WO2021056503A1

WO2021056503A1 - Positioning method and apparatus for movable platform, movable platform, and storage medium

Info

Publication number: WO2021056503A1
Application number: PCT/CN2019/108862
Authority: WO
Inventors: 周游; 叶长春; 杨振飞
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-09-29
Filing date: 2019-09-29
Publication date: 2021-04-01
Also published as: CN112154480B; CN112154480A

Abstract

A positioning method and apparatus for a movable platform, a movable platform, and a storage medium. The movable platform comprises a rotary vision module, a fixed vision module, and a fuselage. The method comprises: determining the conversion relation between a reference coordinate system of the rotary vision module and a reference coordinate system of the fixed vision module, the reference coordinate system of the rotary vision module being determined according to the attitude of the rotary vision module at the initialization moment; the reference coordinate system of the fixed vision module being a coordinate system of the fuselage (S201); and converting motion information acquired by the rotary vision module to the reference coordinate system of the fixed vision module on the basis of the conversion relation (S202). The method can position the movable platform on the basis of the rotary vision module.

Description

Positioning method, device, movable platform and storage medium of movable platform

Technical field

The embodiments of the present application relate to the field of computer vision, and in particular, to a positioning method and device of a movable platform, a movable platform, and a storage medium.

Background technique

At present, in some devices with vision systems and ranging modules, a rotating vision module is usually used to collect surrounding environment information through 360-degree rotation without dead angles, and then perform obstacle detection to achieve multi-directional obstacle avoidance. In this type of equipment, the rotating vision module is only used for obstacle detection, and positioning needs to rely on GPS. However, positioning cannot be achieved in areas where the GPS signal is weak or even without GPS signal.

Summary of the invention

The embodiment of the application provides a positioning method, device, movable platform, and storage medium of a movable platform, so as to realize the positioning of the device through the rotation vision module on the device, so that the utilization rate of the rotation vision module is higher, and the GPS The location of the device can also be achieved in areas where the signal is weak or even without GPS signals.

The first aspect of the embodiments of the present application is to provide a positioning method of a movable platform, the movable platform includes a rotating vision module, a fixed vision module, and a body; the method includes: determining the reference coordinates of the rotating vision module The conversion relationship between the reference coordinate system of the fixed vision module and the reference coordinate system of the fixed vision module. The reference coordinate system of the rotary vision module is determined according to the posture of the rotary vision module at the time of initialization. The reference coordinate of the fixed vision module The system is the coordinate system of the fuselage; based on the conversion relationship, the motion information collected by the rotating vision module is converted to the reference coordinate system of the fixed vision module.

The second aspect of the embodiments of the present application is to provide a positioning device for a movable platform. The movable platform includes a rotating vision module, a fixed vision module, and a body; the positioning device includes: a memory and a processor; The memory is used to store program code; the processor calls the program code, and when the program code is executed, it is used to perform the following operations: determine the distance between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module Conversion relationship, the reference coordinate system of the rotation vision module is determined according to the posture of the rotation vision module at the time of initialization, and the reference coordinate system of the fixed vision module is the coordinate system of the fuselage; based on the conversion Relationship, converting the motion information collected by the rotating vision module to the reference coordinate system of the fixed vision module.

The third aspect of the embodiments of the present application is to provide a movable platform, including: a fuselage; a power system installed on the fuselage for providing motion power; a rotating vision module and a fixed vision module for collecting the Movement information of the fuselage; and the positioning device described in the first aspect.

The fourth aspect of the embodiments of the present application is to provide a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method described in the first aspect.

The positioning method, device, movable platform, and storage medium of a movable platform provided in this embodiment rotate the reference coordinate system of the vision module through the conversion relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module The coordinate system is determined according to the posture of the rotating vision module at the time of initialization. The reference coordinate system of the fixed vision module is the coordinate system of the fuselage; based on the conversion relationship, the movement information collected by the rotating vision module is converted to the reference coordinates of the fixed vision module system. By using the existing rotating vision module and fixed vision module on the fuselage, the coordinate system conversion relationship between the coordinate system of the fuselage and the reference coordinate system of the rotating vision module is determined, and then the movable vision module collected by the rotating vision module The movement information of the platform is converted to the coordinate system of the fuselage, so as to realize the positioning of the movable platform.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

Figure 1 is a schematic diagram of the structure of a drone provided by an embodiment of the application;

2 is a flowchart of a positioning method for a movable platform provided by an embodiment of the application;

FIG. 3 is a schematic diagram of the principle of coordinate system conversion provided by an embodiment of the application;

FIG. 4 is a schematic structural diagram of a positioning device for a movable platform provided by an embodiment of the application.

Reference signs:

10: UAV; 11: body; 12: rotating vision module; 13: fixed vision module; 41: memory; 42: processor; 43: communication interface.

detailed description

The technical solutions in the embodiments of the present application will be clearly described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or a central component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a centered component at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of this application. The terms used in the specification of the application herein are only for the purpose of describing specific embodiments, and are not intended to limit the application. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Movable platforms are equipment equipped with vision systems and ranging modules, such as handheld camera equipment, aerial photography vehicles or other vehicles with multiple cameras, unmanned vehicles, drones, unmanned ships, VR/AR glasses , Dual-camera mobile phones, robots with vision sensors, etc. For ease of understanding, the following embodiments of the present application will take a drone as an example for exemplification. It should be understood that as long as it is a device with a vision system and a ranging module, it can be implemented using the positioning method of the embodiments of the present application. Positioning.

Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application. As shown in FIG. 1, the drone 10 includes: a body 11, a rotating vision module 12, and a fixed vision module 13. The rotating vision module 12 and the fixed vision module 13 are both installed on the body 11; among them, the rotating vision module 12 It is a vision module fixed on a rotating mechanical structure. The rotating vision module 12 can have different rotation modes. One of the rotation modes is to keep the vision module facing a certain target direction, such as the flight direction of the drone. , Control the UAV to turn, or to face potential obstacles; Another way of rotation is to continuously rotate 360 degrees around the Z axis of the UAV fuselage. Optionally, the rotation vision module 12 includes an inertial measurement unit (Inertial Measurement Unit, IMU) (not shown in the figure), and an angle measurement module (not shown in the figure) arranged between the rotation vision module 12 and the fuselage 11 ), the angle measurement module can be a photoelectric code disc or a Hall element. The fixed vision module 13 is a vision module fixed on the fuselage 11 and fixed to a certain direction of the fuselage. Optionally, the rotating vision module 12 may be installed on the top of the drone 10 to rotate 360 degrees around the Z axis of the drone 10, and the fixed vision module 13 may be installed below the drone 10 to rotate the vision module 12 cooperates with the fixed vision module 13 to complete the omni-directional detection of obstacles. It should be understood that the arrangement of the rotating vision module 12 and the fixed vision module 13 on the fuselage 11 is only an example, and the arrangement of the rotating vision module 12 and the fixed vision module 13 on the fuselage 11 is not specifically limited.

The embodiment of the present application provides a positioning method of a movable platform. Fig. 1 is a flowchart of a method for positioning a movable platform provided by an embodiment of the application. As shown in Figure 1, the method in this embodiment may include:

Step S201: Determine the conversion relationship between the reference coordinate system of the rotation vision module and the reference coordinate system of the fixed vision module. The reference coordinate system of the rotation vision module is determined according to the posture of the rotation vision module at the initialization time. The reference coordinate system is the coordinate system of the fuselage.

In this embodiment, the reference coordinate system of the fixed vision module may be a world coordinate system calculated according to the attitude information given by the flight control device of the drone in the initial state, that is, the world coordinate system considered by the fixed vision module.

The reference coordinate system of the rotation vision module may be the posture of the rotation vision module at the initialization time as the reference coordinate system of the rotation vision module.

Step S202, based on the conversion relationship, convert the motion information collected by the rotating vision module to the reference coordinate system of the fixed vision module.

As shown in Figure 1, during the flight of the UAV 10, the rotating vision module 12 will collect the motion information of the fuselage in real time. The motion information is the motion information in the reference coordinate system of the rotating vision module 12, and then based on step S101 The conversion relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module determined in the, convert the motion information in the reference coordinate system of the rotating vision module 12 to the reference coordinate system of the fixed vision module, that is In the coordinate system of the fuselage, the motion information of the fuselage in the fuselage coordinate system is thus obtained. Optionally, the motion information may be at least one of displacement information, attitude information, and speed information of the fuselage. After converting the motion information of the fuselage to the fuselage coordinate system, the movable platform can be positioned based on the motion information in the fuselage coordinate system.

This embodiment uses the conversion relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module. The reference coordinate system of the rotating vision module is determined according to the posture of the rotating vision module at the time of initialization. The reference coordinate system is the coordinate system of the fuselage; based on the conversion relationship, the motion information collected by the rotating vision module is converted to the reference coordinate system of the fixed vision module. By using the existing rotating vision module and fixed vision module on the fuselage, the coordinate system conversion relationship between the coordinate system of the fuselage and the reference coordinate system of the rotating vision module is determined, and then the movable vision module collected by the rotating vision module The movement information of the platform is converted to the coordinate system of the fuselage, so as to realize the positioning of the movable platform.

Optionally, determining the conversion relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module includes: determining the yaw angle difference between the rotating vision module and the fuselage; and determining based on the yaw angle difference The conversion relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module. Among them, the attitude angle of the fuselage includes yaw angle yaw, pitch angle pitch and roll angle roll. Since the rotating vision module rotates around the Z axis of the fuselage, there is a yaw angle between the rotating vision module and the fuselage. The difference is called the yaw angle difference. Based on the yaw angle difference, the conversion relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module can be determined.

In the above embodiment, the yaw angle difference can be determined in the following ways:

In the first achievable implementation, the yaw angle difference may be obtained by obtaining the angular velocity of the rotation of the rotating vision module measured by the inertial measurement unit IMU; and integrating the angular velocity.

In the second achievable implementation manner, the yaw angle difference may also be obtained by obtaining the difference between the yaw angle between the rotating vision module and the fuselage measured by the angle measurement module.

In the third achievable implementation manner, in order to further improve the accuracy of the yaw angle difference, the yaw angle difference can also be input to the Kalman filter to determine a higher-precision yaw through the output of the Kalman filter. The angle is poor.

It should be understood that the above three implementation manners do not limit the embodiments of the present application. Those skilled in the art can determine the yaw angle difference in other ways on the basis of the above-mentioned embodiments.

Optionally, determining the yaw angle difference between the rotation vision module and the fuselage includes: obtaining the yaw angle difference between the rotation vision module and the fuselage at the current moment; obtaining the angular velocity of the rotation of the rotation vision module; at least based on the rotation vision The yaw angle difference between the module and the fuselage at the current moment and the angular velocity at which the rotating vision module rotates determine the yaw angle difference between the rotating vision module and the fuselage. In this embodiment, the yaw angle difference between the rotating vision module and the fuselage at the current moment may be the yaw angle difference obtained by the above-mentioned first and second implementation manners. The angular velocity of the rotation of the rotation vision module can be detected by the IMU on the fuselage, at least based on the yaw angle difference between the rotation vision module and the fuselage at the current moment and the angular velocity of the rotation of the rotation vision module to determine the rotation vision module and the machine. The yaw angle difference between the bodies can be determined according to the following formula (1):

θ _k+1 =θ _k +ω _k+1 Δt; (1)

In formula (1), θ _k+1 is the predicted value of the yaw angle difference at the next moment, ω _k+1 is the angular velocity at which the rotation vision module rotates, and θ _k is the deviation between the rotation vision module and the fuselage at the current moment. The flight angle difference, Δt is the update time of the IMU. For example, if the update frequency of the IMU is 400HZ, then Δt=1000/400=2.5ms.

Optionally, when the yaw angle difference is determined by the Kalman filter, the yaw angle difference between the rotation vision module and the fuselage at the current moment, and the angular velocity of the rotation vision module to determine the distance between the rotation vision module and the fuselage The yaw angle difference includes: input the yaw angle difference between the rotation vision module and the fuselage at the current moment and the angular velocity of the rotation vision module to the Kalman filter respectively to determine the rotation vision through the output of the Kalman filter The yaw angle difference between the module and the fuselage.

