WO2021031158A1 - Système et procédé de positionnement d'objet mobile, objet mobile et support d'informations - Google Patents

Système et procédé de positionnement d'objet mobile, objet mobile et support d'informations Download PDF

Info

Publication number
WO2021031158A1
WO2021031158A1 PCT/CN2019/101817 CN2019101817W WO2021031158A1 WO 2021031158 A1 WO2021031158 A1 WO 2021031158A1 CN 2019101817 W CN2019101817 W CN 2019101817W WO 2021031158 A1 WO2021031158 A1 WO 2021031158A1
Authority
WO
WIPO (PCT)
Prior art keywords
reference position
movable object
parameter
relative position
positioning
Prior art date
Application number
PCT/CN2019/101817
Other languages
English (en)
Chinese (zh)
Inventor
黄振昊
贾向华
陈建林
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/101817 priority Critical patent/WO2021031158A1/fr
Priority to CN201980039139.8A priority patent/CN112334790A/zh
Publication of WO2021031158A1 publication Critical patent/WO2021031158A1/fr

Links

Images

Classifications

    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves

Definitions

  • the present disclosure relates to the technical field of navigation and positioning, and in particular to a positioning system for a movable object, a positioning method for a movable object, a movable object and a computer-readable storage medium.
  • the present disclosure provides a positioning system for a movable object, a positioning method for a movable object, a movable object, and a computer-readable storage medium, thereby improving at least to a certain extent the existing technology that cannot be moved in a sheltered environment The problem of accurate positioning of objects.
  • a positioning system for a movable object including: the movable object; a positioning device for obtaining positioning parameters of a preset reference position; a measuring device set at the preset reference position, For measuring the relative position parameter between the movable object and the reference position, and the relative position parameter between the reference position and the reference position; and a control device for measuring the relative position parameter between the movable object and the reference position;
  • the relative position parameters between the reference positions and the relative position parameters between the reference positions and the reference positions establish a unified coordinate system, and based on the unified coordinate system, the movable object and the
  • the relative position parameter between the reference positions, the relative position parameter between the reference position and the reference position, and the positioning parameter of the reference position are calculated to determine the positioning parameter of the movable object .
  • a method for positioning a movable object is provided, which is applied to a positioning system for a movable object.
  • the method includes: acquiring a positioning parameter of a preset reference position; measuring the movable object and the preset The relative position parameter between the reference positions, and the relative position parameter between the reference position and the reference position; according to the relative position parameter between the movable object and the reference position, and the reference position and The relative position parameters between the reference positions establish a unified coordinate system; based on the unified coordinate system, the relative position parameters between the movable object and the reference position, the reference position and the reference position The relative position parameters between the reference positions and the positioning parameters of the reference positions are calculated to determine the positioning parameters of the movable object.
  • a method for positioning a movable object which is applied to a movable object, and the method includes: obtaining a positioning parameter of a preset reference position; obtaining the movable object and a preset reference The relative position parameter between the positions, and the relative position parameter between the reference position and the reference position; according to the relative position parameter between the movable object and the reference position, and the reference position and the reference position.
  • the relative position parameters between the reference positions establish a unified coordinate system; based on the unified coordinate system, the relative position parameters between the movable object and the reference position, the reference position and the reference position
  • the relative position parameter between the positions and the positioning parameter of the reference position are calculated to determine the positioning parameter of the movable object.
  • a movable object including: a fuselage; a power system; and a control device provided in the fuselage; the control device executes the above-mentioned positioning method of the movable object to The movable object is positioned.
  • a computer-readable storage medium on which a computer program is stored, wherein the computer program is characterized in that the above-mentioned method for positioning a movable object is implemented when the computer program is executed by a processor.
  • the positioning device is used to measure the positioning parameters of the reference position, and the measurement device at the reference position is used to measure the relative position parameters of the movable object, the reference position and the reference position, and then the control device
  • the above parameters are calculated in the unified coordinate system to determine the positioning parameters of the movable object.
  • it provides a positioning system for movable objects in a sheltered environment, which can overcome the problem that the movable object cannot receive positioning signals and achieve accurate positioning, so as to facilitate the control and control of movable objects in a sheltered environment.
  • Engineering operations On the other hand, the composition of the positioning system is relatively simple, each component device is a relatively common device in engineering operations, the implementation cost is low, and the practicability is high.
  • Figure 1 shows a sheltered working environment
  • Fig. 2 shows a schematic diagram of a positioning system for a movable object in this exemplary embodiment
  • FIG. 3 shows a schematic diagram of measuring relative position parameters in this exemplary embodiment
  • FIG. 4 shows a schematic diagram of a reflective prism installed on a movable object in this exemplary embodiment
  • FIG. 5 shows a schematic diagram of multiple measuring devices measuring a movable object in this exemplary embodiment
  • Fig. 6 shows a flowchart of a method for positioning a movable object in this exemplary embodiment
  • Fig. 7 shows a flowchart of another method for positioning a movable object in this exemplary embodiment
  • FIG. 8 shows a flowchart of still another method for positioning a movable object in this exemplary embodiment
  • Fig. 9 shows a block diagram of a movable object in this exemplary embodiment.
  • Example embodiments will now be described more fully with reference to the accompanying drawings.
  • the example embodiments can be implemented in various forms, and should not be construed as being limited to the examples set forth herein; on the contrary, the provision of these embodiments makes the present disclosure more comprehensive and complete, and fully conveys the concept of the example embodiments To those skilled in the art.
  • the described features, structures or characteristics may be combined in one or more embodiments in any suitable way.
  • the positioning system 210 may include: a movable object 211, a positioning device 212, a measuring device 213 and a control device 214.
  • the movable object 211 may be an unmanned movable electromechanical device such as an unmanned aerial vehicle, an unmanned vehicle, or a robot.
  • the movable object 211 is in a blocked environment. As shown in FIG. 1, the movable object 211 is in a tunnel, and cannot receive the positioning signal transmitted by the satellite 220, and therefore cannot directly perform positioning.
