CN110398765A - Localization method and device, unmanned equipment - Google Patents
Localization method and device, unmanned equipment Download PDFInfo
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- CN110398765A CN110398765A CN201810375538.9A CN201810375538A CN110398765A CN 110398765 A CN110398765 A CN 110398765A CN 201810375538 A CN201810375538 A CN 201810375538A CN 110398765 A CN110398765 A CN 110398765A
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000004807 localization Effects 0.000 title claims abstract description 30
- 238000005070 sampling Methods 0.000 claims abstract description 89
- 230000000007 visual effect Effects 0.000 claims abstract description 11
- 230000000694 effects Effects 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 230000006870 function Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The disclosure provides a kind of localization method and device, unmanned equipment.Positioning device by pre- fixed sample interval △ t to wheel speed in terms of the second point cloud data for providing of the first point cloud data for providing of the location information that provides of the angular velocity information that provides of the velocity information of offer, inertial navigation system, positioning system, laser radar sensor and visual sensor sample；It is whether effective using the location information, the first point cloud data and the second point cloud data that in t moment and in the sampled result of t+ △ t moment, judge to sample in t+ △ t moment；In the location information of t+ △ t moment sampling, the first point cloud data and the effective situation of the second point cloud data, localization process is carried out using effective location information, the first point cloud data and the second point cloud data.The disclosure, which passes through, carries out Combined Treatment using the positioning result that different positioning methods are fed back, and is capable of providing high-precision location information.
Description
Technical field
This disclosure relates to positioning field, in particular to a kind of localization method and device, unmanned equipment.
Background technique
Currently, the safety and stability in order to realize unmanned equipment operation, by utilizing GPS (Global
Positioning System, global positioning system), inertial navigation system, laser SLAM (Simultaneous
Localization And Mapping), vision SLAM, characteristic point (Landmark) positioning, the side such as wheel speed meter (Odometry)
Formula realizes positioning, the oriented control of unmanned equipment.
However, GPS receiver board is influenced in urban road environment by multipath, eclipse phenomena, positioning accuracy is poor.Simultaneously
GPS board itself, which exists, shows that positioning states are good, but the problem that actual location precision is poor.GPS/INS assembled scheme due to
It is influenced by GPS board problem itself, positioning, orientation accuracy are poor in some environments.Laser SLAM and vision SLAM, feature
Point location is influenced by running environment (illumination, temperature etc.), can cannot effectively realize positioning in any environment.Wheel speed meter needs
Course information is provided by other equipment, is then realized and is positioned by pushing, this positioning method cannot be provided in other equipment
Precision course direction information and Auto-proportion parameter it is inaccurate in the case where, positioning accuracy is poor.
Summary of the invention
The technical problem that embodiment of the disclosure solves is: can not provide high-precision positioning for unmanned equipment
Service.
According to the one aspect of one or more other embodiments of the present disclosure, a kind of localization method is provided, comprising: adopt with predetermined
What angular velocity information that velocity information that sample interval △ t provides wheel speed meter, inertial navigation system provide, positioning system provided determines
The second point cloud data that the first point cloud data and visual sensor that position information, laser radar sensor provide provide is adopted
Sample；Using in t moment and in the sampled result of t+ △ t moment, judge t+ △ t moment sample location information, first cloud
Whether data and the second point cloud data are effective；In location information, the first point cloud data and the second point cloud number of the sampling of t+ △ t moment
According in effective situation, localization process is carried out using effective location information, the first point cloud data and the second point cloud data.
Optionally, location information includes location data Pg and directional data Hg；First point cloud data includes location data Pl
With directional data Hl；Second point cloud data include location data Ps and directional data Hs.
Optionally, the positioning letter in t moment and in the sampled result of t+ △ t moment, judging to sample in t+ △ t moment is utilized
Whether breath, the first point cloud data and the second point cloud data effectively include: to be determined using the velocity information and angular velocity information sampled
Moving distance S of the unmanned equipment in sampling interval △ t；Using moving distance S, judge to determine what t+ △ t moment sampled
Position data Pgk+1、Plk+1And Psk+1Whether effectively；In location data Pgk+1、Plk+1And Psk+1In effective situation, sampling is utilized
The first point cloud data in directional data, determine virtual course HL of the unmanned equipment in sampling interval △ t；Utilize phase
To course HL, the directional data Hg sampled in t+ △ t moment is judgedk+1And Hsk+1Whether effectively；In directional data Hgk+1And Hsk+1
In effective situation, determine that location information, the first point cloud data and the second point cloud data sampled in t+ △ t moment is effective.
Optionally, using moving distance S, judge the location data Pg sampled in t+ △ t momentk+1、Plk+1And Psk+1Whether
It effectively include: to utilize the location data Pg sampled in t momentkAnd the location data Pg in the sampling of t+ △ t momentk+1, determine movement
Distance Sg；Using in the collected location data Pl of t momentkAnd in the collected location data Pl of t+ △ t momentk+1, determine and move
Dynamic distance Sl；Using in the collected location data Ps of t momentkAnd in the collected location data Ps of t+ △ t momentk+1, determine
Moving distance Ss；The difference of moving distance Sg and moving distance S within a predetermined range in the case where, determine location data Pgk+1Have
Effect；The difference of moving distance Sl and moving distance S within a predetermined range in the case where, determine location data Plk+1Effectively；It is moving
The difference of dynamic distance Ss and moving distance S within a predetermined range in the case where, determine location data Psk+1Effectively.
