CN110291363A - The method and relevant device of the navigation sensor detection of moveable platform - Google Patents
The method and relevant device of the navigation sensor detection of moveable platform Download PDFInfo
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- CN110291363A CN110291363A CN201880010732.5A CN201880010732A CN110291363A CN 110291363 A CN110291363 A CN 110291363A CN 201880010732 A CN201880010732 A CN 201880010732A CN 110291363 A CN110291363 A CN 110291363A
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- moveable platform
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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Abstract
A kind of the navigation sensor detection method and relevant device of moveable platform.Method includes: that terminal device shows action prompt information (101) on interactive device；Terminal device sends detection instruction information (102) to moveable platform；Moveable platform obtains the measurement data (103) of navigation sensor output during executing the movement of action prompt information instruction；Moveable platform determines the state parameter (104) of navigation sensor according to measurement data；Moveable platform sends the state parameter (105) of navigation sensor to terminal device；Terminal device shows the state parameter (106) of navigation sensor on interactive device.
Description
Technical field
The present invention relates to a kind of sides of the navigation sensor of technical field of data processing more particularly to moveable platform detection
Method and relevant device.
Background technique
The navigation system that moveable platform (such as unmanned plane, unmanned ground robot etc.) is configured with for realizing navigation feature
System, wherein in navigation system include navigation sensor (such as accelerometer, gyroscope, satellite positioning receiving device, vision pass
Sensor etc.).Currently, moveable platform can detect the navigation sensor in navigation system on the navigation system after electricity
To confirm that each navigation sensor can be normal.
However, the malfunction of certain form of navigation sensor is can not to be detected according to the detection mode of the prior art
It arrives, the failure of the navigation sensor of these types once occurs, it would be possible to moveable platform be caused to go out in the process of moving
Existing serious failure.
Summary of the invention
The embodiment of the invention discloses the methods and relevant device of a kind of detection of the navigation sensor of moveable platform, can be with
Navigation sensor that is complete, accurately configuring to moveable platform detects, and guarantees the safe operation of moveable platform.
What the navigation sensor that first aspect of the embodiment of the present invention provides the configuration of a kind of pair of moveable platform was detected
Method is applied to terminal device, and the terminal device includes interactive device, which comprises
Action prompt information is shown on the interactive device.
Receive and show on the interactive device state ginseng for the navigation sensor that the moveable platform is sent
Number, wherein the state parameter is the moveable platform according to the mistake in the movement for executing the action prompt information instruction
What the measurement data of the navigation sensor output obtained in journey determined.
What the navigation sensor that second aspect of the embodiment of the present invention provides the configuration of a kind of pair of moveable platform was detected
Method is applied to the moveable platform, which comprises
The measurement data of navigation sensor output during executing the movement of action prompt information instruction is obtained,
Wherein, the action prompt information is displayed on the interactive device for the terminal device connecting with the moveable platform.
The state parameter of the navigation sensor is determined according to the measurement data.
The state parameter of the navigation sensor is sent to the terminal device.
The third aspect of the embodiment of the present invention provides a kind of terminal device, comprising: memory, processor and interactive device,
Wherein,
The memory, for storing program code.
The processor calls said program code to execute following operation:
Action prompt information is shown on the interactive device.
Receive and show on the interactive device state ginseng for the navigation sensor that the moveable platform is sent
Number, wherein the state parameter is the moveable platform according to the mistake in the movement for executing the action prompt information instruction
What the measurement data of the navigation sensor output obtained in journey determined.
Fourth aspect of the embodiment of the present invention provides a kind of moveable platform, comprising: memory and processor, wherein
The memory, for storing program code.
The processor calls said program code to execute following operation:
The measurement data of navigation sensor output during executing the movement of action prompt information instruction is obtained,
Wherein, the action prompt information is displayed on the interactive device for the terminal device connecting with the moveable platform.
The state parameter of the navigation sensor is determined according to the measurement data.
The state parameter of the navigation sensor is sent to the terminal device.
The 5th aspect of the embodiment of the present invention provides a kind of storage medium, instruction is stored in the storage medium, when it
When running on computers, so that computer executes the navigation sensor detection side of terminal device described in above-mentioned first aspect
Method.
The aspect of the embodiment of the present invention the 6th provides a kind of computer program product comprising instruction, when its on computers
When operation, so that computer executes the navigation sensor detection method of moveable platform described in above-mentioned second aspect.
In the embodiment of the present invention, terminal device shows action prompt information on interactive device, moveable platform according to
Execute the action prompt information instruction movement during obtain the navigation sensor output measurement data and according to institute
The status data that measurement data determines the navigation sensor is stated, the terminal device is received and shown on the interactive device removable
The state parameter for the navigation sensor that moving platform is sent.In this way, moveable platform is by executing prompt information instruction
Prompt action apply motion-activated, include the motion information of moveable platform in the measurement data that navigation sensor obtains,
According to the measurement data comprising motion information, accurately the state parameter of navigation sensor can be detected, guaranteed removable
The safe operation of moving platform.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without any creative labor, it can also be obtained according to these attached drawings others
Attached drawing.
Fig. 1 is the method that the navigation sensor of a kind of pair of moveable platform configuration disclosed by the embodiments of the present invention is detected
Flow diagram；
Fig. 2 is a kind of display interface schematic diagram of action prompt information disclosed by the embodiments of the present invention；
Fig. 3 is the display interface schematic diagram of another action prompt information disclosed by the embodiments of the present invention；
Fig. 4 is the display interface schematic diagram of another action prompt information disclosed by the embodiments of the present invention；
Fig. 5 is a kind of structural schematic diagram of terminal device disclosed by the embodiments of the present invention；
Fig. 6 is a kind of structural schematic diagram of moveable platform disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Moveable platform can be the device mobile or mobile by the dynamical system realization of itself configuration by external force.