  • the positioning device 212 may be a GPS (Global Positioning System, Global Positioning System) sensor or a Beidou navigation receiver.
  • the measuring device 213 can be a total station, a laser rangefinder and other instruments for measuring relative positions. It is located at a preset reference position and is mainly used to track and measure the movable object 211.
  • the reference position can be any position selected in advance, usually It is convenient to track the position of the movable object 211, such as the opening of the tunnel, the fork in the tunnel, etc., which is not limited herein.
  • the control device 214 can be a remote control, a mobile phone, a tablet, or a computer for controlling the movable object 211, or the control device 214 is a control device that is set inside the movable object 211 and used to control the movement of the movable object 211.
  • the control device 214 may also be a control device with cloud computing function, etc., which is not limited herein.
  • a reference position may be determined in advance in an unobstructed area. For example, in tunnel operations, a reference position may be selected in an open area outside the tunnel, and then the positioning device 212 may be used to measure the positioning parameters of the reference position. The positioning device 212 is set at the reference position, and the positioning parameters of the reference position are obtained by receiving the positioning signal of the satellite 220. Positioning parameters refer to absolute position coordinates, GNSS coordinates can be used, such as coordinates based on the geodetic coordinate system WGS1984, BD-09 or GCJ-02, etc. The specific coordinate parameters used depend on the type of positioning device 212 and actual requirements; In an embodiment, the positioning parameter may be a positioning parameter in a Gaussian coordinate system.
  • the longitude and latitude coordinates of the reference position can be obtained through static GNSS baseline calculation, and then projected according to the Gaussian 3 degree projection zone to obtain the Gaussian coordinates PAr of the reference position, including the reference position in the true east Gaussian projection coordinates toward and true north, and altitude coordinates (for example, may be altitude), that is, east-north-sky coordinates.
  • the measuring device 213 measures the relative position parameter between the movable object 211 and the reference position, and measures the relative position parameter between the reference position and the reference position.
  • the measurement device 213 can be set up at the reference position to determine the position of the movable object 211 by emitting measurement signals such as laser, infrared, and acoustic waves. After the signal is transmitted, the signal reaches the movable object 211 and then reflects, and the measurement device 213 receives the reflection. Signal, the relative position parameter of the movable object 211 can be calculated by analyzing the reflected signal, which can include at least one of distance, angle, and elevation difference. Referring to the example shown in FIG.
  • the measuring device 213 after the measuring device 213 receives the reflected signal, it can calculate the distance between the movable object 211 and the reference position according to the phase difference between the reflected signal and the transmitted signal; according to the direction of the reflected signal, it is mapped to the horizontal plane, It can calculate the horizontal angle (horizontal angle) of the movable object 211 relative to the reference position; it can also calculate the movable object based on the angle (vertical angle) between the reflected signal signal and the horizontal plane, combined with the distance between the movable object 211 and the reference position 211 The elevation difference ⁇ H relative to the reference position.
  • the position or reference position of the movable object 211 can be used as a reference to indicate the relative position parameter between the two positions, which is not limited here. Measuring the relative position parameters between the reference position and the reference position is similar to the process described above.
  • the measuring device 213 may perform measurement by emitting light signals, for example, it may be a total station; the movable object 211 may be equipped with a reflective component, as shown in FIG. 4, for the reflection measuring device
  • the light signal emitted by the 213 makes the reflected light signal stronger, and the measuring device 213 can detect the position of the movable object 211 more accurately.
  • the reflective component can adopt a reflective prism, such as a 360-degree reflective prism, a total reflection prism, etc., which can reflect light signals from various directions.
  • reflecting prisms can also be installed on multiple surfaces of the body of the movable object 211 to prevent the problem of not reflecting the light signal when the reflecting prisms are located in the opposite direction of the measuring device 213.
  • the reflective component can also be configured to be rotatable, for example, the reflective component is fixedly provided with a rotating component, or is detachably connected to the rotating component, which is not limited herein.
  • the control device 214 can be connected to the positioning device 212 and the measurement device 213 through a wired or wireless connection to maintain communication, and obtain relevant data from the positioning device 212 and the measurement device 213, including the relative relationship between the above-mentioned movable object 211 and the reference position.
  • the position parameter, the relative position parameter between the reference position and the reference position, and the positioning parameter of the reference position, and then the three parameters are analyzed and calculated to obtain the positioning parameter of the movable object 211.
  • the calculation process is described in detail below:
  • the unified coordinate system can be any type of coordinate system, for example, the earth is referenced An absolute coordinate system, or a relative coordinate system with a reference position as a reference, etc., so as to incorporate the movable object 211, the reference position, and the reference position into the same coordinate system;
  • the relative position parameters between the movable object 211 and the reference position, the relative position parameters between the reference position and the reference position, and the positioning parameters of the reference position are calculated to obtain the movable object 211, the reference position,
  • the coordinates of the reference position in the unified coordinate system are used to determine the positional relationship between each other, which is then mapped to the scale in the positioning parameter to determine the positioning parameter of the movable object 211.
  • control device 214 is responsible for both data communication and data calculation tasks.
  • control device 214 may include: a communication unit responsible for the above-mentioned data communication tasks, a receiving and measuring device 213 and a positioning device 212 data sent; calculation unit, responsible for the task of calculating the above data, calculating the positioning parameters of movable objects.
  • a unified coordinate system can be established in the following manner:
  • the global coordinate system is the absolute coordinate system. If the positioning parameter adopts Gaussian coordinates, the global coordinate system can be a Gaussian coordinate system, such as an east-north-sky coordinate system;
  • the local coordinate system represents the relative coordinate system within the measuring range of the measuring device 213.
  • the true east direction of the horizontal plane may be the +X axis
  • the true north direction of the horizontal plane may be + Y axis
  • the reference position can be included in the local coordinate system, or the reference position can be included in the global coordinate system, thereby placing In a unified coordinate system.