Optionally, the difference of moving distance Sg and moving distance S not within the predefined range in the case where, determine location data
Pgk+1In vain, moving distance S and location data Pg are utilizedkRegenerate location data Pgk+1；Moving distance Sl and it is mobile away from
Difference from S not within the predefined range in the case where, determine location data Plk+1In vain, moving distance S and location data Pl are utilizedk
Regenerate location data Plk+1；The difference of moving distance Ss and moving distance S not within the predefined range in the case where, it is fixed to determine
Position data Psk+1In vain, moving distance S and location data Ps are utilizedkRegenerate location data Psk+1。
Optionally, using virtual course HL, judge the directional data Hg sampled in t+ △ t momentk+1And Hsk+1Whether effectively
It include: to utilize the directional data Hg sampled in t momentkAnd the directional data Hg in the sampling of t+ △ t momentk+1, determine virtual course
HG；Using in the collected directional data Hs of t momentkAnd in the collected directional data Hs of t+ △ t momentk+1, determine opposite boat
To HS；The difference of virtual course HG and virtual course HL within a predetermined range in the case where, determine directional data Hgk+1Effectively；In
The difference of virtual course HS and virtual course HL within a predetermined range in the case where, determine directional data Hsk+1Effectively.
Optionally, the difference of virtual course HG and virtual course HL not within the predefined range in the case where, determine orientation number
According to Hgk+1In vain, directional data Hg is utilizedk, sampling interval △ t and t moment sampling angular speed WnkRegenerate directional data
Hgk+1；The difference of virtual course HS and virtual course HL not within the predefined range in the case where, determine directional data Hsk+1In vain,
Utilize directional data Hsk, sampling interval △ t and angular speed WnkRegenerate directional data Hsk+1。
Optionally, using the velocity information of sampling and angular velocity information, determine unmanned equipment in sampling interval △ t
Moving distance S include: to utilize the speed V that samples in t momentkWith angular speed Wnk, and in the speed V of t+ △ t moment samplingk+1
With angular speed Wnk+1, determine unmanned equipment from t moment to the moving distance S of t+ △ t moment.
Optionally, using the directional data in the first point cloud data of sampling, determine unmanned equipment in the sampling interval
Virtual course HL in △ t includes: to utilize the directional data Hl sampled in t+ △ t momentk+1With the orientation number sampled in t moment
According to HlkDifference, determine virtual course HL of the unmanned equipment in sampling interval △ t.
According to the other side of one or more other embodiments of the present disclosure, a kind of positioning device is provided, comprising: sampling mould
Block is configured as by pre- fixed sample interval △ t the angular speed letter that the velocity information, inertial navigation system of offer in terms of to wheel speed provide
What the first point cloud data and visual sensor of location information, laser radar sensor offer that breath, positioning system provide provided
Second point cloud data is sampled；Information identification module is configured as using in t moment and in the sampled result of t+ △ t moment,
Judge whether the location information, the first point cloud data and the second point cloud data that sample in t+ △ t moment are effective；Localization process mould
Block is configured as in location information, the first point cloud data and the effective situation of the second point cloud data that t+ △ t moment samples,
Localization process is carried out using effective location information, the first point cloud data and the second point cloud data.
Optionally, location information includes location data Pg and directional data Hg；First point cloud data includes location data Pl
With directional data Hl；Second point cloud data include location data Ps and directional data Hs.
Optionally, information identification module is configured as velocity information and angular velocity information using sampling, determines that nobody drives
Sail moving distance S of the equipment in sampling interval △ t；Using moving distance S, the location data sampled in t+ △ t moment is judged
Pgk+1、Plk+1And Psk+1Whether effectively；In location data Pgk+1、Plk+1And Psk+1In effective situation, the first of sampling is utilized
Directional data in point cloud data determines virtual course HL of the unmanned equipment in sampling interval △ t；Utilize virtual course
HL judges the directional data Hg sampled in t+ △ t momentk+1And Hsk+1Whether effectively；In directional data Hgk+1And Hsk+1Effectively
In the case of, determine that location information, the first point cloud data and the second point cloud data sampled in t+ △ t moment is effective.
Optionally, information identification module is configured as utilizing the location data Pg sampled in t momentkAnd in t+ △ t moment
The location data Pg of samplingk+1, determine moving distance Sg；Using in the collected location data Pl of t momentkAnd in t+ △ t moment
Collected location data Plk+1, determine moving distance Sl；Using in the collected location data Ps of t momentkAnd in t+ △ t
Carve collected location data Psk+1, determine moving distance Ss；The difference of moving distance Sg and moving distance S within a predetermined range
In the case where, determine location data Pgk+1Effectively；The difference of moving distance Sl and moving distance S within a predetermined range the case where
Under, determine location data Plk+1Effectively；The difference of moving distance Ss and moving distance S within a predetermined range in the case where, determine
Location data Psk+1Effectively.