In this embodiment, when the yaw angle difference is determined by the Kalman filter, θ _k and ω _k+1 in the above formula (1) are input into the Kalman filter together, and the Kalman filter will be based on θ _k And ω _k+1 output a predicted value, this predicted value is the yaw angle difference θ _k+1 . Among them, θ _k is the yaw angle difference output by the Kalman filter at the previous moment, and ω _k+1 can be regarded as the Gaussian white noise of the Kalman filter. Taking θ _k and ω _k+1 as the input of the Kalman filter, the Kalman filter will output the predicted value θ _k+1 of the yaw angle difference at the next moment.

Optionally, when optimizing the determined yaw angle difference based on the measured yaw angle difference, the predicted value θ _k+1 of the yaw angle difference obtained by the foregoing embodiment, and the angle measured by the angle measurement module [theta] values or the IMU is measured as the integrated value of the angular speed measurement value input Kalman filter, the Kalman filter so that a prediction value θ _{k + 1} is updated in accordance with the predicted value θ _{k + 1,} and the measured values, will be updated _{k+1 is} used as the yaw angle difference, so that the predicted value θ _k+1 of the yaw angle difference output by the Kalman filter is further optimized to obtain a more accurate yaw angle difference.

Optionally, determining the yaw angle difference between the rotation vision module and the fuselage includes: acquiring the yaw angle difference between the rotation vision module and the fuselage at the current moment; acquiring the rotation vision The angular velocity at which the module rotates; the offset of the inertial measurement unit is obtained; based on the yaw angle difference between the rotating vision module and the fuselage at the current moment, the angular velocity at which the rotating vision module rotates, and the inertia The offset of the measuring unit determines the yaw angle difference between the rotating vision module and the fuselage.

Optionally, the determining the deviation between the rotation vision module and the body based on the yaw angle difference between the rotation vision module and the fuselage at the current moment, and the angular velocity at which the rotation vision module rotates The heading angle difference includes: inputting the yaw angle difference between the rotating vision module and the fuselage at the current moment, the angular velocity of the rotating vision module and the offset of the inertial measurement unit respectively into Kalman filter The output of the Kalman filter is used to determine the yaw angle difference between the rotating vision module and the fuselage.

On the basis of the foregoing embodiment, the yaw angle difference between the rotating vision module and the fuselage is determined based on at least the yaw angle difference between the rotating vision module and the fuselage at the current moment and the angular velocity of the rotating vision module rotating, which may be Determine according to the following formula (2):

θ _k+1 =θ _k +(ω _k+1 -b _w|k+1 )Δt; (2)

In formula (2), θ _k+1 is the yaw angle difference between the rotating vision module and the fuselage at the next moment predicted by the Kalman filter, ω _k+1 is the angular velocity at which the rotating vision module rotates, θ _k The yaw angle difference between the rotating vision module and the fuselage at the current moment predicted by the Kalman filter, Δt is the update time of the IMU, for example, the update frequency of the IMU is 400HZ, then Δt=1000/400=2.5ms, b _w|k+1 is the bias of the IMU, b _w|k+1 = b _w|k .

The above formula (2) can be written in the following matrix form:

In formula (3), θ _k and b _ω|k are the yaw angle difference and offset output by the Kalman filter at the previous moment, and ω _k+1 ·Δt can be regarded as the Gaussian white noise of the Kalman filter . Taking θ _k , b _ω|k and ω _k+1 ·Δt as the input of the Kalman filter, the Kalman filter will output the predicted value of the yaw angle difference and the offset at the next moment, θ _k+1 and b _ω|k+1 , b _{ω changes} at a slow speed, so it can be regarded as a constant value.

Optionally, after obtaining the yaw angle difference through the Kalman filter, the method of this embodiment further includes: obtaining the yaw angle difference between the rotating vision module and the fuselage measured by the angle measurement module; The heading angle difference optimizes the determined yaw angle difference. Specifically, the yaw angle difference measured by the above-mentioned first embodiment or the second embodiment is used as the measured value, and the predicted value of the yaw angle difference output by the Kalman filter is optimized to obtain more accurate The yaw angle is poor. _{For example, the predicted value θ k+1} of the yaw angle difference obtained through the above embodiment, and the angle value measured by the angle measurement module or the integral value of the angular velocity measured by the IMU are input as the measured value to the Kalman filter, that the Kalman filter prediction value θ _{k + 1} is updated in accordance with the predicted value θ _{k + 1,} and the measured value, the updated θ _{k + 1} as the yaw angle difference, so that the output of the yaw angle of the Kalman filter The predicted value of the difference θ _k+1 is further optimized to obtain a more accurate yaw angle difference.

On the basis of the foregoing embodiment, based on the yaw angle difference, determining the conversion relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module includes: determining the reference coordinate system of the rotating vision module and the fixed vision module The target translation relationship between the reference coordinate systems; determine the target rotation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module; determine the reference coordinate system of the rotation vision module based on the target rotation relationship and the target translation relationship The conversion relationship with the reference coordinate system of the fixed vision module.

Optionally, determining the target rotation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module includes: determining the relationship between the fixed vision module coordinate system and the reference coordinate system of the fixed vision module The first rotation relationship; determine the second rotation relationship between the rotation vision module coordinate system and the reference coordinate system of the rotation vision module; determine the third rotation relationship between the rotation vision module coordinate system and the fixed vision module coordinate system Rotation relationship; determining the target rotation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module based on the first rotation relationship, the second rotation relationship, and the third rotation relationship .

Optionally, the third rotation relationship is determined based on the yaw angle difference between the rotation vision module and the fuselage.

In this embodiment, as shown in Figure 3, it is assumed that the coordinate system of the fixed vision module is the VIO ₁ coordinate system, the reference coordinate system of the _{VIO 1} _{coordinate system is the NEG 1} coordinate system; the coordinate system of the rotating vision module is the VIO ₂ coordinate system, The reference coordinate system of the VIO ₂ _{coordinate system is the NEG 2} coordinate system. The method for determining the NEG ₁ coordinate system and the NEG ₂ coordinate system has been introduced in the foregoing embodiment, and will not be repeated here.