  • the positioning parameters of the movable object 211 can be calculated in the following manner:
  • the relative position parameter between the movable object 211 and the reference position calculate the local coordinate PR1 of the movable object 211, where the local coordinates can be Cartesian coordinates or polar coordinates;
  • the local coordinate system can include the mapping or conversion relationship between the two coordinate systems.
  • the local coordinate PRr of the reference position is calculated, or the reference position Global coordinate PA0 (ie the positioning parameter of the reference position);
  • the local coordinate PR1 of the movable object 211 is mapped to the global coordinate system, and its global coordinate PA1 (that is, the positioning parameter of the movable object 211) is calculated.
  • the relative position parameters between the reference position and the reference position may be mapped from the local coordinate system to the global coordinate according to the positioning parameters of the reference position.
  • the positioning parameter of the reference position is obtained.
  • the relative position parameter between the reference position and the reference position can be used to calculate the offset between the reference position and the reference position in the global coordinate system, and the positioning parameter of the reference position can be added to the offset
  • the relative position parameter between the movable object 211 and the reference position is mapped from the local coordinate system to the global coordinate system by using a similar method to obtain the positioning parameter of the reference position; Positioning parameters of the moving object 211.
  • the measuring device 213 may also include a tracking mode.
  • a tracking mode it will be described by taking the measuring device 213 as a total station supporting the tracking mode as an example.
  • the total station emits pulses to track the movable object at a certain frequency, and the relative position parameter between the movable object 211 and the reference position can be measured in real time by laser.
  • wireless communication between the total station and the control device 214 is established, so that the measurement data of the total station in each epoch can be sent to the control device 214 for analysis.
  • the measurement data is sent in the form of data packets, which can include UTC time (Coordinated Universal Time) at each moment and the relative position parameters between the movable object 211 and the reference position (including distance, azimuth, vertical angle) And elevation difference etc.). Based on this, the state equation of the movable object 211 can be established to achieve precise positioning and control.
  • any suitable mathematical algorithm may be used to improve the positioning accuracy, for example, filtering (such as Kalman filtering, extended Kalman filtering, etc.) may be used to improve the positioning accuracy.
  • the calculation unit can perform Kalman filtering according to the relative position parameters between the movable object 211 and the reference position at the previous time and the current time.
  • Kalman filter can reduce the influence of error through optimization, so as to estimate the optimal relative position parameter of the movable object 211 and the reference position at the current moment, which is closer to the real situation.
  • the optimal relative position parameter between the movable object 211 and the reference position is used to replace the measured relative position parameter for calculation, and the positioning parameter of the movable object 211 is obtained, which is more accurate. high.
  • control device 214 after the control device 214 calculates the positioning parameters of the movable object 211, it can also plan the travel route of the movable object 211 according to the positioning parameters of the movable object 211, so as to realize accurate route planning and automatic navigation. .
  • any number of movable objects 211 can be set to locate each movable object 211, or any number of measuring devices 213 can be set to track and measure the movable objects 211 together; or the positioning device 212 can be set On the measuring device 213, if a GPS sensor is installed on the total station, the reference position and the reference position can be the same position; the control device 214 can also be a control device inside the movable object 211, so that the movable object 211 is flying while flying
  • the data sent by the measuring device 213 and the positioning device 212 are received, and functions such as travel control and automatic navigation are realized by calculating its own positioning parameters.
  • sensors such as visual positioning sensors, ultrasonic sensors, lidars, etc.
  • the acquired data is fused with the above-mentioned relative position parameters to finally obtain the movable object 211 Positioning parameters, the result is more reliable.
  • the positioning system may include N measuring devices, and N is a positive integer not less than 2, that is, at least two measuring devices may be provided.
  • the N measuring devices are respectively located at N preset reference positions, where the first measuring device is set at the first reference position and is used to measure the first relative position parameter of the movable object, and the reference position relative to the first reference position Relative position parameters; the second to Nth measuring devices are respectively set at the second to Nth reference positions, respectively used to measure the second relative position parameter to the Nth relative position parameter of the movable object; wherein, the i-th relative position parameter represents : The relative position parameter of the movable object measured by the i-th measuring device relative to the i-th reference position, i is any integer in [1,N].
  • control device may, based on the above-mentioned unified coordinate system, determine at least one of the relative position parameters of the reference position relative to the first reference position, the positioning parameter of the reference position, the first relative position parameter to the Nth relative position parameter of the movable object A relative position parameter and the position relationship between the N reference positions are calculated to determine the positioning parameter of the movable object. Because the measurement device has errors when measuring the relative position of the movable object, the measurement results are separately measured by N measuring devices, and the measurement results are combined to perform the positioning calculation of the movable object, which can reduce the influence of the error, further improve the positioning accuracy, and guarantee any There are measuring devices that can track movable objects at all times to further improve positioning reliability.
  • the total stations 501, 502, and 503 all track the UAV 504, and separately measure the first to third relative position parameters PR1, PR2, and PR3.
  • PR1, PR2, and PR3 For example, it can be each total station and unmanned
  • the distance and elevation difference between the aircraft 504 and the triangle formed by any two total stations and the UAV 504 are solved to obtain PR1, PR2, and PR3 including the angle.
  • it can be processed in the following two ways:
  • control device can receive the relative position parameters sent by the N measuring devices in real time, analyze it according to the above method, and use the filtering algorithm to optimize the real-time positioning of the drone to obtain its real-time position in the global coordinate system.
  • the preset route and waypoint can be localized. It is identified in the coordinate system, so that the UAV is planned in the local coordinate system, and the local coordinates are tracked in real time to achieve precise flight control.
  • the above method is also applicable to other types of movable objects such as unmanned vehicles and robots.
  • the movable object positioning system provided by this embodiment has a good tracking effect and can achieve sub-centimeter positioning accuracy.