Optionally, information identification module be configured as the difference of moving distance Sg and moving distance S not within the predefined range
In the case where, determine location data Pgk+1In vain, moving distance S and location data Pg are utilizedkRegenerate location data Pgk+1；
The difference of moving distance Sl and moving distance S not within the predefined range in the case where, determine location data Plk+1In vain, shifting is utilized
Dynamic distance S and location data PlkRegenerate location data Plk+1；In the difference of moving distance Ss and moving distance S not predetermined
In the case where in range, location data Ps is determinedk+1In vain, moving distance S and location data Ps are utilizedkRegenerate positioning number
According to Psk+1。
Optionally, information identification module is configured as utilizing the directional data Hg sampled in t momentkAnd in t+ △ t moment
The directional data Hg of samplingk+1, determine virtual course HG；Using in the collected directional data Hs of t momentkAnd in t+ △ t moment
Collected directional data Hsk+1, determine virtual course HS；The difference of virtual course HG and virtual course HL within a predetermined range
In the case where, determine directional data Hgk+1Effectively；The difference of virtual course HS and virtual course HL within a predetermined range the case where
Under, determine directional data Hsk+1Effectively.
Optionally, information identification module is additionally configured in the difference of virtual course HG and virtual course HL not in preset range
In the case where interior, directional data Hg is determinedk+1In vain, directional data Hg is utilizedk, sampling interval △ t and t moment sampling angle
Speed WnkRegenerate directional data Hgk+1；The difference of virtual course HS and virtual course HL not within the predefined range the case where
Under, determine directional data Hsk+1In vain, directional data Hs is utilizedk, sampling interval △ t and angular speed WnkRegenerate directional data
Hsk+1。
Optionally, information identification module is additionally configured to utilize the speed V sampled in t momentkWith angular speed Wnk, and in t+
The speed V of △ t moment samplingk+1With angular speed Wnk+1, determine unmanned equipment from t moment to the moving distance of t+ △ t moment
S。
Optionally, information identification module is additionally configured to utilize the directional data Hl sampled in t+ △ t momentk+1With in t
Carve the directional data Hl of samplingkDifference, determine virtual course HL of the unmanned equipment in sampling interval △ t.
According to the other side of one or more other embodiments of the present disclosure, a kind of positioning device is provided, comprising: storage
Device is configured as store instruction；Processor, is coupled to memory, and processor is configured as holding based on the instruction that memory stores
Row realizes the method being related to such as above-mentioned any embodiment.
According to the other side of one or more other embodiments of the present disclosure, a kind of unmanned equipment is provided, including such as
The positioning device that any of the above-described embodiment is related to, and
Wheel speed meter, is configured to supply velocity information；
Inertial navigation system is configured to supply angular velocity information；
Positioning system is configured to supply location information；
Laser radar sensor is configured to supply the first point cloud data；
Visual sensor is configured to supply the second point cloud data.
According to the other side of one or more other embodiments of the present disclosure, a kind of computer readable storage medium is provided,
Wherein, computer-readable recording medium storage has computer instruction, and such as any of the above-described implementation is realized when instruction is executed by processor
The method that example is related to.
By the detailed description referring to the drawings to the exemplary embodiment of the disclosure, the other feature of the disclosure and its
Advantage will become apparent.
Detailed description of the invention
In order to illustrate more clearly of the embodiment of the present disclosure or technical solution in the prior art, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Disclosed some embodiments without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is the exemplary process diagram of the localization method of an embodiment of the present disclosure.
Fig. 2 is the whether effective exemplary process diagram of judgement sampled data of an embodiment of the present disclosure.
Fig. 3 is the exemplary block diagram of the positioning device of an embodiment of the present disclosure.
Fig. 4 is the exemplary block diagram of the positioning device of another embodiment of the disclosure.
Fig. 5 is the exemplary block diagram of the unmanned equipment of an embodiment of the present disclosure.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present disclosure, the technical solution in the embodiment of the present disclosure is carried out clear, complete
Site preparation description, it is clear that described embodiment is only disclosure a part of the embodiment, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the disclosure and its application or making
Any restrictions.Based on the embodiment in the disclosure, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, belong to the disclosure protection range.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
Up to the unlimited the scope of the present disclosure processed of formula and numerical value.
Simultaneously, it should be appreciated that for ease of description, the size of various pieces shown in attached drawing is not according to reality
Proportionate relationship draw.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing part of specification.
It is shown here and discuss all examples in, any occurrence should be construed as merely illustratively, without
It is as limitation.Therefore, the other examples of exemplary embodiment can have different values.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.
Fig. 1 is the exemplary process diagram of the localization method of an embodiment of the present disclosure.Optionally, the method step of the present embodiment
Suddenly it can be executed by positioning device.
In step 101, by pre- fixed sample interval △ t to wheel speed in terms of velocity information, the inertial navigation system of offer provide
The first point cloud data and visual sensing of location information, laser radar sensor offer that angular velocity information, positioning system provide
The second point cloud data that device provides is sampled.
Optionally, location information includes location data Pg and directional data Hg, and the first point cloud data includes location data Pl
With directional data Hl, second point cloud data include location data Ps and directional data Hs.