Moveable platform can be that unmanned plane, unmanned ground robot or unmanned water surface robot etc. move flat in some cases
Platform can be handheld device, such as intelligent hand-held terminal equipment.It will be shown below using unmanned plane as moveable platform
Meaning property explanation.
Currently, moveable platform, configured with the navigation system for realizing navigation feature, navigation system can be removable in real time
Moving platform provides one of position, height, speed, posture, course, depth or a variety of navigation informations.Wherein, the navigation system
System includes one or more navigation sensors, wherein the navigation sensor can be the navigation sensor of redundant configuration.It is described
Navigation sensor includes accelerometer, gyroscope, satellite positioning receiving device, visual sensor (such as monocular cam, binocular
Camera, infrared camera, RGB camera), TOF sensor, ultrasonic sensor, laser radar, millimetre-wave radar, satellite
One of position receiving device (such as GPS receiver, Beidou receiver, RTK receiver etc.), barometer, compass are a variety of.
Currently, navigation system can power on, and moveable platform can detect navigation system after moveable platform booting
Whether the working condition to determine the navigation sensor in navigation system is normal.In the prior art, to leading in navigation system
When boat sensor is detected, the moveable platform is typically in stationary state.However, when moveable platform is in static shape
When state, for example, moveable platform is still placed on the ground, in this scene, the certain form of of moveable platform is led
The failure of boat sensor can not be observed.For example, the accelerometer being horizontally mounted there are two moveable platform configurations, by
In certain installation failure problems, the installations of two accelerometers towards may just on the contrary, when moveable platform is in static,
The output that the holding power that two accelerometers are subject to is projected in X, Y and Z axis of accelerometer is all substantially zeroed, arrives in such case
Cause to cause this installation failure that can not be detected since the output of the X-axis of two accelerometers is consistent.For another example removable
In the process of movement, the vibration of moveable platform can seriously affect the working condition of navigation sensor platform, and working as can
It is influence of the vibration to navigation sensor that can not determine moveable platform when mobile platform remains static.
For this problem, in the embodiment of the present invention, moveable platform is swashed by executing preset movement to apply movement
It encourages, when moveable platform is kept in motion, the data of navigation sensor output include motion information abundant, at this point, can
The working condition of navigation sensor, i.e., the number exported according to navigation sensor are detected with the data exported according to navigation sensor
According to the status data for determining navigation sensor.It is explained in detail below in conjunction with attached drawing.
Referring to Fig. 1, being a kind of stream of the navigation sensor detection method of moveable platform provided in an embodiment of the present invention
Journey schematic diagram.The method of the navigation sensor detection of moveable platform as described in this embodiment, comprising:
101, terminal device shows action prompt information on interactive device.
Specifically, the terminal device include remote controler, smart phone, tablet computer, laptop computer, desktop computer,
One of wearable device (wrist-watch, bracelet etc.) is a variety of.The terminal device includes interactive device, wherein the interaction
Device can for it is any can text, pattern, brightness device, the interactive device can for display screen, touch display screen, refer to
Show one of lamp or a variety of.When needing the navigation sensor configured to moveable platform to detect, terminal device can be with
Action prompt information is shown by interactive device (such as display screen).
Optionally, the action prompt information instruction movement may include moveable platform need executed under external force move
Make.Such as the movement executed under external force include user hold the movement that moveable platform drives moveable platform to make or
Person drives the mobile movement executed of cocoa by means of tool.By taking unmanned plane as an example, the movement executed under external force includes tool
Body may include: to lift certain side (head, tail, left side, right side) of unmanned plane；By unmanned plane around certain axis (such as X-axis, Y-axis, Z
Axis) be raised to by several circles of specific direction (as clockwise or counterclockwise) rotation, by unmanned plane certain altitude, by unmanned plane along
Some direction is shaken etc. back and forth.As shown in Fig. 2, interactive device can be display screen, action prompt information is shown, wherein
User holds unmanned plane according to as shown in the figure according to action prompt information after seeing the prompt information that display screen is shown
Mode rotates unmanned plane.
Optionally, the movement of action prompt information instruction may include that moveable platform is held by the Power Component configured
Capable movement, wherein the Power Component may include one of propeller, the mechanical, electrical tune of electricity, wheel, crawler belt, engine or
It is a variety of.By taking unmanned plane as an example, the movement of action prompt information instruction can specifically include: remote manual control unmanned plane turns in the sky
Circle, control unmanned plane left, right, front and rear shake, control unmanned plane flies to some specific direction (front, back, left, right, up, down)
A distance etc..As shown in figure 3, the interactive device of terminal device shows action prompt information, user is seeing display screen display
After the prompt information shown, it can make the course bar of remote controler and rotated to control unmanned plane according to mode as shown in the figure.At certain
In a little situations, above-mentioned movement is also possible to the moveable platform in the case where not needing user and carrying out remote manual control operation and holds automatically
Capable one or more movements.
Optionally, the action prompt information instruction movement may include action sequence, that is to say a series of actions according to
The combination of particular order, such as action sequence can specifically include: unmanned plane is just being placed-> head of unmanned plane is lifted
Rise-> unmanned plane rotated clockwise into several circles around X-axis, alternatively, remote controlled drone left, right, front and rear are shaken-> remote control nothing
Man-machine flight forward a distance-> remote controlled drone is turn-taked in the sky.
Optionally, terminal device can be determined when detection pattern trigger condition meets needs to moveable platform configuration
Navigation sensor is detected, i.e., terminal device, which can be opened or be triggered when detection pattern trigger condition meets, senses navigation
The detection pattern of device, and then action prompt information is shown on interactive device.
Wherein, detection pattern trigger condition satisfaction may include following scenario described:
(1) detect that moveable platform is switched on.Specifically, terminal device can detecte whether mobile platform is switched on.For example,
Message can be sent to terminal device after moveable platform booting, after moveable platform booting to have notified the moveable platform
Booting, when terminal device receives the message, that is, confirmly detects moveable platform and is already powered on, then terminal device can be with
Action prompt information is shown on interactive device.