  • the positioning device is used to measure the positioning parameters of the reference position, and the measuring device set at the reference position is used to measure the movable object, the reference position and the reference position.
  • the relative position parameters are calculated by the control device in the unified coordinate system to determine the positioning parameters of the movable object.
  • it provides a positioning system for movable objects in a sheltered environment, which can overcome the problem that the movable object cannot receive positioning signals and achieve accurate positioning, so as to facilitate the control and control of movable objects in a sheltered environment.
  • Engineering operations On the other hand, the composition of the positioning system is relatively simple, each component device is a relatively common device in engineering operations, the implementation cost is low, and the practicability is high.
  • the positioning system provided in this embodiment can also be used in an unobstructed environment.
  • the movable object if the movable object is operated in an unobstructed environment, its positioning parameters can be directly obtained through the positioning sensor on the movable object, and the positioning system 210 of FIG. 2 is used to measure and calculate the position of the movable object.
  • Positioning parameters, fusing the positioning parameters obtained by the two methods is equivalent to adopting a dual positioning method for movable objects, which can reduce the measurement error of either method and achieve higher accuracy and reliability.
  • Exemplary embodiments of the present disclosure also provide a method for positioning a movable object, which can be applied to the above-mentioned positioning system for movable objects, such as the positioning system 210 in FIG. 2.
  • the positioning method may include the following steps S610 to S640:
  • Step S610 obtaining the positioning parameters of the preset reference position
  • Step S620 measuring the relative position parameter between the movable object and the preset reference position, and the relative position parameter between the reference position and the reference position;
  • Step S630 establishing a unified coordinate system according to the relative position parameter between the movable object and the reference position, and the relative position parameter between the reference position and the reference position;
  • Step S640 based on the unified coordinate system, calculate the relative position parameter between the movable object and the reference position, the relative position parameter between the reference position and the reference position, and the positioning parameter of the reference position to determine the position of the movable object parameter.
  • the positioning system includes a movable object, a measuring device, a positioning device and a control device, and the movable object includes at least one of an unmanned aerial vehicle, an unmanned vehicle, and a robot.
  • Step S610 is executed by the positioning device
  • step S620 is executed by the measuring device
  • steps S630 and S640 are executed by the control device.
  • the reference position can be any position point in the unobstructed area.
  • the positioning signal can be better received at the reference position to measure the positioning parameters of the reference position.
  • the positioning parameters can use any type of global coordinates (ie absolute position coordinates), such as Gaussian coordinates etc.
  • the measuring device can perform measurement by emitting light signals, for example, it can be a total station; a reflective component can be installed on the movable object, so that the measuring device can transmit light signals to the reflective component and receive the light signals reflected by the reflective component.
  • the relative position parameter measured by the measuring device may include at least one of distance, angle (including horizontal angle and vertical angle, etc.) and elevation difference.
  • the relative position parameter of the movable object is measured to obtain the distance between the movable object and the reference position. The distance, angle and elevation difference of.
  • the movable object when it is in an occluded environment and cannot receive the positioning signal, it can be calculated based on the relative position relationship between the movable object, the reference position, and the reference position, combined with the positioning parameters of the reference position
  • the positioning parameters of the movable object, and the positioning accuracy is high, so as to solve the problem that the movable object cannot be accurately positioned under the obstructed environment.
  • step S630 can be implemented in the following ways: obtaining the global coordinate system corresponding to the positioning parameter of the reference position; establishing a local coordinate system based on the reference position; establishing a unified coordinate based on the local coordinate system and the global coordinate system system.
  • a unified coordinate system is established, the mapping between the global coordinate system and the local coordinate system is actually realized.
  • the movable object, the reference position, and the reference position can be included in the same coordinate system to facilitate subsequent calculations.
  • step S640 may be specifically implemented in the following manner: according to the positioning parameter of the reference position, the relative position parameter between the reference position and the reference position is mapped from the local coordinate system to the global coordinate system In, the positioning parameters of the reference position are obtained; according to the positioning parameters of the reference position, the relative position parameters between the movable object and the reference position are mapped from the local coordinate system to the global coordinate system to obtain the positioning parameters of the movable object.
  • This method calculates the relative position relationship between the movable object, the reference position, and the reference position separately, and first reduces it to the position analysis problem between the reference position and the reference position. After determining the positioning parameters of the reference position, the problem is simplified It is the problem of position analysis between the movable object and the reference position, thus simplifying the whole calculation process and improving efficiency.
  • the relative position parameter between the movable object and the reference position can be measured in real time; when calculating the positioning parameter of the movable object, it can also be based on the movable object and the reference position.
  • the relative position parameter between the previous moment and the current moment is obtained, and the optimal relative position parameter between the movable object and the reference position at the current moment is obtained.
  • any suitable mathematical algorithm may be used, for example, filtering (such as Kalman filtering, extended Kalman filtering, etc.) may be used, and the purpose is In order to improve the position accuracy: Take Kalman filter as an example.
  • the relative position parameter is measured by the measuring device, there is a measurement error.
  • Kalman filter can reduce the influence of the error, thereby estimating the current moment between the movable object and the reference position
  • the optimal relative position parameter of which is closer to the real situation.
  • the optimal relative position parameter between the movable object and the reference position is used to replace the measured relative position parameter for calculation, and the positioning parameter of the movable object is obtained with higher accuracy.
  • the positioning system of the movable object may include N measuring devices, which are respectively set at N preset reference positions, where N is a positive integer not less than 2, and the reference position is usually a general view. Good, measure the location point with larger coverage.