For example, positioning system can provide the positioning system of positioning service for GPS or other.
In step 102, using in t moment and in the sampled result of t+ △ t moment, judging to determine what t+ △ t moment sampled
Whether position information, the first point cloud data and the second point cloud data are effective.
Fig. 2 is the whether effective exemplary process diagram of judgement sampled data of an embodiment of the present disclosure.
Determine unmanned equipment in sampling interval △ using the velocity information and angular velocity information of sampling in step 201
Moving distance S in t.
Optionally, the speed V provided by wheel speed meter sampled in t moment is providedkWith the angle provided by inertial navigation system
Speed Wnk, and in the speed V of t+ △ t moment sampling provided by wheel speed meterk+1With the angular speed provided by inertial navigation system
Wnk+1, determine unmanned equipment from t moment to the moving distance S of t+ △ t moment.
For example, moving distance S can be calculated by following equation (1).
Wherein, Wn is utilizedkAnd Wnk+1, influence of the gyroscope zero bias to course angle can be effectively eliminated.
In step 202, using moving distance S, the location data Pg sampled in t+ △ t moment is judgedk+1, first cloud number
Location data Pl ink+1With the location data Ps in the second point cloud datak+1Whether effectively.
Optionally, the location data Pg sampled in t moment is utilizedkAnd the location data Pg in the sampling of t+ △ t momentk+1, really
Determine moving distance Sg.Using in the collected location data Pl of t momentkAnd in the collected location data Pl of t+ △ t momentk+1,
Determine moving distance Sl.Using in the collected location data Ps of t momentkAnd in the collected location data of t+ △ t moment
Psk+1, determine moving distance Ss.
The difference of moving distance Sg and moving distance S within a predetermined range in the case where, determine location data Pgk+1Effectively.
For example, if | Sg-S | < △ S1, it is determined that in the location data Pg of t+ △ t moment sampling provided by positioning systemk+1Effectively.
On the contrary, the difference of moving distance Sg and moving distance S not within the predefined range in the case where, determine location data
Pgk+1In vain, moving distance S and location data Pg are utilizedkRegenerate location data Pgk+1.For example, before unmanned equipment
In the case where, Pgk+1=Pgk+S.In the case where unmanned equipment retreats, Pgk+1=Pgk-S。
The difference of moving distance Sl and moving distance S within a predetermined range in the case where, determine location data Plk+1Effectively.
For example, if | Sl-S | < △ S2, it is determined that in the location data Pl of t+ △ t moment sampling provided by laser radar sensork+1
Effectively.
On the contrary, the difference of moving distance Sl and moving distance S not within the predefined range in the case where, determine location data
Plk+1In vain, moving distance S and location data Pl are utilizedkRegenerate location data Plk+1.For example, before unmanned equipment
In the case where, Plk+1=Plk+S.In the case where unmanned equipment retreats, Plk+1=Plk-S。
The difference of moving distance Ss and moving distance S within a predetermined range in the case where, determine location data Psk+1Effectively.
For example, if | Ss-S | < △ S3, it is determined that in the location data Ps of t+ △ t moment sampling provided by visual sensork+1Effectively.
On the contrary, the difference of moving distance Ss and moving distance S not within the predefined range in the case where, determine location data
Psk+1In vain, moving distance S and location data Ps are utilizedkRegenerate location data Psk+1.For example, before unmanned equipment
In the case where, Psk+1=Psk+S.In the case where unmanned equipment retreats, Psk+1=Psk-S。
In step 203, in location data Pgk+1、Plk+1And Psk+1In effective situation, first cloud number of sampling is utilized
Directional data in determines virtual course HL of the unmanned equipment in sampling interval △ t.
Optionally, the directional data Hl sampled in t+ △ t moment is utilizedk+1With the directional data Hl sampled in t momentkIt
Difference determines virtual course HL of the unmanned equipment in sampling interval △ t.
In step 204, using virtual course HL, the directional data Hg sampled in t+ △ t moment is judgedk+1With second point cloud
Directional data Hs in datak+1Whether effectively.
Optionally, the directional data Hg sampled in t moment is utilizedkAnd the directional data Hg in the sampling of t+ △ t momentk+1, really
Determine virtual course HG.Using in the collected directional data Hs of t momentkAnd in the collected directional data Hs of t+ △ t momentk+1,
Determine virtual course HS.
The difference of virtual course HG and virtual course HL within a predetermined range in the case where, determine directional data Hgk+1Have
Effect.For example, if | HG-HL | < △ H1, it is determined that in the location data Ps of t+ △ t moment sampling provided by positioning systemk+1Have
Effect.
On the contrary, the difference of virtual course HG and virtual course HL not within the predefined range in the case where, determine orientation number
According to Hgk+1In vain, directional data Hg is utilizedk, sampling interval △ t and t moment sampling angular speed WnkRegenerate directional data
Hgk+1.For example, Hgk+1=Hgk+Wnk×△t。
The difference of virtual course HS and virtual course HL within a predetermined range in the case where, determine directional data Hsk+1Have
Effect.For example, if | HS-HL | < △ H2, it is determined that in the location data Ps of t+ △ t moment sampling provided by visual sensork+1
Effectively.
