CN107356244A - A kind of scaling method and device of roadside unit antenna - Google Patents
A kind of scaling method and device of roadside unit antenna Download PDFInfo
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- CN107356244A CN107356244A CN201710543680.5A CN201710543680A CN107356244A CN 107356244 A CN107356244 A CN 107356244A CN 201710543680 A CN201710543680 A CN 201710543680A CN 107356244 A CN107356244 A CN 107356244A
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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
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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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Abstract
The embodiment of the invention discloses a kind of scaling method and device of roadside unit antenna, method includes：First transition matrix of antenna coordinate system and the frame of reference is obtained according to the first angle of measurement；Track coordinate system and the second transition matrix of the frame of reference are obtained according to the second angle of measurement；According to the first transition matrix and the second transition matrix, the 3rd transition matrix of antenna coordinate system and track coordinate system is obtained；According to the setting height(from bottom) of antenna and the 3rd transition matrix, the calibrating parameters of roadside unit antenna (RSU antennas) are obtained.Middle coordinate system is used as by the frame of reference, calculate the first transition matrix and the second transition matrix, and further according to the setting height(from bottom) of the first transition matrix, the second transition matrix and antenna, obtain the calibrating parameters of the high precision of antenna, simplify demarcation flow, efficiency is improved, while improves accuracy and positioning precision that antenna positions for board units.
Description
Technical field
The present embodiments relate to field of computer technology, and in particular to a kind of scaling method and dress of roadside unit antenna
Put.
Background technology
Electronic charging (Electronic Toll Collection, electric non-stop toll) system is also known as not parking receipts
Charge system.ETC system uses DSRC (DSRC：Dedicated Short-Range Communication) technology
To complete whole charging process, vehicle is set to keep transport condition in whole charging process and not have to parking.This technology at present
It has been used widely in expressway tol lcollection.
With the application of the continuous expansion of ETC system application field, the especially free Flow Technique of multilane, to ETC system
In OBU (On Board Unit, board units) vehicle to carry out pinpoint demand also more and more stronger.In ETC system,
RSU (Road Side Unit, roadside unit) based on space array antenna uses DOA (Direction of Arrival, ripple
Up to direction estimation) and DBF (Digital Beam Forming, digital beam froming) technologies to OBU (On board Unit, car
Carrier unit) complete to estimate OBU signal direction of arrival, then according to RSU calibrating parameters (mount message, OBU mount messages
And track coordinate system informations) OBU is converted into OBU accurate coordinates under the coordinate system of track for the angle information of DBF antennas
Information, so as to complete OBU positioning requirements, so one group of correct and accurate RSU calibrating parameters be ensure OBU accurate positionings must
Want premise.
The anti-RSU calibration technique schemes pushed away are positioned based on gradiometer measurement and OBU in the prior art, based on gradiometer
Due to accuracy of instrument error, to often lead to calibrating parameters accuracy greatly not up to standard in measurement scheme, and gradiometer can only measure RSU
Mounting inclination angle degree, the RSU installation anglec of rotation is have ignored, cause the larger problem of error in OBU is positioned, OBU is counter to push away demarcation
In due to needing multi collect calibration point information, operating process is complicated and calibration process takes larger, is unfavorable in engineering big
Scale practical application, and in first two scheme, acquiescence track plane are horizontal, but in actual applications it is inevitable some
In installation environment, track plane has the problem of certain slope.
During the embodiment of the present invention is realized, inventor has found that existing scaling method can not provide one group and accurately may be used
The calibrating parameters leaned on, often lead to the problems such as OBU locating effects are bad, and error is larger.
The content of the invention
Because above mentioned problem be present in existing method, the embodiment of the present invention propose a kind of roadside unit antenna scaling method and
Device.
In a first aspect, the embodiment of the present invention proposes a kind of scaling method of roadside unit antenna, including：
The first angle between the reference axis of antenna coordinate system and the reference axis of the frame of reference is measured, according to described first
Angle obtains the first transition matrix of antenna coordinate system and the frame of reference；
The second angle between the reference axis of track coordinate system and the reference axis of the frame of reference is measured, according to described
Second angle obtains the second transition matrix of the track coordinate system and the frame of reference；
According to first transition matrix and second transition matrix, obtain the antenna coordinate system and the track is sat
Mark the 3rd transition matrix of system；
The setting height(from bottom) of antenna is obtained, according to the setting height(from bottom) and the 3rd transition matrix, obtains roadside unit day
The calibrating parameters of line.