  • the positioning method of the movable object may be as shown in FIG. 7 and includes the following steps S710 to S750:
  • Step S710 Acquire positioning parameters of a preset reference position
  • Step S720 using N measuring devices to measure the first to Nth relative position parameters of the movable object, the i-th relative position parameter of the movable object is: the i-th reference position of the movable object measured by the i-th measuring device
  • the relative position parameter of, i is any integer within [1,N];
  • Step S730 using the first measuring device among the N measuring devices to measure the relative position parameter of the reference position relative to the first reference position;
  • Step S740 according to the relative position parameter of the reference position relative to the first reference position, at least one relative position parameter from the first relative position parameter to the Nth relative position parameter of the movable object, and the position relationship between the N reference positions , Establish a unified coordinate system;
  • Step S750 Based on the unified coordinate system, at least one relative position parameter of the relative position parameter of the reference position relative to the first reference position, the positioning parameter of the reference position, the first relative position parameter to the Nth relative position parameter of the movable object , And the positional relationship between the N reference positions are calculated to determine the positioning parameters of the movable object.
  • the measurement device may not be able to track the movable object.
  • Multiple measurement devices can improve the reliability of positioning.
  • the measurement of multiple measurement devices is integrated. The result of calculation can further improve the positioning accuracy.
  • the travel route of the movable object may be planned according to the positioning parameters of the movable object, so as to realize accurate route planning and automatic navigation.
  • the exemplary embodiment of the present disclosure also provides another method for positioning a movable object, which can be applied to a movable object, such as the movable object 211 in FIG. 2, which includes unmanned aerial vehicles, unmanned vehicles, and robots. at least one.
  • the positioning method may include the following steps S810 to S840:
  • Step S810 Acquire positioning parameters of a preset reference position
  • Step S820 acquiring the relative position parameter between the movable object and the preset reference position, and the relative position parameter between the reference position and the reference position;
  • Step S830 establishing a unified coordinate system according to the relative position parameter between the movable object and the reference position, and the relative position parameter between the reference position and the reference position;
  • Step S840 based on the unified coordinate system, calculate the relative position parameter between the movable object and the reference position, the relative position parameter between the reference position and the reference position, and the positioning parameter of the reference position to determine the position of the movable object parameter.
  • the positioning parameters of the reference position are measured by the positioning device and sent to the movable object, which can be any type of absolute position coordinates, such as Gaussian coordinates; the relative position parameters between the movable object and the reference position, and the reference position and reference
  • the relative position parameter between the positions is measured by the measuring device set at the reference position and sent to the movable object; the measuring device can be a total station; the relative position parameter can include the distance of the movable object or the reference position from the reference position, At least one of an angle (which may include a horizontal angle and a vertical angle, etc.) and an elevation difference;
  • the movable object may have processing functions, such as various data processing and calculations through a built-in control device.
  • the control device 214 in FIG. 2 is integrated on the movable object 211, and the method shown in FIG. 8 is the method executed by the control device 214 in the positioning process, so that the movable object 211 can realize its own positioning. Based on this, the movable object synchronizes its own positioning during the execution of the work task, and can plan the travel route according to the positioning information to achieve a high degree of automation of the work.
  • step S830 can be implemented in the following ways: obtaining the global coordinate system corresponding to the positioning parameter of the reference position; establishing a local coordinate system based on the reference position; establishing a unified coordinate based on the local coordinate system and the global coordinate system system.
  • a unified coordinate system is established, the mapping between the global coordinate system and the local coordinate system is actually realized.
  • the movable object, the reference position, and the reference position can be included in the same coordinate system to facilitate subsequent calculations.
  • step S840 may be specifically implemented in the following manner: according to the positioning parameter of the reference position, the relative position parameter between the reference position and the reference position is mapped from the local coordinate system to the global coordinate system In, the positioning parameters of the reference position are obtained; according to the positioning parameters of the reference position, the relative position parameters between the movable object and the reference position are mapped from the local coordinate system to the global coordinate system to obtain the positioning parameters of the movable object.
  • This method calculates the relative position relationship between the movable object, the reference position, and the reference position separately, and first reduces it to the position analysis problem between the reference position and the reference position. After determining the positioning parameters of the reference position, the problem is simplified It is the problem of position analysis between the movable object and the reference position, thus simplifying the whole calculation process and improving efficiency.
  • the relative position parameter between the movable object and the reference position can be acquired in real time; when calculating the positioning parameter of the movable object, it can also be based on the movable object and the reference position.
  • the relative position parameter between the previous moment and the current moment is obtained, and the optimal relative position parameter between the movable object and the reference position at the current moment is obtained.
  • any suitable mathematical algorithm may be used, for example, filtering (such as Kalman filtering, extended Kalman filtering, etc.) may be used, and the purpose is In order to improve the position accuracy: Take Kalman filter as an example.
  • the relative position parameter is measured by the measuring device, there is a measurement error.
  • Kalman filter can reduce the influence of the error, thereby estimating the current moment between the movable object and the reference position
  • the optimal relative position parameter of which is closer to the real situation.
  • the optimal relative position parameter between the movable object and the reference position is used to replace the directly obtained relative position parameter for calculation to obtain the positioning parameter of the movable object with higher accuracy.
  • the aforementioned reference positions may include N preset reference positions, where N is a positive integer not less than 2; based on this, step S820 may include:
  • the i-th relative position parameter of the movable object is: the relative position parameter of the movable object relative to the i-th reference position, i is any integer in [1,N] ;
  • step S840 may include:
  • the relative position parameter of the reference position relative to the first reference position, the positioning parameter of the reference position, at least one relative position parameter of the first to Nth relative position parameters of the movable object, and N reference positions is calculated to determine the positioning parameters of the movable object.
  • the N reference positions are usually the position points with good visibility and large measurement coverage; at each moment, due to terrain obstructions and other reasons, the measurement device may not be able to track the movable object.
  • Multiple measurement devices can be set up. Improve the reliability of the positioning, and because the measurement has errors, the measurement results of multiple measuring devices are combined for calculation, which can further improve the positioning accuracy.
  • the travel route of the movable object may be planned according to the positioning parameters of the movable object, so as to realize accurate route planning and automatic navigation.
  • Exemplary embodiments of the present disclosure also provide a movable object, which may include a fuselage, a power system, and a control device provided in the fuselage.
  • the control device can execute the above-mentioned positioning method of the movable object, as shown in FIG. 8 shows the method and so on to locate the movable object.
  • FIG. 9 shows the movable object 900 in the form of a general electronic device. It should be understood that the movable object 900 is only an example, and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.
  • the control device of the movable object 900 may include a central processing unit (CPU) 901, which may be loaded to a random access memory (RAM) according to a program stored in a read-only memory (ROM) 902 or from a storage portion 908 )
  • the program in 903 executes various appropriate actions and processing.
  • RAM 903 various programs and data required for system operation are also stored.
  • the CPU 901, the ROM 902, and the RAM 903 are connected to each other through a bus 904.
  • An input/output (I/O) interface 905 is also connected to the bus 904.
  • the following components are connected to the I/O interface 905: an input section 906 including a keyboard, a mouse, etc.; an output section 907 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and speakers, etc.; a storage section 908 including a hard disk, etc. ; And a communication section 909 including a network interface card such as a LAN card, a modem, etc. The communication section 909 performs communication processing via a network such as the Internet.
  • the drive 910 is also connected to the I/O interface 905 as needed.
  • a removable medium 911 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 910 as required, so that the computer program read therefrom is installed into the storage portion 908 as required.
  • the process described below with reference to the flowchart can be implemented as a computer software program.
  • the embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart.
  • the computer program may be downloaded and installed from the network through the communication part 909, and/or installed from the removable medium 911.
  • CPU central processing unit
  • the various components of the above-mentioned movable object 900 are provided in the body 912.
  • the movable object 900 also includes a power system 913, and the control device can control the power system 913 through the I/O interface 905.
  • the present disclosure also provides a computer-readable medium.
  • the computer-readable medium may be included in the movable object described in the above-mentioned embodiments; it may also exist alone without being assembled into the movable object. Moving objects.
  • the foregoing computer-readable medium carries one or more programs, and when the foregoing one or more programs are executed by a processor, the method as described in the foregoing embodiment is implemented. For example, the processor may implement various steps as shown in FIG. 8 and so on.
  • the computer-readable medium shown in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two.
  • the computer-readable storage medium may be, for example, but not limited to, an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable Programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.
  • a computer-readable signal medium may include a data signal propagated in a baseband or as a part of a carrier wave, and a computer-readable program code is carried therein. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium.
  • the computer-readable medium can send, propagate or transmit the program for use by or in combination with the instruction execution system, apparatus, or device .
  • the program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.
  • each block in the flowchart or block diagram may represent a module, program segment, or part of code, and the above-mentioned module, program segment, or part of code contains one or more for realizing the specified logical function Executable instructions.
  • the functions marked in the block may also occur in a different order from the order marked in the drawings. For example, two blocks shown in succession can actually be executed substantially in parallel, or they can sometimes be executed in the reverse order, depending on the functions involved.
  • each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be It is realized by a combination of dedicated hardware and computer instructions.
  • the units involved in the embodiments described in the present disclosure can be implemented in software or hardware, and the described units can also be provided in a processor. Among them, the names of these units do not constitute a limitation on the unit itself under certain circumstances.
  • the exemplary embodiments described herein can be implemented by software, or can be implemented by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (can be a CD-ROM, U disk, mobile hard disk, etc.) or on the network , Including several instructions to make a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) execute the method according to the exemplary embodiment of the present disclosure.
  • a computing device which may be a personal computer, a server, a terminal device, or a network device, etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un système et un procédé de positionnement d'un objet mobile, ledit objet mobile et un support d'informations. Le système de positionnement comprend : un objet mobile (211) ; un dispositif de positionnement (212) utilisé pour acquérir un paramètre de positionnement d'une position de référence prédéfinie ; un dispositif de mesure (213) disposé sur une position de repère prédéfinie et utilisé pour mesurer un paramètre de position relative entre l'objet mobile (211) et la position de repère, et un paramètre de position relative entre la position de référence et la position de repère ; et un dispositif de commande (214) utilisé pour établir un système de coordonnées unifié en fonction du paramètre de position relative entre l'objet mobile (211) et la position de repère et du paramètre de position relative entre la position de référence et la position de repère, et calculer le paramètre de position relative et un paramètre de positionnement de la position de référence en fonction du système de coordonnées unifié, de façon à déterminer un paramètre de positionnement de l'objet mobile. L'objet mobile peut être positionné avec précision dans un environnement où une barrière est présente.
PCT/CN2019/101817 2019-08-21 2019-08-21 Système et procédé de positionnement d'objet mobile, objet mobile et support d'informations WO2021031158A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2019/101817 WO2021031158A1 (fr) 2019-08-21 2019-08-21 Système et procédé de positionnement d'objet mobile, objet mobile et support d'informations
CN201980039139.8A CN112334790A (zh) 2019-08-21 2019-08-21 可移动物体的定位系统与定位方法、可移动物体、存储介质