On the contrary, the difference of virtual course HS and virtual course HL not within the predefined range in the case where, determine orientation number
According to Hsk+1In vain, directional data Hs is utilizedk, sampling interval △ t and angular speed WnkRegenerate directional data Hsk+1.For example,
Hsk+1=Hsk+Wnk×△t。
In step 205, in directional data Hgk+1And Hsk+1In effective situation, the positioning sampled in t+ △ t moment is determined
Information, the first point cloud data and the second point cloud data are effective.
Back to Fig. 1.In step 103, in location information, the first point cloud data and the second point cloud of the sampling of t+ △ t moment
In the effective situation of data, localization process is carried out using effective location information, the first point cloud data and the second point cloud data.
After determining valid data, led with the location error of unmanned equipment, attitude error, velocity error, inertia
Accelerometer bias and gyroscope zero bias, the wheel speed meter scale factor of boat system are state variable, and each system provides effective fixed
Position, directional data are that measuring value is extended Kalman filtering, to realize unmanned equipment high accuracy positioning and orientation.
Based on disclosure localization method provided by the above embodiment, pass through the positioning result using different positioning methods feedback
Combined Treatment is carried out, high-precision location information is capable of providing.
Fig. 3 is the exemplary block diagram of the positioning device of an embodiment of the present disclosure.As shown in figure 3, positioning device includes adopting
Egf block 31, information identification module 32 and localization process module 33.
As shown in figure 3, sampling module 31 be configured as by pre- fixed sample interval △ t the velocity information of offer in terms of to wheel speed,
The first of location information, laser radar sensor offer that the angular velocity information of inertial navigation system offer, positioning system provide
The second point cloud data that point cloud data and visual sensor provide is sampled.
Optionally, location information includes location data Pg and directional data Hg, and the first point cloud data includes location data Pl
With directional data Hl, second point cloud data include location data Ps and directional data Hs.
Optionally, information identification module 32 is configured as using in t moment and in the sampled result of t+ △ t moment, judgement
It is whether effective in the location information of t+ △ t moment sampling, the first point cloud data and the second point cloud data.
In some embodiments, information identification module 32 is configured as velocity information and angular velocity information using sampling,
Determine moving distance S of the unmanned equipment in sampling interval △ t.Optionally, information identification module is utilized samples in t moment
Speed VkWith angular speed Wnk, and in the speed V of t+ △ t moment samplingk+1With angular speed Wnk+1, determine unmanned equipment from t
Moving distance S of the moment to t+ △ t moment.For example, moving distance S can be calculated using above-mentioned formula (1).
Information identification module 32 utilizes moving distance S, judges the location data Pg sampled in t+ △ t momentk+1、Plk+1With
Psk+1Whether effectively.
In location data Pgk+1、Plk+1And Psk+1In effective situation, information identification module 32 further utilizes sampling
Directional data in first point cloud data determines virtual course HL of the unmanned equipment in sampling interval △ t.
Optionally, the directional data Hl sampled in t+ △ t moment is utilizedk+1With the directional data Hl sampled in t momentkIt
Difference determines virtual course HL of the unmanned equipment in sampling interval △ t.
Information identification module 32 utilizes virtual course HL, judges the directional data Hg sampled in t+ △ t momentk+1And Hsk+1
Whether effectively；In directional data Hgk+1And Hsk+1In effective situation, the determining location information sampled in t+ △ t moment, first
Point cloud data and the second point cloud data are effective.
In some embodiments, information identification module 32 utilizes the location data Pg sampled in t momentkAnd in t+ △ t
Carve the location data Pg of samplingk+1, determine moving distance Sg；Using in the collected location data Pl of t momentkAnd in t+ △ t
Carve collected location data Plk+1, determine moving distance Sl；Using in the collected location data Ps of t momentkAnd in t+ △ t
Moment collected location data Psk+1, determine moving distance Ss.
The difference of moving distance Sg and moving distance S within a predetermined range in the case where, it is fixed that information identification module 32 determines
Position data Pgk+1Effectively.And the difference of moving distance Sg and moving distance S not within the predefined range in the case where, determine positioning number
According to Pgk+1In vain, moving distance S and location data Pg are utilizedkRegenerate location data Pgk+1.For example, in unmanned equipment
In the case where advance, Pgk+1=Pgk+S.In the case where unmanned equipment retreats, Pgk+1=Pgk-S。
The difference of moving distance Sl and moving distance S within a predetermined range in the case where, it is fixed that information identification module 32 determines
Position data Plk+1Effectively.And the difference of moving distance Sl and moving distance S not within the predefined range in the case where, determine positioning number
According to Plk+1In vain, moving distance S and location data Pl are utilizedkRegenerate location data Plk+1.For example, in unmanned equipment
In the case where advance, Plk+1=Plk+S.In the case where unmanned equipment retreats, Plk+1=Plk-S。
The difference of moving distance Ss and moving distance S within a predetermined range in the case where, it is fixed that information identification module 32 determines
Position data Psk+1Effectively.And the difference of moving distance Ss and moving distance S not within the predefined range in the case where, determine positioning number
According to Psk+1In vain, moving distance S and location data Ps are utilizedkRegenerate location data Psk+1.For example, in unmanned equipment
In the case where advance, Psk+1=Psk+S.In the case where unmanned equipment retreats, Psk+1=Psk-S。
In some embodiment values, information identification module 32 utilizes the directional data Hg sampled in t momentkAnd in t+ △ t
Carve the directional data Hg of samplingk+1, determine virtual course HG；Using in the collected directional data Hs of t momentkAnd in t+ △ t
Carve collected directional data Hsk+1, determine virtual course HS.