(2) the detection pattern trigger action of user is detected.Specifically, when the navigation biography for needing to configure moveable platform
Sensor is detected, and user can execute detection pattern trigger action to terminal device, and terminal device is detecting the detection
When mode trigger action, so that it may show action prompt information on interactive device.For example, user can click on interactive device
Be arranged or show start detection key or user issue start detection phonetic order, terminal device detect it is above-mentioned
When operation, action prompt information is shown on interactive device.
(3) the detection pattern triggering information of moveable platform transmission is received.Specifically, the detection pattern triggers information
It is used to indicate whether moveable platform has completed detection to the navigation sensor, further, the detection pattern touching
Whether photos and sending messages are used to indicate in historical time of the moveable platform after powering or before booting and have completed to lead to described
The detection of boat sensor.For example, the processor of moveable platform can read local storage after moveable platform booting
One flag bit of storage, for example, if indicating that moveable platform has not been completed when the flag bit is 0 and being passed to the navigation
The detection of sensor, moveable platform can send detection pattern to terminal device and trigger information, and moveable platform is receiving
After stating detection pattern triggering information, the action prompt information is shown.In some cases, when moveable platform is in completion pair
After the detection of navigation sensor, the processor of moveable platform can be by the mark position 1.When the flag bit is 1,
Illustrate that moveable platform has completed the detection to the navigation sensor.
Optionally, when the moveable platform is unmanned plane, the detection pattern triggering information may include: ground inspection
Survey mode triggers information and aerial detection pattern triggers information, and the flag bit may include surface mark position and aerial mark
Position, the action prompt information includes ground action prompt information and action in the air prompt information.Wherein, ground detection mode is touched
Photos and sending messages and aerial detection pattern triggering information respectively indicate whether unmanned plane respectively on the ground passes navigation with aerial completion
The detection of sensor.For example, the processor when unmanned plane reads surface mark position, it is described removable when the surface mark position is 0
Moving platform sends ground detection mode to terminal device and triggers information, when the terminal device receives the ground detection mode
When triggering information, the terminal device shows ground action prompt information, wherein the ground action prompt information is used to indicate
Unmanned plane executes the ground action that information instruction is moved on ground.When the processor of unmanned plane reads aerial flag bit, when described aerial
When flag bit is 0, the moveable platform sends aerial detection pattern to terminal device and triggers information, when the terminal device connects
When receiving the aerial detection pattern triggering information, the terminal device shows action in the air prompt information, wherein described aerial
Action prompt information is used to indicate the action in the air that unmanned plane executes the instruction of action in the air information.
102, the terminal device sends detection instruction information to moveable platform.
Correspondingly, terminal device can send detection instruction information to moveable platform.Wherein, the detection indicates information
It can indicate that moveable platform obtains the measurement data of navigation sensor output.The moveable platform receives the detection instruction
Information, the i.e. measurement data of acquisition navigation sensor output.It in some cases, include described dynamic in the detection instruction information
Make the identification information of the movement of prompt information instruction.For example, terminal device shows action prompt information as shown in Figure 2, then institute
It states action prompt information to be used to indicate hand-held unmanned plane and rotate the movement of unmanned plane, the identification information of the movement is 01, institute
Showing that detection indicates may include the identification information 01 of the movement in information.It is stored in the local storage of moveable platform
The corresponding relationship of movement and the identification information of movement is moved when moveable platform gets the identification information of the movement
Platform can know the movement that moveable platform currently needs to be implemented.
It is understood that step 101 and step 102 can be executed successively, the sequence executed be can be interchanged, certain
It in situation, also may be performed simultaneously, the execution sequence of step 101 and step 102 do not limited specifically herein.
103, the moveable platform obtains navigation during executing the movement of the action prompt information instruction and passes
The measurement data of sensor output.
Wherein, during moveable platform executes the movement of action prompt information instruction, moveable platform is in fortune
Dynamic state, during this movement, the measurement data of the available navigation sensor output of the processor of moveable platform.
For example, the navigation sensor includes two accelerometers, i.e. the accelerometer of redundant configuration can in this motion process
The processor of mobile platform obtains the measurement data of the accelerometer output of redundant configuration.
Specifically, being sent after terminal device can show action prompt information on interactive device to moveable platform
Detection instruction information, to inform that moveable platform starts navigation sensor detection, moveable platform receives detection instruction information
Afterwards, it obtains moveable platform and executes the measurement number that navigation sensor during the movement of above-mentioned action prompt information instruction exports
According to.
Further, terminal device can send detection instruction information to movable equipment, wherein the detection prompt letter
The identification information that carrying acts in breath, moveable platform pass through the Power Component configured according to the identification information of movement and execute automatically
The corresponding movement of the identification number.
104, the moveable platform determines the state parameter of the navigation sensor according to the measurement data.
Specifically, after moveable platform gets the measurement data of navigation sensor output, it can be with based on the measurement data
Determine the state parameter of navigation sensor, wherein whether the zero bias that the state parameter is used to indicate navigation sensor are located at
Whether default zero bias requirement, the Installation posture of navigation sensor and/or position meet the navigation of default installation requirement, redundant configuration
Whether the measurement data of sensor output meets interference of the vibration of default coherence request, moveable platform to navigation sensor
Whether preset requirement one of or a variety of is met.For example, the output data of available two accelerometers of moveable platform,
When two accelerometers are when the measurement data that X-axis exports is opposite, determination can the installation of one of accelerometer do not meet
Preset requirement, further, it is determined that can one of accelerometer do not meet default installation requirement.