Optionally, the target rotation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module

It can be determined by the following formula (4):

In formula (4),

The rotation relationship between the VIO ₁ coordinate system and the NEG ₁ coordinate system can be obtained based on the VIO algorithm of the fixed vision module, where the VIO algorithm can be referred to the introduction of the prior art, which is not described in detail in this application;

The rotation relationship between the VIO ₂ coordinate system and the NEG ₂ coordinate system can be calculated based on the IMU on the rotating vision module and the rotating mechanical structure and calculated by the VIO algorithm. The VIO algorithm can be referred to the introduction of the prior art. Make a detailed introduction;

It is the rotation relationship from the VIO ₂ coordinate system to the VIO ₁ coordinate system, and the rotation relationship from the VIO ₂ coordinate system to the VIO ₁ coordinate system

It is determined based on the yaw angle difference between the rotating vision module and the fuselage determined in the foregoing embodiment. specific,

It is determined by the following formula (5):

In formula (5), θ _z is the yaw angle difference between the rotating vision module and the fuselage, that is, the yaw angle difference determined by the above three implementations. In other words, the yaw angle difference here can be obtained by obtaining the difference between the yaw angle between the rotation vision module and the fuselage measured by the angle measurement module, or by obtaining the rotation measured by the inertial measurement unit IMU The angular velocity of the rotation of the vision module and the integration of the angular velocity can also be the yaw angle difference determined by the Kalman filter. Optionally, when the yaw angle difference is the yaw angle difference determined by the Kalman filter, it can be the predicted value output by the Kalman filter, or it can be an optimized update of the predicted value output by the Kalman filter. value.

Optionally, determining the target translation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module includes: determining the difference between the fixed vision module coordinate system and the reference coordinate system of the fixed vision module Determine the second rotation relationship and the second translation relationship between the rotation vision module coordinate system and the reference coordinate system of the rotation vision module; determine the rotation vision module coordinate system and The third rotation relationship and the third translation relationship between the fixed vision module coordinate systems; based on the first rotation relationship, the first translation relationship, the second rotation relationship, the second translation relationship, the third rotation relationship, and the third translation relationship Determine the target translation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module.

^{In this embodiment, the target translation relationship G1} t _G2 between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module can be determined by the following formula (6):

In formula (6), ^V1 t _V2 is the translational relationship from the VIO ₂ coordinate system to the VIO ₁ coordinate system. The rotating mechanical structure of the fixed vision module and the rotating vision module are both fixed on the fuselage. Therefore, the VIO ₂ coordinate system is The translational relationship of the VIO ₁ coordinate system can be determined according to the positional relationship of the rotating mechanical structure of the fixed vision module and the rotating vision module. For example, if the movable platform is a drone, it can be obtained from the design drawing of the drone; ^G1 t _V1 is the translational relationship from the VIO ₁ coordinate system to the NEG ₁ coordinate system. The center of gravity of the movable platform can be selected as _{the origin of the NEG 1} coordinate system, the center position of the vision sensor is the origin of the VIO ₁ coordinate system, and the center of gravity of the drone The center position of the point and the vision sensor are fixed. Therefore, the positional relationship between the center of gravity of the movable platform and the center position of the vision sensor is also fixed. If the movable platform is a drone, it can be passed through the drone. ^G1 t _V1 obtained from the UAV’s design drawing can be further optimized through the VIO algorithm to obtain a more accurate ^G1 t _V1 ; ^G2 t _V2 is the VIO ₂ coordinate system to the NEG ₂ coordinate system The translation relationship of the rotation vision module can be selected as _{the origin of the NEG 2} coordinate system, and the origin of the VIO ₂ coordinate system is at the center of the vision sensor. The position relationship between the rotation center point of the rotation vision module and the center of the vision sensor is also Fixed, therefore, can be obtained from the design drawings of the movable platform.

Optionally, based on the conversion relationship, converting the motion information of the fuselage collected by the rotating vision module to the reference coordinate system of the fixed vision module includes: acquiring the motion information of the fuselage collected by the rotating vision module; The movement information of is input into the Kalman filter to determine the target movement information of the fuselage through the output of the Kalman filter; based on the conversion relationship, the target movement information of the fuselage is converted to the reference coordinate system of the fixed vision module. For example, the position information, attitude information and speed information of the fuselage collected by the fixed vision module can be directly sent to the flight control equipment of the drone, while the position information, attitude information and speed information of the fuselage collected by the rotating vision module It is in the NEG ₂ coordinate system and needs to be converted to the NEG ₁ coordinate system before sending it to the flight control equipment of the UAV. Specifically, converting the position information, posture information, and speed information of the fuselage in _{the NEG 2} coordinate system collected by the rotating vision module _{to the NEG 1} coordinate system can be achieved by the following formula (7):

In formula (7), Δp ₁ represents the change of position information in the NEG ₁ _{coordinate system; Δp 2} represents the change of position information in the NEG ₂ coordinate system; v ₁ represents the speed in the NEG ₁ coordinate system; v ₂ Represents the speed in the NEG ₂ coordinate system;

Represents the rotation matrix R

Converted to a quaternion q,

Is a quaternion multiplication symbol, q ₁ represents the posture information in the NEG ₁ coordinate system, and q ₂ represents the posture information in the NEG ₂ coordinate system.

Optionally, in the above formula (7), _{the position information, attitude information, and speed information in the NEG 2} coordinate system can also be input into the Kalman filter to obtain more accurate position information, attitude information, and speed information. _{, And then converted to NEG 1} coordinate system through the above formula (7).

Optionally, in the above formula (7), the position information, attitude information, and speed information in the _{NEG 2} _{coordinate system can be converted to the NEG 1} coordinate system through the above formula (7), and then converted to NEG ₁ The position information, attitude information and speed information in the coordinate system are respectively input to the Kalman filter to obtain more accurate position information, attitude information and speed information.