The difference of virtual course HG and virtual course HL within a predetermined range in the case where, determine directional data Hgk+1Have
Effect.And the difference of virtual course HG and virtual course HL not within the predefined range in the case where, determine directional data Hgk+1In vain,
Utilize directional data Hgk, sampling interval △ t and t moment sampling angular speed WnkRegenerate directional data Hgk+1.For example,
Hgk+1=Hgk+Wnk×△t。
The difference of virtual course HS and virtual course HL within a predetermined range in the case where, determine directional data Hsk+1Have
Effect.And the difference of virtual course HS and virtual course HL not within the predefined range in the case where, determine directional data Hsk+1In vain,
Utilize directional data Hsk, sampling interval △ t and angular speed WnkRegenerate directional data Hsk+1.For example, Hsk+1=Hsk+Wnk
×△t。
Localization process module 33 is configured as location information, the first point cloud data and the second point sampled in t+ △ t moment
In the effective situation of cloud data, localization process is carried out using effective location information, the first point cloud data and the second point cloud data.
That is, utilizing effective Pgk+1、Hgk+1、Plk+1、Hlk+1、Psk+1And Hsk+1Carry out localization process.
Based on disclosure positioning device provided by the above embodiment, pass through the positioning result using different positioning methods feedback
Combined Treatment is carried out, high-precision location information is capable of providing.
Fig. 4 is the exemplary block diagram of the positioning device of another embodiment of the disclosure.As shown in figure 4, positioning device includes
Memory 41 and processor 42.
For storing instruction, processor 42 is coupled to memory 41 to memory 41, and processor 42 is configured as based on storage
The instruction execution of device storage realizes the method that any embodiment is related in such as Fig. 1 and Fig. 2.
As shown in figure 4, the positioning device further includes communication interface 43, for carrying out information exchange with other equipment.Meanwhile
The device further includes bus 44, and processor 42, communication interface 43 and memory 41 complete mutual lead to by bus 44
Letter.
Memory 41 may include high speed RAM memory, can also further include nonvolatile memory (non-volatile
Memory), a for example, at least magnetic disk storage.Memory 41 is also possible to memory array.Memory 41 is also possible to be divided
Block, and block can be combined into virtual volume by certain rule.
In addition, processor 42 can be a central processor CPU, perhaps can be application-specific integrated circuit ASIC or
It is arranged to implement one or more integrated circuits of the embodiment of the present disclosure.
The disclosure also relates to a kind of computer readable storage medium, and wherein computer-readable recording medium storage has meter
The method that any embodiment is related in such as Fig. 1 and Fig. 2 is realized in the instruction of calculation machine when instruction is executed by processor.
Fig. 5 is the exemplary block diagram of the unmanned equipment of an embodiment of the present disclosure.As shown in figure 5, unmanned set
Standby includes that positioning device 51, wheel speed meter 52, inertial navigation system 53, positioning system 54, laser radar sensor 55 and vision pass
Sensor 56.
As shown in figure 5, positioning device 51 is the positioning device that any embodiment is related in Fig. 3 and Fig. 4.Wheel speed meter 52 is matched
It is set to offer velocity information, inertial navigation system 53 is configured to supply angular velocity information, and positioning system 54 is configured to supply
Location information, laser radar sensor 55 are configured to supply the first point cloud data, and visual sensor 56 is configured to supply
Two point cloud datas.
Positioning device carries out Combined Treatment by acquiring the information that each equipment and system provide with predetermined time interval,
It is capable of providing high-precision location information.
Optionally, functional unit block described above can be implemented as executing function described by the disclosure
General processor, programmable logic controller (PLC) (Programmable Logic Controller, referred to as: PLC), digital signal
Processor (Digital Signal Processor, referred to as: DSP), specific integrated circuit (Application Specific
Integrated Circuit, referred to as: ASIC), field programmable gate array (Field-Programmable Gate Array,
Referred to as: FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components or its
It is any appropriately combined.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The description of the disclosure is given for the purpose of illustration and description, and is not exhaustively or by the disclosure
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.It selects and retouches
Embodiment is stated and be the principle and practical application in order to more preferably illustrate the disclosure, and those skilled in the art is enable to manage
The solution disclosure is to design various embodiments suitable for specific applications with various modifications.
Claims (21)
1. a kind of localization method, comprising:
By pre- fixed sample interval △ t to wheel speed in terms of the velocity information of offer, inertial navigation system provide angular velocity information, positioning
The second point of location information, the first point cloud data that laser radar sensor provides and visual sensor offer that system provides
Cloud data are sampled；
Using in t moment and in the sampled result of t+ △ t moment, judge t+ △ t moment sample location information, first cloud
Whether data and the second point cloud data are effective；
Under the location information, the first point cloud data and the effective situation of the second point cloud data of the sampling of t+ △ t moment, using effective
Location information, the first point cloud data and the second point cloud data carry out localization process.