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/101817 WO2021031158A1 (fr) 2019-08-21 2019-08-21 Système et procédé de positionnement d'objet mobile, objet mobile et support d'informations

Publications (1)

Publication Number Publication Date
WO2021031158A1 true WO2021031158A1 (fr) 2021-02-25

Family

ID=74319821

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/101817 WO2021031158A1 (fr) 2019-08-21 2019-08-21 Système et procédé de positionnement d'objet mobile, objet mobile et support d'informations

Country Status (2)

Country Link
CN (1) CN112334790A (fr)
WO (1) WO2021031158A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112965042B (zh) * 2021-03-01 2022-04-26 沃行科技(南京)有限公司 一种基于架空接触网无人矿卡驾驶定位方法
CN114061573B (zh) * 2021-11-16 2024-03-22 中国人民解放军陆军工程大学 地面无人车辆编队定位装置及方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104316904A (zh) * 2014-08-19 2015-01-28 营口瑞华高新科技有限公司 矿井巷道无线移动终端高精度定位的方法
CN205563277U (zh) * 2016-02-03 2016-09-07 华南农业大学 基于北斗定位系统对飞控手飞行质量的评价系统
CN108012324A (zh) * 2016-10-26 2018-05-08 华为技术有限公司 一种获得位置关系的方法和寻物的方法、设备及系统
CN108873934A (zh) * 2018-07-04 2018-11-23 溧阳汉和智能装备科技有限公司 一种无人机的航线规划与校准方法以及航线控制系统
CN109782225A (zh) * 2019-01-18 2019-05-21 杭州微萤科技有限公司 一种基站坐标的定位方法
CN109883317A (zh) * 2019-03-06 2019-06-14 株洲太昌电子信息技术股份有限公司 一种基于卫星定位的铁路弯道测绘方法
US20190219393A1 (en) * 2018-01-12 2019-07-18 Topcon Corporation Three-dimensional surveying device and three-dimensional surveying method