Optionally, based on the conversion relationship, converting the motion information of the fuselage collected by the rotating vision module to the reference coordinate system of the fixed vision module includes: if the angular velocity of the rotation of the rotating vision module is less than the preset angular velocity, based on the conversion relationship, rotate The motion information of the fuselage collected by the vision module is converted to the reference coordinate system of the fixed vision module; if the angular velocity of the rotation of the rotating vision module is greater than or equal to the preset angular velocity, the motion information of the fuselage is determined based on the preset algorithm. Specifically, if the rotational angular velocity of the rotation vision module is less than the preset angular velocity, for example, when the rotational vision module rotates 360 degrees, the rotation speed is slower (less than the preset angular velocity) or the orientation remains unchanged in a fixed direction. Then, the loose coupling strategy is adopted, that is _{, the coordinate system conversion relationship between NEG 1} and NEG ₂ determined by the above method embodiment, and the motion information of the fuselage collected by the rotating vision module is converted to the reference coordinate system NEG _{1 of the fixed vision module.} And then send it to the flight control equipment of the UAV. If the rotational angular velocity of the rotation vision module is large, such as 360-degree rapid scanning (the angular velocity of rotation is greater than the preset angular velocity), or when the orientation is adjusted, the loose coupling strategy is adopted, that is, the rotation vision module obtains the rotation relationship R through the IMU, and then Use VO algorithm (such as PNP algorithm) to calculate the velocity position relationship.

In this embodiment, different algorithm strategies can be adaptively adjusted according to the motion state of the rotation vision module, and the entire algorithm is more stable and robust.

The embodiment of the present application provides a positioning device for a movable platform. FIG. 4 is a structural diagram of a positioning device for a movable platform provided by an embodiment of the application. As shown in FIG. 4, the positioning device 40 for a movable platform includes a memory 41 and a processor 42; the memory 41 is used to store program codes The processor 42, calls the program code, when the program code is executed, is used to perform the following operations: determine the conversion relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module, the The reference coordinate system of the rotation vision module is determined according to the posture of the rotation vision module at the time of initialization, the reference coordinate system of the fixed vision module is the coordinate system of the fuselage; based on the conversion relationship, the The motion information collected by the rotating vision module is converted to the reference coordinate system of the fixed vision module. For the structure of the movable platform, reference may be made to the introduction of the foregoing embodiment, and this embodiment will not be repeated here.

Optionally, when the processor 42 determines the conversion relationship between the reference coordinate system of the rotation vision module and the reference coordinate system of the fixed vision module, it is specifically configured to: determine the rotation vision module and the body Based on the yaw angle difference, determine the conversion relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module.

Optionally, when the processor 42 determines the yaw angle difference between the rotation vision module and the fuselage, it is specifically configured to: obtain the deviation between the rotation vision module and the fuselage at the current moment. Heading angle difference; acquiring the angular velocity of the rotation of the rotation vision module; determining the rotation based at least on the yaw angle difference between the rotation vision module and the fuselage at the current moment and the angular velocity of the rotation of the rotation vision module The yaw angle difference between the vision module and the fuselage.

Optionally, the processor 42 determines the rotation vision module and the body based on the yaw angle difference between the rotation vision module and the fuselage at the current moment, and the angular velocity at which the rotation vision module rotates. When the yaw angle difference between, it is specifically used to: input the yaw angle difference between the rotation vision module and the fuselage at the current moment and the angular velocity of the rotation vision module to the Kalman filter respectively to The yaw angle difference between the rotating vision module and the fuselage is determined by the output of the Kalman filter.

Optionally, an inertial measurement unit is provided on the fuselage; when determining the yaw angle difference between the rotation vision module and the fuselage, the processor is specifically configured to: obtain the rotation vision module The yaw angle difference with the fuselage at the current time; obtain the angular velocity at which the rotation vision module rotates; obtain the offset of the inertial measurement unit; based on the rotation vision module and the fuselage at the current time The yaw angle difference between the rotating vision module, the angular velocity at which the rotating vision module rotates, and the offset of the inertial measurement unit determine the yaw angle difference between the rotating vision module and the fuselage.

Optionally, the processor 42 determines the rotation vision module and the body based on the yaw angle difference between the rotation vision module and the fuselage at the current moment, and the angular velocity at which the rotation vision module rotates. When the yaw angle difference between, it is specifically used to: compare the yaw angle difference between the rotation vision module and the fuselage at the current moment, the angular velocity at which the rotation vision module rotates and the yaw angle of the inertial measurement unit The settings are respectively input to the Kalman filter, so as to determine the yaw angle difference between the rotating vision module and the fuselage through the output of the Kalman filter.

Optionally, an angle measurement module is further provided on the fuselage; the processor 42 is further configured to obtain the yaw angle difference between the rotation vision module and the fuselage measured by the angle measurement module ; Optimize the determined yaw angle difference based on the measured yaw angle difference.

Optionally, when the processor 42 determines the conversion relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module based on the yaw angle difference, it is specifically configured to: determine The target translation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module; determining the target between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module Rotation relationship; determining the conversion relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module based on the target rotation relationship and the target translation relationship.

Optionally, when the processor 42 determines the target rotation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module, it is specifically configured to: determine the fixed vision module coordinate system and the fixed vision module coordinate system. The first rotation relationship between the reference coordinate system of the fixed vision module; the second rotation relationship between the rotation vision module coordinate system and the reference coordinate system of the rotation vision module; the determination of the rotation vision module coordinate system and the reference coordinate system The third rotation relationship between the fixed vision module coordinate systems; the reference coordinate system of the rotation vision module and the fixed vision are determined based on the first rotation relationship, the second rotation relationship, and the third rotation relationship The target rotation relationship between the reference coordinate systems of the module.

Optionally, when the processor 42 determines the target translation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module, it is specifically configured to: determine the fixed vision module coordinate system and the fixed vision module coordinate system. The first rotation relationship and the first translation relationship between the reference coordinate system of the fixed vision module; determining the second rotation relationship and the second translation relationship between the rotation vision module coordinate system and the reference coordinate system of the rotation vision module; Determine the third rotation relationship and the third translation relationship between the rotating vision module coordinate system and the fixed vision module coordinate system; based on the first rotation relationship, the first translation relationship, the second rotation relationship, and the second translation relationship, The third rotation relationship and the third translation relationship determine the target translation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module.