2. localization method according to claim 1, wherein
The location information includes location data Pg and directional data Hg；
First point cloud data includes location data Pl and directional data Hl；
The second point cloud data include location data Ps and directional data Hs.
3. localization method according to claim 2 judges using in t moment and in the sampled result of t+ △ t moment in t+
△ t moment sampling location information, the first point cloud data and the second point cloud data whether effectively include:
Using the velocity information and angular velocity information of sampling, moving distance of the unmanned equipment in sampling interval △ t is determined
S；
Using the moving distance S, the location data Pg sampled in t+ △ t moment is judgedk+1、Plk+1And Psk+1Whether effectively；
In location data Pgk+1、Plk+1And Psk+1In effective situation, using the directional data in the first point cloud data of sampling,
Determine virtual course HL of the unmanned equipment in sampling interval △ t；
Using the virtual course HL, the directional data Hg sampled in t+ △ t moment is judgedk+1And Hsk+1Whether effectively；
In directional data Hgk+1And Hsk+1In effective situation, the determining location information sampled in t+ △ t moment, first cloud number
According to effective with the second point cloud data.
4. localization method according to claim 3 judges the positioning sampled in t+ △ t moment using the moving distance S
Data Pgk+1、Plk+1And Psk+1Whether effectively include:
Utilize the location data Pg sampled in t momentkAnd the location data Pg in the sampling of t+ △ t momentk+1, determine moving distance
Sg；Using in the collected location data Pl of t momentkAnd in the collected location data Pl of t+ △ t momentk+1, determine it is mobile away from
From Sl；Using in the collected location data Ps of t momentkAnd in the collected location data Ps of t+ △ t momentk+1, determine movement
Distance Ss；
The difference of moving distance Sg and moving distance S within a predetermined range in the case where, determine location data Pgk+1Effectively；
The difference of moving distance Sl and moving distance S within a predetermined range in the case where, determine location data Plk+1Effectively；
The difference of moving distance Ss and moving distance S within a predetermined range in the case where, determine location data Psk+1Effectively.
5. localization method according to claim 4, in which:
The difference of moving distance Sg and moving distance S not within the predefined range in the case where, determine location data Pgk+1In vain, sharp
With moving distance S and location data PgkRegenerate location data Pgk+1；
The difference of moving distance Sl and moving distance S not within the predefined range in the case where, determine location data Plk+1In vain, sharp
With moving distance S and location data PlkRegenerate location data Plk+1；
The difference of moving distance Ss and moving distance S not within the predefined range in the case where, determine location data Psk+1In vain, sharp
With moving distance S and location data PskRegenerate location data Psk+1。
6. localization method according to claim 3 judges to determine what t+ △ t moment sampled using the virtual course HL
To data Hgk+1And Hsk+1Whether effectively include:
Utilize the directional data Hg sampled in t momentkAnd the directional data Hg in the sampling of t+ △ t momentk+1, determine virtual course
HG；Using in the collected directional data Hs of t momentkAnd in the collected directional data Hs of t+ △ t momentk+1, determine opposite boat
To HS；
The difference of virtual course HG and virtual course HL within a predetermined range in the case where, determine directional data Hgk+1Effectively；
The difference of virtual course HS and virtual course HL within a predetermined range in the case where, determine directional data Hsk+1Effectively.
7. localization method according to claim 6, in which:
The difference of virtual course HG and virtual course HL not within the predefined range in the case where, determine directional data Hgk+1In vain,
Utilize directional data Hgk, sampling interval △ t and t moment sampling angular speed WnkRegenerate directional data Hgk+1；
The difference of virtual course HS and virtual course HL not within the predefined range in the case where, determine directional data Hsk+1In vain,
Utilize directional data Hsk, sampling interval △ t and angular speed WnkRegenerate directional data Hsk+1。
8. localization method according to claim 3 is determined unmanned using the velocity information and angular velocity information of sampling
Moving distance S of the equipment in sampling interval △ t include:
Utilize the speed V sampled in t momentkWith angular speed Wnk, and in the speed V of t+ △ t moment samplingk+1With angular speed Wnk+1,
Determine unmanned equipment from t moment to the moving distance S of t+ △ t moment.
9. localization method according to claim 3 determines nobody using the directional data in the first point cloud data of sampling
Virtual course HL of the steer in sampling interval △ t include:
Utilize the directional data Hl sampled in t+ △ t momentk+1With the directional data Hl sampled in t momentkDifference, determine that nobody drives
Sail virtual course HL of the equipment in sampling interval △ t.
10. a kind of positioning device, comprising:
Sampling module, the velocity information, inertial navigation system for being configured as by pre- fixed sample interval △ t offer in terms of to wheel speed provide
Angular velocity information, positioning system provide location information, laser radar sensor provide the first point cloud data and vision pass
The second point cloud data that sensor provides is sampled；
Information identification module is configured as judging to adopt in t+ △ t moment using in t moment and in the sampled result of t+ △ t moment
Whether the location information of sample, the first point cloud data and the second point cloud data are effective；
Localization process module is configured as location information, the first point cloud data and the second point cloud data sampled in t+ △ t moment
In effective situation, localization process is carried out using effective location information, the first point cloud data and the second point cloud data.
