CN105044754A - Mobile platform outdoor positioning method based on multi-sensor fusion - Google Patents
Mobile platform outdoor positioning method based on multi-sensor fusion Download PDFInfo
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- CN105044754A CN105044754A CN201510377645.1A CN201510377645A CN105044754A CN 105044754 A CN105044754 A CN 105044754A CN 201510377645 A CN201510377645 A CN 201510377645A CN 105044754 A CN105044754 A CN 105044754A
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- 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
-
- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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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)
- Multimedia (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a mobile platform outdoor positioning method based on multi-sensor fusion, and realizes high-precision position and direction measurement of a mobile platform. The positioning method is suitable for any occasion outdoors where an image identification marker can be placed on the ground and the mobile platform can freely moves. A system includes a power module, a controller module, a display module, a GPS wide-range positioning module, a partial high-precision positioning module formed by a camera and an inertia positioning module comprising an electronic compass and a photoelectric encoder. The method includes five steps, i.e., arrangement of the image identification marker, GPS information acquisition, image identification marker information acquisition through collection by the camera, electronic compass and photoelectric encoder information acquisition, and position and direction calculation and display. A multi-sensor fusion outdoor positioning technology provided by the invention can obtain global and partial position and direction information, and is low in cost, high in precision, good in real-time performance, wide in range of application and strong in expandability.
Description
Technical field
The present invention relates to mobile platform outdoor positioning field, be specifically related to the outdoor high-precision locating method of a kind of mobile platform based on Multi-sensor Fusion.
Background technology
Along with the development of electronic technology, control technology, sensing measurement technology, signal processing technology, computer technology, location technology also achieves fast development thereupon and is used widely.
Current, indoor and outdoor directional information is mainly obtained by electronic compass, and has possessed relatively high precision; Indoor Location Information mainly obtains local location information, and prior art is quite ripe; Outdoor location acquisition of information, what be most widely used at present is exactly GPS Position Fixing Navigation System, though Technical comparing is ripe, civilian aspect precision is unsatisfactory, is difficult to the hi-Fix directly applying to autonomous mobile platform.For improving positioning precision, existing technology adopts the means such as infrared perception, ultrasonic listening to coordinate the position of global position system to mobile platform to measure usually, or carries out information interaction by wireless telecommunications means such as WiFi, bluetooth, ZigBee with the node on mobile platform and coordinate global position system to realize mobile platform position measurement.But the former environment arranges relative complex, the most important thing is that infrared perception and ultrasonic listening are very easily subject to the interference of outdoor complex environment, is difficult to meet high-precision positioning requirements; The latter calculates the distance on mobile platform between node and other reference mode mainly through the intensity of electromagnetic signal, and then the position of mobile platform is calculated according to geometric relationship, reference mode is very large in the layout difficulty of outdoor, cost is high, and being easily subject to the interference of other electromagnetic signal, precision is lower.
Zhejiang University proposes a kind of multiple goal outdoor positioning system based on video acquisition and localization method, although have certain positioning precision, but this positioning system can only position the life entity with pulse, the hi-Fix requirement of mobile platform can not be met.Harbin Institute of Technology proposes a kind of WiFi outdoor positioning method that miniature auxiliary signal coverage diagram is set up/upgraded, relative to traditional WiFi outdoor positioning method, although improve WiFi outdoor positioning speed, but in view of some inherent shortcomings of WiFi described before location, cause the method can only be applicable to outdoor environment relatively simple, be not very high occasion to positioning accuracy request.
Summary of the invention
Goal of the invention of the present invention is:
For the deficiency of the outdoor high-precision location technique of current mobile platform, provide the outdoor high-precision locating method of a kind of mobile platform based on Multi-sensor Fusion such as GPS, electronic compass, camera and photoelectric encoders.Localization method of the present invention is applicable to the occasion that outdoor any mobile platform can freely be advanced, image recognition marker can be placed in ground, positioning precision is high, fast response time, universality is strong, cost is low, investigative range is wide, can bring very large facility, have very important researching value and realistic meaning to scientific research and commercial production.
For achieving the above object, the present invention takes following technical scheme;
The outdoor high-precision locating method of mobile platform of a kind of Quito sensor fusion, the present invention can obtain position and the directional information of the overall situation and local simultaneously, system comprises power module, controller module, display module, GPS is locating module on a large scale, the hi-Fix module that camera and image recognition marker are formed and the inertial positioning module that electronic compass and photoelectric encoder etc. are formed, wherein:
Described power module, is mainly used in providing continual and steady electric power to other each module, to ensure the normal operation of other module; Power module can select that AC-DC power module (if platform employing ac power supply), DC-DC power module (if platform employing DC power supply) etc. are any can provide the modular converter of continual and steady electric power for other each module.