As previously mentioned, including the identification information of the movement of action prompt information instruction in the detection instruction information, at certain
In a little situations, moveable platform can determine the state of navigation sensor according to the measurement data of the identification number and the output
Parameter.Specifically, when the working condition of navigation sensor is normal, the measurement data of navigation sensor output should comply with described
The feature of the corresponding movement of identification number, moveable platform determine whether the measurement data of the output meets the feature to determine
The status data of navigation sensor.
105, the moveable platform sends the state parameter of the navigation sensor to the terminal device.
Wherein, the state parameter of navigation sensor is determined according to the measurement data that navigation sensor exports when moveable platform
Later, the status data can be sent to terminal device by moveable platform.In some cases, moveable platform can match
Indicator light or sound generating device (such as buzzer) are set, moveable platform can be according to the state parameter control instructions lamp
It lights and perhaps flashes or control sound generating device generation sound, to prompt the user with the working condition of navigation sensor.
106, the terminal device shows the state parameter of the navigation sensor on the interactive device.
Specifically, the state parameter for the navigation sensor determined is sent to terminal device by moveable platform, terminal is set
It is standby that the state parameter of navigation sensor is showed by user by interactive device, so that user can grasp the work of navigation sensor
Make state.It in this way, can be to there are out of order navigation sensors to repair in time.
Optionally, terminal device can detecte whether moveable platform has executed the dynamic of action prompt information instruction
Make, when no, limits the movement of moveable platform.Specifically, terminal device can detecte whether moveable platform has executed
The movement of action prompt information instruction, such as moveable platform can be sent after having executed the movement to terminal device
Information is completed in movement, when the terminal device is not received by the movement completion prompt information or does not have within a preset period of time
When receiving the movement completion information, it can determine that moveable platform is not carried out the movement, at this point, terminal device
Limitation move can be sent to moveable platform to limit the movement of moveable platform, such as limitation moveable platform movement
Distance, height, one of the starting etc. or a variety of of time, Power Component.User can be urged in operating movable in this way
Detection to navigation sensor is completed when platform, guarantee moveable platform using safe.
Optionally, moveable platform detects whether to have executed the movement of action prompt information instruction, when no, limitation
The movement of moveable platform.Specifically, whether moveable platform can detecte itself completes to execute the movement, when determination does not have also
When having the completion movement, the processor of moveable platform can limit the movement of moveable platform.In some cases, as before
Described, the available detection of moveable platform indicates information, includes the movement of action prompt information instruction in detection instruction information
Identification information, moveable platform can detecte itself whether complete to execute the corresponding movement of the identification number.
Optionally, when terminal device determines that the state parameter meets preset state requirement, the shifting of moveable platform is released
Dynamic limitation.Specifically, before the detection for completing navigation sensor, moveable platform be can be by limitation movement, such as limit
The mobile distance of moveable platform processed, height, one of the starting etc. or a variety of of time, Power Component.When terminal device is sentenced
When the disconnected parameter that does well meets preset state requirement, i.e., when navigation sensor can work normally, terminal device can be released
Mobile limitation to moveable platform.Such as terminal device sends restriction cancellation instruction to moveable platform, moveable platform exists
When receiving described instruction, it can the mobile limitation for releasing itself, when the state parameter does not meet preset requirement, limitation
The movement of moveable platform.Can guarantee in this way moveable platform only navigation sensor work normally in the case where, it is removable
Moving platform could be just often used, and improve safety.
Optionally, moveable platform can release the movement of itself when determining that state parameter meets preset state requirement
Limitation.Specifically, before the detection for completing navigation sensor, moveable platform be can be by limitation movement, when removable
When platform determines that the state parameter meets preset state requirement, the processor of moveable platform can release moveable platform
Mobile limitation, when moveable platform determines that the state parameter is unsatisfactory for preset requirement, the processor of moveable platform is limited
The movement of the moveable platform.
It will be come below with UAV system for example, as shown in figure 4, believing for action prompt provided in an embodiment of the present invention
The display interface schematic diagram of breath, in which:
Unmanned plane includes ground detection mode and aerial detection pattern to the detection pattern of navigation sensor.Terminal device packet
Interactive device is included, can show that detection pattern switchs by interactive device, wherein the detection pattern switch includes ground detection
Mode switch and aerial detection pattern switch.
After terminal device and unmanned plane power on, terminal device reads surface mark from the local storage of unmanned plane
Position, and it is shown to user, it is recognized that whether ground detection mode opens by the surface mark position user.
When the ground detection mode is triggered, for example, moveable platform determines that the local device of moveable platform is deposited
When the surface mark position of storage is 0, ground detection mode is sent to terminal device and triggers information, terminal device is receiving the letter
After breath, interactive device shows ground action prompt information.User, which can choose, closes the ground detection mode, if user selects
Ground detection mode is closed, processing logic can be such that after the terminal device determines the state parameter preset requirement,
If detecting, user clicks the ground detection mode switch, can close ground detection mode, i.e. terminal device stops display
The ground action prompt information.Terminal device determines that the unmanned plane is not completed to execute the ground prompt information prompt
When movement or the state parameter do not meet preset requirement, refusal closes the ground detection mode, and interactive device can be always
Show ground action prompt information.
If unmanned plane is just in airflight, if the ground detection mode is triggered, after unmanned plane landing, eventually
The interactive device of end equipment shows the ground action prompt information.
When the aerial detection pattern is triggered, for example, terminal device determines the local device storage of moveable platform
Aerial flag bit be 0 when, interactive device show action in the air prompt information.User, which can choose, closes the aerial detection mould
Formula, if user selects to close aerial detection pattern, processing logic be can be such that when the terminal device determines the state ginseng
After number preset requirement, if detecting, user clicks the aerial detection pattern switch, can close aerial detection pattern, i.e., eventually
End equipment stops showing the ground action prompt information.Terminal device determines that the unmanned plane is not completed to execute the ground
When the movement of prompt information prompt or the state parameter do not meet preset requirement, refusal closes the ground detection mode,
Interactive device can show always action in the air prompt information.
