.

3 is a block diagram illustrating a computing system that executes a GPS-based attitude measuring method and apparatus according to an embodiment of the present disclosure according to an embodiment of the present disclosure.

Referring to FIG. 3, the computing system 1000 includes at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, and storage connected through a bus 1200. (1600), and a network interface (1700).

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and/or the storage 1600. The memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. For example, the memory 1300 may include read only memory (ROM) and random access memory (RAM).

Accordingly, the steps of the method or algorithm described in connection with the embodiments disclosed herein may be directly implemented in hardware executed by the processor 1100, a software module, or a combination of the two. Software modules reside in storage media (i.e., memory 1300 and/or storage 1600) such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM. You may. An exemplary storage medium is coupled to the processor 1100, which is capable of reading information from and writing information to the storage medium. Alternatively, the storage medium may be integral with the processor 1100. The processor and storage media may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. Alternatively, the processor and storage medium may reside as separate components within the user terminal.

The exemplary methods of the present disclosure are expressed as a series of operations for clarity of description, but this is not intended to limit the order in which steps are performed, and each step may be performed simultaneously or in a different order if necessary. In order to implement the method according to the present disclosure, the illustrative steps may include additional steps, other steps may be included excluding some steps, or may include additional other steps excluding some steps.

Various embodiments of the present disclosure are not listed in all possible combinations, but are intended to describe representative aspects of the present disclosure, and matters described in the various embodiments may be applied independently or may be applied in combination of two or more.

In addition, various embodiments of the present disclosure may be implemented by hardware, firmware, software, or a combination thereof. For implementation by hardware, one or more ASICs (Application Specific Integrated Circuits), DSPs (Digital Signal Processors), DSPDs (Digital Signal Processing Devices), PLDs (Programmable Logic Devices), FPGAs (Field Programmable Gate Arrays), general purpose It may be implemented by a processor (general processor), a controller, a microcontroller, a microprocessor, or the like.

The scope of the present disclosure is software or machine-executable instructions (e.g., operating systems, applications, firmware, programs, etc.) that allow an operation according to a method of various embodiments to be executed on a device or computer, and such software or It includes a non-transitory computer-readable medium (non-transitory computer-readable medium) which stores instructions and the like and is executable on a device or a computer.

Claims (10)

In the device for measuring the posture of the device,
A "a" shaped device having an X-axis unit reference point, a Y-axis unit reference point, and an origin based on the XYZ coordinate system,
A high-precision GPS receiver that measures and provides values of latitude, longitude, and altitude at the X-axis unit reference point, Y-axis unit reference point, and origin,
Using the X-axis unit reference point, Y-axis unit reference point, and latitude, longitude, and altitude values at the origin to measure posture information including roll, pitch, and yaw values of the device GPS-based attitude measuring device including a posture measuring unit.
The method of claim 1,
The X-axis unit reference point, the Y-axis unit reference point, and the origin are located on the same plane, and a line extending from the X-axis unit reference point and a line extending from the Y-axis unit reference point are orthogonal to the origin. GPS-based attitude measuring device.
The method of claim 1,
The posture measuring unit,
Based on the latitude, longitude, and altitude values, the X-axis unit reference point, Y-axis unit reference point, and ECEF (Earth-Centered-Earth-Fixed) values of the origin are calculated,
A GPS-based attitude measuring apparatus, characterized in that converting ECEF values of the X-axis unit reference point, Y-axis unit reference point, and origin into ENU (East-North-Up) values.
The method of claim 3,
The posture measuring unit,
A GPS-based attitude measuring apparatus, characterized in that estimating an ENU value for a virtual Z-axis unit reference point using the ENU values of the X-axis unit reference point and the Y-axis unit reference point.
The method of claim 3,
The posture measuring unit,
By using the ENU values of the X-axis unit reference point, Y-axis unit reference point, and Z-axis unit reference point, posture information including roll, pitch, and yaw values of the device is calculated. GPS-based attitude measuring device.
The method of claim 1,
GPS-based attitude measuring apparatus, characterized in that the distance between the X-axis unit reference point and the origin and the Y-axis unit reference point and the distance between the origin are 1m or more.
In the method of measuring the posture of the device,
High-precision GPS at the X-axis unit reference point, Y-axis unit reference point, and origin based on the "a"-shaped apparatus having an X-axis unit reference point, a Y-axis unit reference point, and an origin based on the XYZ coordinate system located on the same plane. The process of checking the latitude, longitude, and altitude values measured through the receiver, and
Using the X-axis unit reference point, Y-axis unit reference point, and latitude, longitude, and altitude values at the origin, check the attitude information including the roll, pitch, and yaw values of the device. GPS-based attitude measuring device including the process of.
The method of claim 1,
The process of checking the posture information,
A process of calculating ECEF (Earth-Centered-Earth-Fixed) values of the X-axis unit reference point, Y-axis unit reference point, and origin based on the latitude, longitude, and altitude values,
And converting the ECEF values of the X-axis unit reference point, Y-axis unit reference point, and origin into ENU (East-North-Up) values.
The method of claim 8,
The process of checking the posture information,
And estimating an ENU value for a virtual Z-axis unit reference point using the ENU values of the X-axis unit reference point and the Y-axis unit reference point.
The method of claim 9,
The process of checking the posture information,
The process of calculating posture information including roll, pitch, and yaw values of the device using the ENU values of the X-axis unit reference point, Y-axis unit reference point, and Z-axis unit reference point GPS-based attitude measuring method comprising a.

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