Described controller module, is mainly used in receiving and processes the data that each locating module gathers, then will process the position that obtains and directional information gives display module; Can to be that microcomputer, industrial computer, single-chip microcomputer, PLC etc. are any can communicate with each locating module controller module, receives each locating module information, and the unit that can process it.
Described display module, be mainly used in receiving and the position that obtains of display controller resume module and directional information, display module can be positioned on mobile platform, also can be positioned at Long-distance Control indoor (position now and directional information need through wireless way for transmitting); Display module can be any unit that can carry out digital quantity display such as LCD, LED charactron.
Described GPS locating module on a large scale, is mainly used in receiving gps signal, determines the rough location information of mobile platform; GPS on a large scale locating module is normal domestic GPS receiver module, considers, do not need too high positioning precision, only obtain the global position information of platform from cost and practical standpoint.
The hi-Fix module that described camera and image recognition marker are formed, mainly through the identification of image recognition marker of placing ground, realizes the accurate location of locally specified point; Camera module can adopt any devices that can carry out image acquisition such as video camera, camera, industrial camera, web camera.
Described image recognition marker can be any by different colours or shaped formation, there is certain coded meanings, the pattern that can be caught on camera head module identification or article.
The inertial positioning module that described electronic compass and photoelectric encoder etc. are formed, do not having the place of image recognition marker can not carry out pinpoint supplementing to camera module, be mainly used in the high-acruracy survey in position and direction when mobile platform runs between each image recognition marker, the angle of mobile platform deflection can be obtained according to the directional information in a certain moment before, the positional information of platform relative to a upper image recognition marker can be obtained in conjunction with photoelectric encoder information.
The acquisition of the described global position position of platform (in the earth longitude-latitude coordinates) and directional information is mainly by GPS locating module on a large scale, and the hi-Fix module that camera and image recognition marker are formed and the inertial positioning module that electronic compass and photoelectric encoder etc. are formed realize; The hi-Fix module that described local location (in the finite space of mobile platform work, the position relative to Platform movement initial point image recognition marker) and the acquisition of directional information are mainly consisted of camera and image recognition marker and the inertial positioning module that electronic compass and photoelectric encoder etc. are formed realize.
The outdoor high-precision locating method of mobile platform of described a kind of Quito sensor fusion, is characterized in that: the method mainly comprises following 5 steps:
(6) image recognition marker is arranged: the layout Main Basis actual conditions of marker are determined, the path that mobile platform often passes being determined, position or the key point place turned to arrange marker, marker is generally evenly arranged on travel path, and marker arranges that density is higher, positional accuracy measurement is higher.
(7) GPS information obtains: receive the current global position information of mobile platform by GPS module.
(8) image recognition marker acquisition of information: when mobile platform arrives image recognition marker, because the position of image recognition marker is known, and image recognition positioning precision is high, therefore can obtain the high precision position information of mobile platform.
(9) electronic compass and photoelectric encoder acquisition of information: electronic compass is for obtaining the current directional information of mobile platform, and the current drift angle information relative to particular moment before; Photoelectric encoder, for obtaining the distance of current location relative to a upper image recognition marker, obtains current positional information in conjunction with drift angle information, realizes the positioning function between two adjacent images identification marking thing; In order to reduce cumulative errors, the information of photoelectric encoder is cleared when mobile platform arrives each image recognition marker.
(10) azimuth information calculates and shows: mobile platform current location is the current local azimuthal information of mobile platform relative to the Distance geometry directional information of previous image recognition marker; In conjunction with the global position information that GPS module provides, utilize Kalman filtering algorithm can obtain accurate overall azimuth information; Display module is used for the display of the overall situation or local location and directional information.
In described global localization method, although can demarcate the global position information of each marker when placement of images identification marking thing, to reach the function of saving GPS module, but once mobile platform operation irregularity departs from normal running orbit, be easy to occur " losing " situation, namely our data not by receiving judge the current location of mobile platform and cause accident; And when the mobile platform operation irregularity with GPS module departs from normal running orbit, by make in controller setting GPS scope mobile platform reception to GPS information exceed normal range time can stop in time and send warning.
Described photoelectric encoder respectively should install one on the live axle of both sides, and when gathering photoelectric encoder information, the range information of average mobile platform left and right sides driving wheel motion can obtain the range information of relatively accurate mobile platform central motion.
The invention has the beneficial effects as follows:
1. the outdoor positioning problem that the present invention is directed to mobile platform achieves the hi-Fix based on Multi-sensor Fusion, relative to traditional outdoor positioning technology, has higher positioning precision;
2. the present invention is mainly through adopting rational localization method to ensure high-precision positioning requirements, does not therefore propose too high requirement to hardware system, and the hardware system cost adopted is all lower, therefore whole positioning system cost is low, and precision is high, is convenient to promote;
3. native system is not only applicable to the hi-Fix of single mobile platform, and can realize the hi-Fix of multiple mobile platform, has very strong adaptability and expansion;
4. outdoor high-precision locating method of the present invention is simple to operate, real-time is good, be applicable to the multiple occasions that can utilize GPS, machine vision such as industry, agricultural, medical treatment, scientific research, military project, research for follow-up high-accuracy position system provides a kind of new thinking, has very important researching value and realistic meaning.