In the embodiment of the present invention, terminal device can show action prompt information on interactive device, then to removable
Platform sends detection instruction information, and moveable platform obtains after receiving detection instruction information and executing the action prompt information
The measurement data that navigation sensor exports during the movement of instruction, the state of navigation sensor is determined according to the measurement data
The state parameter of navigation sensor is sent to terminal device by parameter, and then terminal device shows that navigation passes on interactive device
The state parameter of sensor, to complete, accurately can be passed to navigation by imposing abundant exercise excitation to moveable platform
Sensor is detected, and guarantees the safe operation of moveable platform.
Referring to Fig. 5, being a kind of structural schematic diagram of terminal device provided in an embodiment of the present invention.It is retouched in the present embodiment
The terminal device stated, comprising: processor 501, interactive device 502, communication device 503 and memory 504.Wherein, processor
501, interactive device 502, communication device 503 and memory 504 can be connected by bus or other modes, the embodiment of the present invention with
For being connected by bus.
Wherein, processor 501 (or CPU (Central Processing Unit, central processing unit)) is terminal device
Calculating core and control core, can parse all kinds of instructions in terminal device and all kinds of numbers of processing terminal equipment
According to, such as: CPU can be used for parsing user and instruct to switching on and shutting down transmitted by terminal device, and controlling terminal equipment is opened
Power-off operation；For another example: CPU can transmit all kinds of interaction datas, etc. between terminal device internal structure.Interactive device 502
It is the medium realizing user and terminal device and interacting with information exchange, concrete embodiment may include the display for output
Shield (Display) and the keyboard (Keyboard) for input etc., it should be noted that keyboard herein both can be real
Body keyboard, or touch screen dummy keyboard can also be keyboard of the entity in conjunction with touch screen virtualphase.Communication device 503 can
Choosing may include standard wireline interface and wireless interface (such as WI-FI, mobile communication interface), by the control of processor 501
For messaging.Memory 504 (Memory) is the memory device in terminal device, for storing program code and data.
It is understood that memory 504 herein both may include the internal memory of terminal device, naturally it is also possible to including terminal
The extended menory that equipment is supported.Memory 504 provides memory space, which stores the operation system of terminal device
System, it may include but be not limited to: desktop operating system (such as Windows system, iOS system, linux system), moving operation
System (such as android system, iOS system, Windows Phone system), the present invention is to this and is not construed as limiting.
In embodiments of the present invention, processor 501 is executed such as by the executable program code in run memory 504
Lower operation:
Processor 501, for showing action prompt information by interactive device 502.
The processor 501 is also used to receive the navigation that the moveable platform is sent by communication device 503 and passes
The state parameter of sensor, wherein the state parameter is that the moveable platform refers to according in the execution action prompt information
What the measurement data of the navigation sensor output obtained during the movement shown determined.
The processor 501 is also used to show the state parameter of the navigation sensor by the interactive device 502.
Optionally, the movement of the action prompt information instruction executes under external force dynamic including the moveable platform
Make.
Optionally, the movement of the action prompt information instruction includes that the moveable platform passes through the Power Component configured
The movement of execution.
Optionally, the movement of the action prompt information instruction includes action sequence.
Optionally, the navigation sensor includes accelerometer, gyroscope, satellite positioning receiving device, visual sensor
(such as monocular cam, binocular camera, infrared camera, RGB camera), TOF sensor, ultrasonic sensor, laser thunder
Reach, millimetre-wave radar, satellite positioning receiving device (such as GPS receiver, Beidou receiver, RTK receiver etc.), barometer,
One of compass is a variety of.
Optionally, the navigation sensor is the navigation sensor of redundant configuration.
Optionally, the state parameter for indicate the zero bias of the navigation sensor whether be located at default zero bias require,
Whether the Installation posture of the navigation sensor and/or position meet the navigation sensing of default installation requirement, redundant configuration
The measurement data of device output whether meet default coherence request, moveable platform vibration to the interference of navigation sensor whether
Meet one of preset requirement or a variety of.
Optionally, the processor 501 is also used to refer to by communication device 503 to moveable platform transmission detection
Show information, wherein the detection instruction information is used to indicate the moveable platform after receiving the detection instruction information
Obtain the measurement data of the navigation sensor output.
Optionally, the detection instruction information includes the identification information of the movement of the action prompt information instruction, wherein
The state parameter is that the moveable platform is obtained according to during executing the movement of the action prompt information instruction
The navigation sensor output measurement data and the identification information determine.
Optionally, the processor 501 is specifically used for when showing action prompt information on the interactive device:
When determining that detection pattern trigger condition meets, action prompt information is shown by interactive device 502.
Optionally, it includes detecting the moveable platform booting, detecting use that the detection pattern trigger condition, which meets,
One of the detection pattern trigger action at family, the detection pattern triggering information for receiving the moveable platform transmission are more
Kind.
Optionally, the processor 501 is also used to when the state parameter meets preset state requirement, described in releasing
The mobile limitation of moveable platform.
Optionally, the processor 501, be also used to detect the moveable platform whether executed it is described movement mention
Show the movement of information instruction；When no, the movement of the moveable platform is limited.
In the specific implementation, processor 501 described in the embodiment of the present invention, interactive device 502, communication device 503 and
The side that the navigation sensor of a kind of pair of moveable platform configuration provided in an embodiment of the present invention is detected can be performed in memory 504
The implementation of terminal device described in method, details are not described herein.
In the embodiment of the present invention, processor 501 shows action prompt information by interactive device 502, passes through communication device
503 receive the state parameter for the navigation sensor that the moveable platforms are sent, wherein the state parameter be it is described can
Mobile platform is exported according to the navigation sensor obtained during the movement of the execution action prompt information instruction
Measurement data determine that processor 501 shows the state parameter of the navigation sensor by the interactive device 502, from
And complete, accurately navigation sensor can be detected by imposing abundant exercise excitation to moveable platform, guarantee
The safe operation of moveable platform.