Optionally, when the processor 42 converts the motion information of the fuselage collected by the rotating vision module to the reference coordinate system of the fixed vision module based on the conversion relationship, it is specifically configured to: The motion information of the fuselage collected by the rotating vision module; input the motion information of the fuselage into a Kalman filter to determine the target motion information of the fuselage through the output of the Kalman filter;

Based on the conversion relationship, the target motion information of the fuselage is converted to the reference coordinate system of the fixed vision module.

Optionally, when the processor 42 converts the motion information of the fuselage collected by the rotating vision module to the reference coordinate system of the fixed vision module based on the conversion relationship, it is specifically configured to: The angular velocity of the rotation of the rotating vision module is less than the preset angular velocity, and based on the conversion relationship, the movement information of the fuselage collected by the rotating vision module is converted to the reference coordinate system of the fixed vision module; The angular velocity at which the vision module rotates is greater than or equal to the preset angular velocity, and the motion information of the fuselage is determined based on the preset algorithm.

Optionally, an inertial measurement unit is further provided on the fuselage; when the processor determines the yaw angle difference between the rotating vision module and the fuselage, it is specifically configured to: obtain the inertial measurement The angular velocity of the rotation of the rotation vision module measured by the unit; the yaw angle difference is obtained by integrating based on the angular velocity.

Optionally, an angle measurement module is further provided on the fuselage; when the processor 42 determines the yaw angle difference between the rotation vision module and the fuselage, it is specifically configured to: obtain the angle The difference in the yaw angle between the rotating vision module and the fuselage measured by the measuring module; the difference in the yaw angle between the rotating vision module and the fuselage measured by the angle measuring module Value as the yaw angle difference.

Optionally, after the processor 42 converts the motion information of the fuselage collected by the rotation vision module based on the conversion relationship between the coordinate system of the rotation vision module and the world coordinate system, it also uses Yu: positioning the fuselage based on the converted motion information of the fuselage.

Optionally, the motion information at least includes: at least one of displacement information, attitude information, and speed information of the fuselage.

Optionally, this embodiment may further include a communication interface 43 for implementing communication between the processor 42 and an external device, for example, for implementing data transmission between the processor 42 and the rotation vision module.

The specific principles and implementation manners of the positioning device for the movable platform provided in the embodiments of the present application are similar to the foregoing embodiments, and will not be repeated here.

The embodiment of the present application also provides a movable platform, including: a fuselage; a power system, installed on the fuselage, for providing motion power;

The rotating vision module and the fixed vision module are used to collect the motion information of the body; and the positioning device described in the above embodiment. Optionally, the movable platform is any one of photographing equipment, drones, unmanned vehicles, AR glasses, VR glasses, smart terminals, and robots.

The movable platform of this embodiment may be the movable platform described in the above embodiment, and the positioning device of the movable platform may be the positioning device described in FIG. 4, and the positioning device may be used to implement the technical solutions of the above method embodiments. The principle and technical effect are similar, so I won't repeat them here.

In addition, this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the positioning method of the movable platform described in the foregoing embodiment.

In the several embodiments provided in this application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.

The above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The above-mentioned software functional unit is stored in a storage medium, and includes several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute the method described in each embodiment of the present application. Part of the steps. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

Those skilled in the art can clearly understand that for the convenience and conciseness of the description, only the division of the above-mentioned functional modules is used as an example for illustration. In practical applications, the above-mentioned functions can be allocated by different functional modules as required, namely, the device The internal structure is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which will not be repeated here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. range.

Claims

A positioning method for a movable platform, wherein the movable platform includes a rotating vision module, a fixed vision module, and a body;

The method includes:

Determine the conversion relationship between the reference coordinate system of the rotation vision module and the reference coordinate system of the fixed vision module, the reference coordinate system of the rotation vision module is determined according to the posture of the rotation vision module at the time of initialization , The reference coordinate system of the fixed vision module is the coordinate system of the fuselage;

Based on the conversion relationship, the motion information collected by the rotating vision module is converted to the reference coordinate system of the fixed vision module.
The method according to claim 1, wherein the rotating vision module and the fixed vision module are both installed on the body;

The rotating vision module rotates around the Z axis of the fuselage.
The method according to claim 2, wherein the determining the conversion relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module comprises:

Determining the yaw angle difference between the rotating vision module and the fuselage;

Based on the yaw angle difference, a conversion relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module is determined.
The method according to claim 3, wherein the determining the yaw angle difference between the rotating vision module and the fuselage comprises:

Acquiring the yaw angle difference between the rotation vision module and the fuselage at the current moment;

Acquiring the angular velocity of the rotation of the rotation vision module;

Determine the yaw angle difference between the rotation vision module and the fuselage based at least on the yaw angle difference between the rotation vision module and the fuselage at the current moment and the angular velocity at which the rotation vision module rotates.
The method according to claim 4, wherein the rotation vision module is determined based on the yaw angle difference between the rotation vision module and the fuselage at the current moment, and the angular velocity at which the rotation vision module rotates The yaw angle difference with the fuselage includes:

The yaw angle difference between the rotation vision module and the fuselage at the current moment and the angular velocity of the rotation of the rotation vision module are respectively input to the Kalman filter to determine the rotation through the output of the Kalman filter The yaw angle difference between the vision module and the fuselage.
The method according to claim 5, wherein an inertial measurement unit is provided on the fuselage;

The determining the yaw angle difference between the rotating vision module and the fuselage includes:

Acquiring the yaw angle difference between the rotation vision module and the fuselage at the current moment;

Acquiring the angular velocity of the rotation of the rotation vision module;

Obtaining the offset of the inertial measurement unit;

Based on the yaw angle difference between the rotation vision module and the fuselage at the current moment, the angular velocity at which the rotation vision module rotates, and the offset of the inertial measurement unit, the rotation vision module and the aircraft are determined The yaw angle difference between the bodies.
The method according to claim 6, wherein the rotation vision module is determined based on the yaw angle difference between the rotation vision module and the fuselage at the current moment, and the angular velocity at which the rotation vision module rotates The yaw angle difference with the fuselage includes:

The yaw angle difference between the rotating vision module and the fuselage at the current moment, the angular velocity at which the rotating vision module rotates, and the offset of the inertial measurement unit are respectively input to the Kalman filter to pass the The output of the Kalman filter determines the yaw angle difference between the rotating vision module and the fuselage.
The method according to claim 5 or 7, characterized in that an angle measurement module is further provided on the fuselage;

The method also includes:

Acquiring the yaw angle difference between the rotation vision module and the fuselage measured by the angle measurement module;

The determined yaw angle difference is optimized based on the measured yaw angle difference.
The method according to claim 7, wherein the method further comprises:

Acquiring the yaw angle difference between the rotating vision module and the fuselage measured by the inertial measurement unit;

The determined yaw angle difference is optimized based on the measured yaw angle difference.
The method according to any one of claims 3-7, wherein the determination is based on the yaw angle difference between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module. The conversion relationship includes:

Determining the target translation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module;

Determining the target rotation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module;

A conversion relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module is determined based on the target rotation relationship and the target translation relationship.
The method according to claim 10, wherein the determining the target rotation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module comprises:

Determining the first rotational relationship between the fixed vision module coordinate system and the reference coordinate system of the fixed vision module;

Determining the second rotation relationship between the rotation vision module coordinate system and the reference coordinate system of the rotation vision module;

Determining a third rotational relationship between the rotating vision module coordinate system and the fixed vision module coordinate system;

The target rotation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module is determined based on the first rotation relationship, the second rotation relationship, and the third rotation relationship.
The method according to claim 10, wherein the determining the target translation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module comprises:

Determining the first rotation relationship and the first translation relationship between the fixed vision module coordinate system and the reference coordinate system of the fixed vision module;

Determining the second rotation relationship and the second translation relationship between the rotation vision module coordinate system and the reference coordinate system of the rotation vision module;

Determining a third rotation relationship and a third translation relationship between the rotating vision module coordinate system and the fixed vision module coordinate system;

Determine the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module based on the first rotation relationship, the first translation relationship, the second rotation relationship, the second translation relationship, the third rotation relationship, and the third translation relationship The target translation relationship between.
The method according to claim 11 or 12, wherein the third rotation relationship is determined based on the yaw angle difference between the rotation vision module and the fuselage.
The method according to claim 1, wherein the converting the motion information collected by the rotating vision module to the reference coordinate system of the fixed vision module based on the conversion relationship comprises:

Acquiring the motion information of the fuselage collected by the rotation vision module;

Inputting the motion information of the fuselage into a Kalman filter, so as to determine the target motion information of the fuselage through the output of the Kalman filter;

Based on the conversion relationship, the target motion information of the fuselage is converted to the reference coordinate system of the fixed vision module.
The method according to claim 1, wherein the converting the motion information of the fuselage collected by the rotating vision module to the reference coordinate system of the fixed vision module based on the conversion relationship comprises:

If the angular velocity of the rotation of the rotating vision module is less than the preset angular velocity, based on the conversion relationship, converting the motion information of the fuselage collected by the rotating vision module to the reference coordinate system of the fixed vision module;

If the rotational angular velocity of the rotation vision module is greater than or equal to the preset angular velocity, the motion information of the fuselage is determined based on the preset algorithm.
The method according to claim 3, wherein an inertial measurement unit is further provided on the fuselage;

The determining the yaw angle difference between the rotating vision module and the fuselage includes:

Acquiring the angular velocity of the rotation of the rotating vision module measured by the inertial measurement unit;

The yaw angle difference is obtained by integrating based on the angular velocity.
The method according to claim 3, wherein an angle measurement module is further provided on the fuselage;

The determining the yaw angle difference between the rotating vision module and the fuselage includes:

Acquiring the difference in the yaw angle between the rotation vision module and the fuselage measured by the angle measurement module;

The difference in the yaw angle between the rotating vision module and the fuselage measured by the angle measurement module is taken as the yaw angle difference.
The method according to claim 1, characterized in that, based on the conversion relationship between the coordinate system of the rotation vision module and the world coordinate system, the movement information of the body collected by the rotation vision module is processed After the conversion, the method further includes:

Positioning the fuselage based on the converted motion information of the fuselage.
The method according to claim 1, 14, 15 or 18, wherein the motion information includes at least one of: displacement information, attitude information, and speed information of the fuselage.
A positioning device for a movable platform, characterized in that the movable platform includes a rotating vision module, a fixed vision module and a body;

The positioning device includes:

Memory and processor;

The memory is used to store program codes;

The processor calls the program code, and when the program code is executed, is used to perform the following operations:

Determine the conversion relationship between the reference coordinate system of the rotation vision module and the reference coordinate system of the fixed vision module. The reference coordinate system of the rotation vision module is determined according to the posture of the rotation vision module at the time of initialization. The reference coordinate system of the vision module is the coordinate system of the fuselage;

Based on the conversion relationship, the motion information collected by the rotating vision module is converted to the reference coordinate system of the fixed vision module.
The device according to claim 20, wherein the rotating vision module and the fixed vision module are both installed on the body;

The rotating vision module rotates around the Z axis of the fuselage.
The device according to claim 21, wherein the processor is specifically configured to: when determining the conversion relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module:

Determining the yaw angle difference between the rotating vision module and the fuselage;

Based on the yaw angle difference, a conversion relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module is determined.
The device according to claim 22, wherein the processor is specifically configured to: when determining the yaw angle difference between the rotating vision module and the fuselage:

Acquiring the yaw angle difference between the rotation vision module and the fuselage at the current moment;

Acquiring the angular velocity of the rotation of the rotation vision module;

Determine the yaw angle difference between the rotation vision module and the fuselage based at least on the yaw angle difference between the rotation vision module and the fuselage at the current moment and the angular velocity at which the rotation vision module rotates.
23. The device according to claim 23, wherein the processor determines the yaw angle difference between the rotation vision module and the fuselage at the current moment, and the angular velocity at which the rotation vision module rotates. When rotating the yaw angle difference between the vision module and the fuselage, it is specifically used for:

The yaw angle difference between the rotation vision module and the fuselage at the current moment and the angular velocity of the rotation of the rotation vision module are respectively input to the Kalman filter, so as to determine the rotation through the output of the Kalman filter The yaw angle difference between the vision module and the fuselage.
The device according to claim 24, wherein an inertial measurement unit is provided on the body;

When determining the yaw angle difference between the rotating vision module and the fuselage, the processor is specifically configured to:

Acquiring the yaw angle difference between the rotation vision module and the fuselage at the current moment;

Acquiring the angular velocity of the rotation of the rotation vision module;

Obtaining the offset of the inertial measurement unit;

Based on the yaw angle difference between the rotation vision module and the fuselage at the current moment, the angular velocity at which the rotation vision module rotates, and the offset of the inertial measurement unit, the rotation vision module and the aircraft are determined The yaw angle difference between the bodies.
The device according to claim 25, wherein the processor determines the yaw angle difference between the rotation vision module and the fuselage at the current moment, and the angular velocity at which the rotation vision module rotates. When rotating the yaw angle difference between the vision module and the fuselage, it is specifically used for:

The yaw angle difference between the rotation vision module and the fuselage at the current moment, the angular velocity at which the rotation vision module rotates, and the offset of the inertial measurement unit are respectively input to the Kalman filter to pass the The output of the Kalman filter determines the yaw angle difference between the rotating vision module and the fuselage.
The device according to claim 24 or 26, wherein an angle measurement module is further provided on the fuselage;

The processor is also used for:

Acquiring the yaw angle difference between the rotation vision module and the fuselage measured by the angle measurement module;

The determined yaw angle difference is optimized based on the measured yaw angle difference.
The device according to claim 26, wherein the processor is further configured to:

Acquiring the yaw angle difference between the rotating vision module and the fuselage measured by the inertial measurement unit;

The determined yaw angle difference is optimized based on the measured yaw angle difference.
The device according to any one of claims 22-26, wherein the processor is determining the reference coordinate system of the rotating vision module and the reference coordinate of the fixed vision module based on the yaw angle difference When converting the relationship between departments, it is specifically used for:

Determining the target translation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module;

Determining the target rotation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module;

A conversion relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module is determined based on the target rotation relationship and the target translation relationship.
The device according to claim 29, wherein the processor is specifically configured to: when determining the target rotation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module:

Determining the first rotational relationship between the fixed vision module coordinate system and the reference coordinate system of the fixed vision module;

Determining the second rotation relationship between the rotation vision module coordinate system and the reference coordinate system of the rotation vision module;

Determining a third rotational relationship between the rotating vision module coordinate system and the fixed vision module coordinate system;

The target rotation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module is determined based on the first rotation relationship, the second rotation relationship, and the third rotation relationship.
The device according to claim 29, wherein the processor is specifically configured to: when determining the target translation relationship between the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module:

Determining the first rotation relationship and the first translation relationship between the fixed vision module coordinate system and the reference coordinate system of the fixed vision module;

Determining the second rotation relationship and the second translation relationship between the rotation vision module coordinate system and the reference coordinate system of the rotation vision module;

Determining a third rotation relationship and a third translation relationship between the rotating vision module coordinate system and the fixed vision module coordinate system;

Determine the reference coordinate system of the rotating vision module and the reference coordinate system of the fixed vision module based on the first rotation relationship, the first translation relationship, the second rotation relationship, the second translation relationship, the third rotation relationship, and the third translation relationship The target translation relationship between.
The device according to claim 30 or 31, wherein the third rotation relationship is determined based on the yaw angle difference between the rotation vision module and the fuselage.
The device according to claim 22, wherein the processor is specifically configured to convert the motion information collected by the rotating vision module to the reference coordinate system of the fixed vision module based on the conversion relationship :

Acquiring the motion information of the fuselage collected by the rotation vision module;

Inputting the motion information of the fuselage into a Kalman filter, so as to determine the target motion information of the fuselage through the output of the Kalman filter;

Based on the conversion relationship, the target motion information of the fuselage is converted to the reference coordinate system of the fixed vision module.
The device according to claim 22, wherein the processor is specifically configured to convert the motion information collected by the rotating vision module to the reference coordinate system of the fixed vision module based on the conversion relationship :

If the rotational angular velocity of the rotation vision module is less than the preset angular velocity, based on the conversion relationship, convert the motion information of the body collected by the rotation vision module to the reference coordinate system of the fixed vision module;

If the rotational angular velocity of the rotation vision module is greater than or equal to the preset angular velocity, the motion information of the fuselage is determined based on the preset algorithm.
The device according to claim 23, wherein an inertial measurement unit is further provided on the body;

When determining the yaw angle difference between the rotating vision module and the fuselage, the processor is specifically configured to:

Acquiring the angular velocity of the rotation of the rotating vision module measured by the inertial measurement unit;

The yaw angle difference is obtained by integrating based on the angular velocity.
The device according to claim 23, wherein an angle measurement module is further provided on the body;

When determining the yaw angle difference between the rotating vision module and the fuselage, the processor is specifically configured to:

Acquiring the difference in the yaw angle between the rotation vision module and the fuselage measured by the angle measurement module;

The difference in the yaw angle between the rotating vision module and the fuselage measured by the angle measurement module is taken as the yaw angle difference.
The device according to claim 22, wherein the processor converts the coordinates of the fuselage collected by the rotation vision module based on the conversion relationship between the coordinate system of the rotation vision module and the world coordinate system. After the movement information is converted, it is also used to:

Positioning the fuselage based on the converted motion information of the fuselage.
The device according to claim 20, 33, 34 or 37, wherein the motion information includes at least one of: displacement information, attitude information, and speed information of the fuselage.
A movable platform, characterized in that it comprises:

body;

The power system is installed on the fuselage to provide movement power;

The rotating vision module and the fixed vision module are used to collect movement information of the body; and the positioning device according to any one of claims 20-38.
The movable platform according to claim 39, wherein the movable platform is any one of photographing equipment, drones, unmanned vehicles, AR glasses, VR glasses, smart terminals, and robots.
A computer-readable storage medium, characterized in that a computer program is stored thereon, and the computer program is executed by a processor to implement the method according to any one of claims 1-19.