Accompanying drawing explanation
Below in conjunction with accompanying drawing and preferred embodiment, the present invention is described in further detail.
Fig. 1 is principle schematic of the present invention;
Fig. 2 is information flow chart of the present invention;
In figure, 1 represents gps receiver; 2 represent electronic compass; 3 represent camera; 4 representative image identification marking things; 5 represent mobile platform; 6 represent the photoelectric encoder be arranged on outside driven wheel; Represented by dotted arrows platform walking path.
Embodiment
Embodiment 1: artificially routine with digitizing community outdoor intelligent inspection machine below, illustrates the outdoor high-precision locating method of the mobile platform that the present invention is based on Multi-sensor Fusion.Intelligent inspection robot mainly replaces security personnel automatically to complete the robot of safety patrol inspection in digital intelligent community.In the present embodiment, the power supply that positioning system utilizes crusing robot self-contained is changed to each module for power supply by power module.The outdoor hi-Fix of mobile platform based on Multi-sensor Fusion can be realized by following 5 steps:
(1) image recognition marker is arranged: on the polling path of intelligent inspection robot, evenly place marker (bend place can according to circumstances suitably put closeer), and the positional information of marker be stored in controller module.
(2) GPS information obtains: Real-time Obtaining gps signal in the process of patrolling and examining, and judges that whether gps signal is patrolling and examining in scope normally, to obtain the current global position information of crusing robot.
(3) camera collection image recognition marker acquisition of information: when crusing robot in the process of patrolling and examining through image recognition marker, gather marker information and obtain current positional information, and by this positional information, auxiliary calibration is carried out to GPS information, simultaneously by the zero setting of photoelectric encoder information, to reduce cumulative errors.
(4) electronic compass and photoelectric encoder acquisition of information: the directional information being obtained current crusing robot by Real-time Collection electronic compass information, the range information obtained by directional information and photoelectric encoder can obtain the azimuth information of current location relative to a upper image recognition marker.
(5) azimuth information calculates and shows: can obtain position and the directional information of current crusing robot according to the global position information of GPS module acquisition, the precise position information of image identification thing and current location relative to the azimuth information of a upper image recognition marker, the position calculated and directional information are sent to the display that display module can realize current crusing robot orientation by controller module.
Embodiment: 2: below for orchard fruit picking robot, illustrates the outdoor high-precision locating method of the mobile platform that the present invention is based on Multi-sensor Fusion.Fruit picking robot mainly realizes the harvesting of mature fruit in orchard.In the present embodiment, the power supply that positioning system utilizes fruit picking robot self-contained is changed to each module for power supply by power module.The outdoor hi-Fix of mobile platform based on Multi-sensor Fusion can be realized by following 5 steps:
(1) image recognition marker is arranged: on the harvesting path of fruit picking robot, evenly place marker (bend place can according to circumstances suitably put closeer), and the positional information of marker be stored in controller module.
(2) GPS information obtains: Real-time Obtaining gps signal in picking fruit process, and judges that whether gps signal is patrolling and examining in scope normally, to obtain the current global position information of fruit picking robot.
(3) camera collection image recognition marker acquisition of information: when fruit picking robot in picking process through image recognition marker, gather marker information and obtain current positional information, and by this positional information, auxiliary calibration is carried out to GPS information, simultaneously by the zero setting of photoelectric encoder information, to reduce cumulative errors.
(4) electronic compass and photoelectric encoder acquisition of information: the directional information being obtained current fruit picking robot by Real-time Collection electronic compass information, the range information obtained by directional information and photoelectric encoder can obtain the azimuth information of current location relative to a upper image recognition marker.
(5) azimuth information calculates and shows: can obtain position and the directional information of current fruit picking robot according to the global position information of GPS module acquisition, the precise position information of image identification thing and current location relative to the azimuth information of a upper image recognition marker, the position calculated and directional information are sent to the display that display module can realize current fruit picking robot orientation by controller module, and pulpit also can accept the azimuth information of fruit picking robot by the mode of wireless transmission and show in pulpit.
(6) finally should be noted that: above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit; Although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the field are to be understood that: still can modify to the specific embodiment of the present invention or carry out equivalent replacement to portion of techniques feature; And not departing from the spirit of technical solution of the present invention, it all should be encompassed in the middle of the technical scheme scope of request of the present invention protection.