Referring to Fig. 6, being a kind of structural schematic diagram of moveable platform provided in an embodiment of the present invention.Institute in the present embodiment
The moveable platform of description, comprising: processor 601, navigation sensor 602, Power Component 603, communication device 604 and memory
605.Wherein, processor 601, navigation sensor 602, Power Component 603, communication device 604 and memory 605 can pass through bus
Or other modes connection, the embodiment of the present invention by bus for being connected.
Wherein, processor 601 (or CPU (Central Processing Unit, central processing unit)) is removable flat
The calculating core and control core of platform can parse all kinds of instructions of moveable platform and handle each of moveable platform
Class data.Navigation sensor 602 is used to navigate for the moveable platform.Power Component 603 is used to be the moveable platform
Power is provided.Communication device 604 optionally may include that (such as WI-FI, mobile communication connects standard wireline interface and wireless interface
Mouthful etc.), messaging is used for by the control of processor 601.Memory 605 (Memory) is that the memory in moveable platform is set
It is standby, for storing program and data.
In embodiments of the present invention, processor 601 is executed such as by the executable program code in run memory 605
Lower operation:
Processor 601, for obtaining navigation sensor during executing the movement of action prompt information instruction
The measurement data of output, wherein the action prompt information is displayed on the terminal device connecting with the moveable platform
On interactive device.
The processor 601 is also used to determine the state parameter of the navigation sensor according to the measurement data.
The processor 601 is also used to send the navigation sensor to the terminal device by communication device 604
State parameter.
Optionally, the movement of the action prompt information instruction includes the movement that moveable platform executes under external force.
Optionally, the movement of the action prompt information instruction includes that moveable platform passes through the Power Component execution configured
Movement.
Optionally, the movement of the action prompt information instruction includes action sequence.
Optionally, the navigation sensor includes accelerometer, gyroscope, satellite positioning receiving device, visual sensor
(such as monocular cam, binocular camera, infrared camera, RGB camera), TOF sensor, ultrasonic sensor, laser thunder
Reach, millimetre-wave radar, satellite positioning receiving device (such as GPS receiver, Beidou receiver, RTK receiver etc.), barometer,
One of compass is a variety of.
Optionally, the navigation sensor is the navigation sensor of redundant configuration.
Optionally, the state parameter for indicate the zero bias of the navigation sensor whether be located at default zero bias require,
Whether the Installation posture of the navigation sensor and/or position meet the navigation sensing of default installation requirement, redundant configuration
The measurement data of device output whether meet default coherence request, moveable platform vibration to the interference of navigation sensor whether
Meet one of preset requirement or a variety of.
Optionally, the processor 601, the detection instruction for being also used to send by 604 receiving terminal apparatus of communication device
Information.
It is defeated that the processor 601 obtains navigation sensor during executing the movement of action prompt information instruction
When measurement data out, it is specifically used for:
After receiving the detection by communication device 604 and indicating information, obtains and executing the instruction of action prompt information
Movement during navigation sensor output measurement data.
Optionally, the detection instruction information includes the identification information of the movement of the action prompt information instruction, described
When processor 601 determines the state parameter of the navigation sensor according to the measurement data, it is specifically used for:
The state parameter of the navigation sensor is determined according to the measurement data and the identification information.
Optionally, the processor 601 is also used to when the state parameter meets preset state requirement, described in releasing
The mobile limitation of moveable platform.
Optionally, the processor 601 is also used to after getting detection by information, releases the moveable platform
Mobile limitation, wherein the detection by information is that the terminal device determines that the state parameter meets preset state and wants
It is sent when asking to the moveable platform.
Optionally, the processor 601 is also used to detect whether to have executed the dynamic of the action prompt information instruction
Make；When no, the movement of the moveable platform is limited.
In the specific implementation, processor 601 described in the embodiment of the present invention, navigation sensor 602, Power Component 603,
The navigation sensing of a kind of pair of moveable platform configuration provided in an embodiment of the present invention can be performed in communication device 604 and memory 605
The implementation of moveable platform described in the method that device is detected, details are not described herein.
In the embodiment of the present invention, processor 601 obtains described during executing the movement of action prompt information instruction
The measurement data of navigation sensor output, wherein the action prompt information, which is displayed on, to be connect with the moveable platform
On the interactive device of terminal device, the state parameter of the navigation sensor is determined according to the measurement data, is filled by communication
604 state parameters that the navigation sensor is sent to the terminal device are set, thus by imposing sufficiently to moveable platform
Motion-activated complete, accurately navigation sensor can be detected, guarantee the safe operation of moveable platform.
It should be noted that for simple description, therefore, it is stated as a systems for each embodiment of the method above-mentioned
The combination of actions of column, but those skilled in the art should understand that, the present invention is not limited by the sequence of acts described, because
For according to the present invention, certain some step can be performed in other orders or simultaneously.Secondly, those skilled in the art also should
Know, the embodiments described in the specification are all preferred embodiments, related actions and modules not necessarily this hair
Necessary to bright.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium may include: flash disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access
Memory, RAM), disk or CD etc..
Above disclosed is only a preferred embodiment of the present invention, cannot limit the power of the present invention with this certainly
Sharp range, those skilled in the art can understand all or part of the processes for realizing the above embodiment, and weighs according to the present invention
Benefit requires made equivalent variations, still belongs to the scope covered by the invention.
Claims (50)
1. a kind of navigation sensor detection method of moveable platform, is applied to terminal device, the terminal device includes interaction
Device, which is characterized in that the described method includes:
Action prompt information is shown on the interactive device；
Receive and show on the interactive device state parameter for the navigation sensor that the moveable platform is sent,
In, the state parameter is that the moveable platform is obtained according to during executing the movement of the action prompt information instruction
What the measurement data of the navigation sensor output taken determined.