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4933852B2 (ja) * 2006-07-07 2012-05-16 清水建設株式会社 Ｇｐｓを用いた測量システム
RU2419808C1 (ru) * 2007-05-24 2011-05-27 Теле Атлас Б.В. Устройство, способ и программа позиционирования с режимами абсолютного и относительного позиционирования
TWI357493B (en) * 2007-10-12 2012-02-01 Grt Tech Co Ltd Augmented navigation system and method of a moving
EP2511781A1 (fr) * 2011-04-14 2012-10-17 Hexagon Technology Center GmbH Système et procédé de commande d'un aéronef sans pilote
CN106226803A (zh) * 2016-07-18 2016-12-14 深圳市华信天线技术有限公司 定位方法、装置及无人机
JP6813427B2 (ja) * 2016-08-31 2021-01-13 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ 位置測定システム、位置測定方法、および移動ロボット
CN108279003A (zh) * 2018-02-01 2018-07-13 福州大学 一种基于适用于变电站使用的无人机高精度定位巡检系统
CN109099901B (zh) * 2018-06-26 2021-09-24 中科微易(苏州)智能科技有限公司 基于多源数据融合的全自动压路机定位方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104316904A (zh) * 2014-08-19 2015-01-28 营口瑞华高新科技有限公司 矿井巷道无线移动终端高精度定位的方法
CN205563277U (zh) * 2016-02-03 2016-09-07 华南农业大学 基于北斗定位系统对飞控手飞行质量的评价系统
CN108012324A (zh) * 2016-10-26 2018-05-08 华为技术有限公司 一种获得位置关系的方法和寻物的方法、设备及系统
US20190219393A1 (en) * 2018-01-12 2019-07-18 Topcon Corporation Three-dimensional surveying device and three-dimensional surveying method
CN108873934A (zh) * 2018-07-04 2018-11-23 溧阳汉和智能装备科技有限公司 一种无人机的航线规划与校准方法以及航线控制系统
CN109782225A (zh) * 2019-01-18 2019-05-21 杭州微萤科技有限公司 一种基站坐标的定位方法
CN109883317A (zh) * 2019-03-06 2019-06-14 株洲太昌电子信息技术股份有限公司 一种基于卫星定位的铁路弯道测绘方法

Also Published As

Publication number Publication date
CN112334790A (zh) 2021-02-05

Similar Documents

Publication Publication Date Title
Wen et al. GNSS NLOS exclusion based on dynamic object detection using LiDAR point cloud
US11808863B2 (en) Methods and systems for location determination
JP7328282B2 (ja) 乗物を測位するための方法、装置、機器及び記憶媒体
WO2021031158A1 (fr) Système et procédé de positionnement d'objet mobile, objet mobile et support d'informations
EP2572545A1 (fr) Détermination de la localisation géographique d'un dispositif électronique portable
CN110823211A (zh) 基于视觉slam的多传感器地图构建的方法、装置及芯片
EP4109137A1 (fr) Capture de balayages environnementaux à l'aide d'un robot de transporteur automatisé
CN110988949A (zh) 定位方法、定位装置、计算机可读存储介质与可移动设备
CN115166791A (zh) 一种智能驾驶车辆双gnss天线航向角标定方法及装置
US10462610B1 (en) Low latency client location estimation with dynamic integration of server output
Wang et al. Optimized bias estimation model for 3-D radar considering platform attitude errors
JP4794416B2 (ja) 目標位置標定装置
Zhang et al. 3D digital track map-based GNSS NLOS signal analytical identification method
US11500110B2 (en) Localization using bearing from environmental features
Sun et al. Underwater asynchronous navigation using single beacon based on the phase difference
US11391848B2 (en) Localization using doppler shifts of reflected signals
RU2617147C1 (ru) Способ начального ориентирования гироскопической навигационной системы для наземных подвижных объектов
US20220341751A1 (en) Systems and methods for multi-sensor mapping using a single device that can operate in multiple modes
US20230168387A1 (en) Measurement apparatus, measurement method and program
Zhang et al. Large-area super-resolution 3D digital maps for indoor and outdoor wireless channel modeling
KR102036080B1 (ko) 휴대형 위치 결정 장치 및 휴대형 위치 결정 장치 동작 방법
US20210263531A1 (en) Mapping and simultaneous localisation of an object in an interior environment
Guo et al. Relative localization for quadcopters using ultrawideband sensors
Elsayed et al. From Stationary to Mobile: Unleashing the Full Potential of Terrestrial LiDAR through Sensor Integration
US20230324563A1 (en) Method for Creating an Environment Model

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19942281

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19942281

Country of ref document: EP

Kind code of ref document: A1