Claims (1)
1., based on a mobile platform outdoor positioning method for Multi-sensor Fusion, it is characterized in that, the method comprises following five steps:
(1) image recognition marker is arranged: really arrange marker in allocation or the key point place that turns at mobile platform travel path, marker is evenly arranged on travel path, and marker arranges that density is higher, and positional accuracy measurement is higher;
(2) GPS information obtains: receive the current global position information of mobile platform by vehicle GPS module;
(3) image recognition marker acquisition of information: because the position of image recognition marker is known, and image recognition positioning precision is high, when mobile platform arrives image recognition marker, obtains the high precision position information of mobile platform;
(4) electronic compass and photoelectric encoder acquisition of information: be attached to the electronic compass of mobile platform car body for obtaining the current directional information of mobile platform, and the current drift angle information relative to particular moment before; Being fixedly installed in photoelectric encoder on mobile platform live axle for obtaining the distance of current location relative to a upper image recognition marker, obtaining current positional information in conjunction with drift angle information, realizing the location between two adjacent images identification marking thing; In order to reduce cumulative errors, the information of photoelectric encoder is cleared when mobile platform arrives each image recognition marker;
(5) azimuth information calculates and shows: mobile platform current location is the current local azimuthal information of mobile platform relative to the Distance geometry directional information of previous image recognition marker; In conjunction with the global position information that GPS module provides, utilize Kalman filtering algorithm can obtain accurate overall azimuth information; Display module is used for the display of the overall situation or local location and directional information.
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| CN106227220A (en) * | 2016-09-28 | 2016-12-14 | 关健生 | Independent navigation crusing robot based on Distributed Architecture |
| CN106323294A (en) * | 2016-11-04 | 2017-01-11 | 新疆大学 | Positioning method and device for patrol robot of transformer substation |
| CN106781675A (en) * | 2017-01-21 | 2017-05-31 | 顾红波 | A kind of system and method for collecting parking lot information |
| CN107228663A (en) * | 2017-07-25 | 2017-10-03 | 广州阿路比电子科技有限公司 | The alignment system and method for a kind of automatical pilot transportation vehicle |
| CN108496057A (en) * | 2016-01-19 | 2018-09-04 | 飞利浦照明控股有限公司 | It is positioned based on light source |
| CN109739247A (en) * | 2019-04-02 | 2019-05-10 | 常州市盈能电气有限公司 | Rail mounted crusing robot localization method |
| CN111474944A (en) * | 2020-05-18 | 2020-07-31 | 北京益康生活智能科技有限公司 | Intelligent nursing system and control method thereof |
| CN111504297A (en) * | 2019-06-03 | 2020-08-07 | 苏州极目机器人科技有限公司 | Road-free network navigation operation method and device and navigation equipment |
| CN111801718A (en) * | 2018-03-07 | 2020-10-20 | 株式会社电装 | Object detection device, object detection method, and recording medium |
| CN114136306A (en) * | 2021-12-01 | 2022-03-04 | 浙江大学湖州研究院 | Expandable UWB and camera-based relative positioning device and method |
| CN114582040A (en) * | 2022-05-05 | 2022-06-03 | 中国长江三峡集团有限公司 | Intelligent inspection system and method for wind power generation equipment |
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| CN108496057B (en) * | 2016-01-19 | 2022-06-28 | 昕诺飞控股有限公司 | Based on illumination source positioning |
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| CN111801718B (en) * | 2018-03-07 | 2022-08-02 | 株式会社电装 | Object detection device, object detection method, and recording medium |
| CN111801718A (en) * | 2018-03-07 | 2020-10-20 | 株式会社电装 | Object detection device, object detection method, and recording medium |
| CN109739247A (en) * | 2019-04-02 | 2019-05-10 | 常州市盈能电气有限公司 | Rail mounted crusing robot localization method |
| CN111504297A (en) * | 2019-06-03 | 2020-08-07 | 苏州极目机器人科技有限公司 | Road-free network navigation operation method and device and navigation equipment |
| CN111504297B (en) * | 2019-06-03 | 2023-08-11 | 极目(海南)智能育种装备有限公司 | Road network-free navigation operation method and device and navigation equipment |
| CN111474944A (en) * | 2020-05-18 | 2020-07-31 | 北京益康生活智能科技有限公司 | Intelligent nursing system and control method thereof |
| CN114136306A (en) * | 2021-12-01 | 2022-03-04 | 浙江大学湖州研究院 | Expandable UWB and camera-based relative positioning device and method |
| CN114136306B (en) * | 2021-12-01 | 2024-05-07 | 浙江大学湖州研究院 | Expandable device and method based on relative positioning of UWB and camera |
| CN114582040A (en) * | 2022-05-05 | 2022-06-03 | 中国长江三峡集团有限公司 | Intelligent inspection system and method for wind power generation equipment |
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