2. the method according to claim 1, wherein the movement of action prompt information instruction can including described in
The movement that mobile platform executes under external force.
3. the method according to claim 1, wherein the movement of action prompt information instruction can including described in
Mobile platform passes through the movement that the Power Component configured executes.
4. the method according to claim 1, wherein the movement of action prompt information instruction includes movement sequence
Column.
5. the method according to claim 1, wherein the navigation sensor includes accelerometer, gyroscope, defends
Star position receiver equipment, visual sensor, TOF sensor, ultrasonic sensor, laser radar, millimetre-wave radar, satellite positioning
One of receiving device, barometer, compass are a variety of.
6. method according to claim 1-5, which is characterized in that
The navigation sensor is the navigation sensor of redundant configuration.
7. the method according to claim 1, wherein the state parameter is for indicating the navigation sensor
Whether whether zero bias are located at default zero bias requirement, the Installation posture of the navigation sensor and/or position, which meets default installation, is wanted
It asks, whether the measurement data of the navigation sensor of redundant configuration output meets default coherence request, moveable platform
Whether vibration meets one of preset requirement or a variety of to the interference of navigation sensor.
8. the method according to claim 1, wherein the method also includes:
Detection instruction information is sent to the moveable platform, wherein the detection instruction information is used to indicate described removable
Platform obtains the measurement data of the navigation sensor output after receiving the detection instruction information.
9. according to the method described in claim 8, it is characterized in that, detection instruction information includes the action prompt information
The identification information of the movement of instruction, wherein the state parameter is the moveable platform according in the execution action prompt
What the measurement data of the navigation sensor output obtained during the movement of information instruction and the identification information determined.
10. the method according to claim 1, wherein described show that action prompt is believed on the interactive device
Breath includes: that action prompt information is shown on the interactive device when determining that detection pattern trigger condition meets.
11. according to the method described in claim 10, it is characterized in that, it includes detecting that the detection pattern trigger condition, which meets,
The moveable platform booting, receives the inspection that the moveable platform is sent at the detection pattern trigger action for detecting user
Survey mode triggers one of information or a variety of.
12. the method according to claim 1, wherein the method also includes: when the state parameter meet it is pre-
If when conditions dictate, releasing the mobile limitation of the moveable platform.
13. the method according to claim 1, wherein the method also includes:
Detect the movement whether moveable platform has executed the action prompt information instruction；
When no, the movement of the moveable platform is limited.
14. a kind of navigation sensor detection method of moveable platform is applied to the moveable platform, which is characterized in that institute
The method of stating includes:
The measurement data of navigation sensor output during executing the movement of action prompt information instruction is obtained,
In, the action prompt information is displayed on the interactive device for the terminal device connecting with the moveable platform；
The state parameter of the navigation sensor is determined according to the measurement data；
The state parameter of the navigation sensor is sent to the terminal device.
15. according to the method for claim 14, which is characterized in that the movement of the action prompt information instruction includes removable
The movement that moving platform executes under external force.
16. according to the method for claim 14, which is characterized in that the movement of the action prompt information instruction includes removable
Moving platform passes through the movement that the Power Component configured executes.
17. according to the method for claim 14, which is characterized in that the movement of the action prompt information instruction includes movement
Sequence.
18. according to the method for claim 14, which is characterized in that the navigation sensor include accelerometer, gyroscope,
Satellite positioning receiving device, visual sensor, TOF sensor, ultrasonic sensor, laser radar, millimetre-wave radar, satellite
One of position receiving device, barometer, compass are a variety of.
19. the described in any item methods of 4-18 according to claim 1, which is characterized in that
The navigation sensor is the navigation sensor of redundant configuration.
20. according to the method for claim 14, which is characterized in that the state parameter is for indicating the navigation sensor
Zero bias whether be located at that default zero bias require, whether the Installation posture of the navigation sensor and/or position meet default installation
It is required that, the measurement data of the navigation sensor of redundant configuration output whether meet default coherence request, moveable platform
Vibration whether one of preset requirement or a variety of is met to the interference of navigation sensor.
21. according to the method for claim 14, which is characterized in that the method also includes:
The detection that receiving terminal apparatus is sent indicates information；
The measurement data for obtaining navigation sensor output during executing the movement of action prompt information instruction
Include:
After receiving the detection instruction information, described during executing the movement of action prompt information instruction lead is obtained
The measurement data that the sensor that navigates exports.
22. according to the method for claim 21, which is characterized in that the detection instruction information includes the action prompt letter
The identification information of the movement of instruction is ceased,
The state parameter that the navigation sensor is determined according to the measurement data includes:
The state parameter of the navigation sensor is determined according to the measurement data and the identification information.
23. according to the method for claim 14, which is characterized in that the method also includes: when the state parameter meets
When preset state requires, the mobile limitation of the moveable platform is released.
24. according to the method for claim 14, which is characterized in that the method also includes: pass through letter getting detection
After breath, the mobile limitation of the moveable platform is released, wherein the detection is described in the terminal device determines by information
State parameter meets when preset state requires to moveable platform transmission.
25. according to the method for claim 14, which is characterized in that the method also includes:
It detects whether to have executed the movement that the action prompt information indicates；
When no, the movement of the moveable platform is limited.
26. a kind of terminal device characterized by comprising memory, processor and interactive device, wherein
The memory, for storing program code；
The processor calls said program code to execute following operation:
Action prompt information is shown on the interactive device；
Receive and show on the interactive device state parameter for the navigation sensor that the moveable platform is sent,
In, the state parameter is that the moveable platform is obtained according to during executing the movement of the action prompt information instruction
What the measurement data of the navigation sensor output taken determined.
27. terminal device according to claim 26, which is characterized in that the movement of action prompt information instruction includes
The movement that the moveable platform executes under external force.
28. terminal device according to claim 26, which is characterized in that the movement of action prompt information instruction includes
The moveable platform passes through the movement that the Power Component configured executes.