11. positioning device according to claim 10, wherein
The location information includes location data Pg and directional data Hg；
First point cloud data includes location data Pl and directional data Hl；
The second point cloud data include location data Ps and directional data Hs.
12. positioning device according to claim 11, wherein
Information identification module is configured as velocity information and angular velocity information using sampling, determines that unmanned equipment is sampling
The moving distance S being spaced in △ t；Using the moving distance S, the location data Pg sampled in t+ △ t moment is judgedk+1、Plk+1
And Psk+1Whether effectively；In location data Pgk+1、Plk+1And Psk+1In effective situation, using in the first point cloud data of sampling
Directional data, determine virtual course HL of the unmanned equipment in sampling interval △ t；Using the virtual course HL, sentence
Break in the directional data Hg of t+ △ t moment samplingk+1And Hsk+1Whether effectively；In directional data Hgk+1And Hsk+1Effective situation
Under, determine that location information, the first point cloud data and the second point cloud data sampled in t+ △ t moment is effective.
13. positioning device according to claim 12, in which:
Information identification module is configured as utilizing the location data Pg sampled in t momentkAnd the positioning number in the sampling of t+ △ t moment
According to Pgk+1, determine moving distance Sg；Using in the collected location data Pl of t momentkAnd in the collected positioning of t+ △ t moment
Data Plk+1, determine moving distance Sl；Using in the collected location data Ps of t momentkAnd it is collected fixed in t+ △ t moment
Position data Psk+1, determine moving distance Ss；The difference of moving distance Sg and moving distance S within a predetermined range in the case where, really
Determine location data Pgk+1Effectively；The difference of moving distance Sl and moving distance S within a predetermined range in the case where, determine positioning number
According to Plk+1Effectively；The difference of moving distance Ss and moving distance S within a predetermined range in the case where, determine location data Psk+1Have
Effect.
14. positioning device according to claim 13, in which:
Information identification module be configured as the difference of moving distance Sg and moving distance S not within the predefined range in the case where, really
Determine location data Pgk+1In vain, moving distance S and location data Pg are utilizedkRegenerate location data Pgk+1；In moving distance
The difference of Sl and moving distance S not within the predefined range in the case where, determine location data Plk+1In vain, using moving distance S and
Location data PlkRegenerate location data Plk+1；In the feelings of the difference of moving distance Ss and moving distance S not within the predefined range
Under condition, location data Ps is determinedk+1In vain, moving distance S and location data Ps are utilizedkRegenerate location data Psk+1。
15. positioning device according to claim 12, in which:
Information identification module is configured as utilizing the directional data Hg sampled in t momentkAnd the orientation number in the sampling of t+ △ t moment
According to Hgk+1, determine virtual course HG；Using in the collected directional data Hs of t momentkAnd in the collected orientation of t+ △ t moment
Data Hsk+1, determine virtual course HS；The difference of virtual course HG and virtual course HL within a predetermined range in the case where, determine
Directional data Hgk+1Effectively；The difference of virtual course HS and virtual course HL within a predetermined range in the case where, determine orientation number
According to Hsk+1Effectively.
16. positioning device according to claim 15, in which:
Information identification module be additionally configured to the difference of virtual course HG and virtual course HL not within the predefined range in the case where,
Determine directional data Hgk+1In vain, directional data Hg is utilizedk, sampling interval △ t and t moment sampling angular speed WnkAgain it gives birth to
At directional data Hgk+1；The difference of virtual course HS and virtual course HL not within the predefined range in the case where, determine orientation number
According to Hsk+1In vain, directional data Hs is utilizedk, sampling interval △ t and angular speed WnkRegenerate directional data Hsk+1。
17. positioning device according to claim 12, in which:
Information identification module is additionally configured to utilize the speed V sampled in t momentkWith angular speed Wnk, and in the sampling of t+ △ t moment
Speed Vk+1With angular speed Wnk+1, determine unmanned equipment from t moment to the moving distance S of t+ △ t moment.
18. positioning device according to claim 12, in which:
Information identification module is additionally configured to utilize the directional data Hl sampled in t+ △ t momentk+1Determine with what is sampled in t moment
To data HlkDifference, determine virtual course HL of the unmanned equipment in sampling interval △ t.
19. a kind of positioning device, comprising:
Memory is configured as store instruction；
Processor, is coupled to memory, and the instruction execution that processor is configured as storing based on memory realizes such as claim
The method of any one of 1-9.
20. a kind of unmanned equipment, including the positioning device as described in any one of claim 10-19, and
Wheel speed meter, is configured to supply velocity information；
Inertial navigation system is configured to supply angular velocity information；
Positioning system is configured to supply location information；
Laser radar sensor is configured to supply the first point cloud data；
Visual sensor is configured to supply the second point cloud data.
21. a kind of computer readable storage medium, wherein computer-readable recording medium storage has computer instruction, instructs quilt
The method such as any one of claim 1-9 is realized when processor executes.
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