29. terminal device according to claim 26, which is characterized in that the movement of action prompt information instruction includes
Action sequence.
30. terminal device according to claim 26, which is characterized in that the navigation sensor includes accelerometer, top
Spiral shell instrument, satellite positioning receiving device, visual sensor, TOF sensor, ultrasonic sensor, laser radar, millimetre-wave radar,
One of satellite positioning receiving device, barometer, compass are a variety of.
31. according to the described in any item terminal devices of claim 26-30, which is characterized in that
The navigation sensor is the navigation sensor of redundant configuration.
32. terminal device according to claim 26, which is characterized in that the state parameter is for indicating that the navigation passes
It is default whether the zero bias of sensor are located at that default zero bias require, whether the Installation posture of the navigation sensor and/or position meet
Whether installation requirement, the measurement data that the navigation sensor of redundant configuration exports meet default coherence request, move
Whether the vibration of platform meets one of preset requirement or a variety of to the interference of navigation sensor.
33. terminal device according to claim 26, which is characterized in that the processor is also used to described removable
Platform sends detection instruction information, wherein detection instruction information is used to indicate the moveable platform described in receive
The measurement data of the navigation sensor output is obtained after detection instruction information.
34. terminal device according to claim 33, which is characterized in that the detection instruction information includes that the movement mentions
Show the identification information of the movement of information instruction, wherein the state parameter is the moveable platform according to described dynamic in execution
The measurement data of the navigation sensor output obtained during the movement for making prompt information instruction and the identification information
Determining.
35. terminal device according to claim 26, which is characterized in that the processor is shown on the interactive device
When action prompt information, it is specifically used for:
When determining that detection pattern trigger condition meets, action prompt information is shown on the interactive device.
36. terminal device according to claim 35, which is characterized in that it includes inspection that the detection pattern trigger condition, which meets,
Moveable platform booting is measured, the detection pattern trigger action that detects user, the moveable platform is received and sends
Detection pattern triggering one of information or a variety of.
37. terminal device according to claim 26, which is characterized in that the processor is also used to join when the state
When number meets preset state requirement, the mobile limitation of the moveable platform is released.
38. terminal device according to claim 26, which is characterized in that the processor is also used to detect described removable
Whether moving platform has executed the movement of the action prompt information instruction；When no, the shifting of the moveable platform is limited
It is dynamic.
39. a kind of moveable platform characterized by comprising memory and processor, wherein
The memory, for storing program code；
The processor calls said program code to execute following operation:
The measurement data of navigation sensor output during executing the movement of action prompt information instruction is obtained,
In, the action prompt information is displayed on the interactive device for the terminal device connecting with the moveable platform；
The state parameter of the navigation sensor is determined according to the measurement data；
The state parameter of the navigation sensor is sent to the terminal device.
40. moveable platform according to claim 39, which is characterized in that the movement packet of the action prompt information instruction
Include the movement that moveable platform executes under external force.
41. moveable platform according to claim 39, which is characterized in that the movement packet of the action prompt information instruction
It includes moveable platform and passes through the movement that the Power Component configured executes.
42. moveable platform according to claim 39, which is characterized in that the movement packet of the action prompt information instruction
Include action sequence.
43. moveable platform according to claim 39, which is characterized in that the navigation sensor include accelerometer,
Gyroscope, satellite positioning receiving device, visual sensor, TOF sensor, ultrasonic sensor, laser radar, millimeter wave thunder
It reaches, one of satellite positioning receiving device, barometer, compass or a variety of.
44. according to the described in any item moveable platforms of claim 39-43, which is characterized in that
The navigation sensor is the navigation sensor of redundant configuration.
45. moveable platform according to claim 39, which is characterized in that the state parameter is for indicating the navigation
It is pre- whether the zero bias of sensor are located at that default zero bias require, whether the Installation posture of the navigation sensor and/or position meet
If whether the measurement data that the navigation sensor of installation requirement, redundant configuration exports meets default coherence request, removable
Whether the vibration of moving platform meets one of preset requirement or a variety of to the interference of navigation sensor.
46. moveable platform according to claim 39, which is characterized in that the processor is also used to receive terminal and sets
The detection that preparation is sent indicates information；
The processor obtains the survey of navigation sensor output during executing the movement of action prompt information instruction
When measuring data, it is specifically used for:
After receiving the detection instruction information, described during executing the movement of action prompt information instruction lead is obtained
The measurement data that the sensor that navigates exports.
47. moveable platform according to claim 46, which is characterized in that the detection instruction information includes the movement
The identification information of the movement of prompt information instruction,
When the processor determines the state parameter of the navigation sensor according to the measurement data, it is specifically used for:
The state parameter of the navigation sensor is determined according to the measurement data and the identification information.
48. moveable platform according to claim 39, which is characterized in that the processor is also used to when the state
When parameter meets preset state requirement, the mobile limitation of the moveable platform is released.
49. moveable platform according to claim 39, which is characterized in that the processor is also used to getting inspection
It surveys by releasing the mobile limitation of the moveable platform after information, wherein the detection is the terminal device by information
Determine that the state parameter meets when preset state requires to moveable platform transmission.
50. moveable platform according to claim 39, which is characterized in that the processor is also used to detect whether
Through the movement for having executed the action prompt information instruction；When no, the movement of the moveable platform is limited.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/084700 WO2019205062A1 (en) | 2018-04-26 | 2018-04-26 | Navigation sensor detection method for movable platform and related device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110291363A true CN110291363A (en) | 2019-09-27 |
Family
ID=68001279
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880010732.5A Pending CN110291363A (en) | 2018-04-26 | 2018-04-26 | The method and relevant device of the navigation sensor detection of moveable platform |
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| Country | Link |
|---|---|
| CN (1) | CN110291363A (en) |
| WO (1) | WO2019205062A1 (en) |
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Application publication date: 20190927 |