Alternatively, the setting height(from bottom) for obtaining antenna, is specifically included：
Coordinate of the antenna in the track coordinate system is determined, determines that the installation of the antenna is high according to the coordinate
Degree.
Alternatively, methods described also includes：
The angle information of board units and the roadside unit antenna is obtained, is joined according to the angle information and the demarcation
Number, obtains coordinate information of the board units in the track coordinate system.
Alternatively, first angle and/or second angle are measured by nine axle gyroscopes.
Alternatively, the frame of reference is northeast day coordinate system.
Second aspect, the embodiment of the present invention also propose a kind of caliberating device of roadside unit antenna, including：
First transition matrix acquisition module, for measure antenna coordinate system reference axis and the frame of reference reference axis it
Between the first angle, the first transition matrix of antenna coordinate system and the frame of reference is obtained according to first angle；
Second transition matrix acquisition module, for measuring the reference axis of track coordinate system and the coordinate of the frame of reference
The second angle between axle, the track coordinate system and the second conversion of the frame of reference are obtained according to second angle
Matrix；
3rd transition matrix acquisition module, for according to first transition matrix and second transition matrix, obtaining
The antenna coordinate system and the 3rd transition matrix of the track coordinate system；
Calibrating parameters acquisition module, for obtaining the setting height(from bottom) of antenna, according to the setting height(from bottom) and described 3rd turn
Matrix is changed, obtains the calibrating parameters of roadside unit antenna.
Alternatively, the calibrating parameters acquisition module is specifically used for determining seat of the antenna in the track coordinate system
Mark, the setting height(from bottom) of the antenna is determined according to the coordinate.
Alternatively, described device also includes：
Board units locating module, for obtaining the angle information of board units and the roadside unit antenna, according to institute
Angle information and the calibrating parameters are stated, obtains coordinate information of the board units in the track coordinate system.
Alternatively, first angle and/or second angle are measured by nine axle gyroscopes.
Alternatively, the frame of reference is northeast day coordinate system.
The third aspect, the embodiment of the present invention also propose a kind of electronic equipment, including：
At least one processor；And
At least one memory being connected with the processor communication, wherein：
The memory storage has and by the programmed instruction of the computing device, the processor described program can be called to refer to
Order is able to carry out the method described in above method claim.
Fourth aspect, the embodiment of the present invention also propose a kind of non-transient computer readable storage medium storing program for executing, the non-transient meter
Calculation machine readable storage medium storing program for executing stores computer program, and the computer program makes the computer perform above method claim
Described method.
As shown from the above technical solution, the embodiment of the present invention is used as middle coordinate system by the frame of reference, is calculated
Antenna coordinate system and the first transition matrix of the frame of reference, and track coordinate system and the second conversion square of the frame of reference
Battle array, and the height of roadside unit antenna is further obtained according to the setting height(from bottom) of the first transition matrix, the second transition matrix and antenna
Accurate calibrating parameters, simplify demarcation flow, improve efficiency, at the same improve antenna positioned for board units it is accurate
Property and positioning precision.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these figures.
Fig. 1 is a kind of schematic flow sheet of the scaling method for trackside antenna that one embodiment of the invention provides；
Fig. 2 provides RSU and OBU position relationship schematic diagram for one embodiment of the invention；
Fig. 3 provides the coordinate schematic diagram of northeast day coordinate system for one embodiment of the invention；
Fig. 4 provides RSU and OBU position relationship schematic diagram for another embodiment of the present invention；
Fig. 5 provides the coordinate schematic diagram of RSU and OBU position relationship for another embodiment of the present invention；
Fig. 6 is a kind of structural representation of the caliberating device for trackside antenna that one embodiment of the invention provides；
Fig. 7 is the logic diagram for the electronic equipment that one embodiment of the invention provides.
Embodiment
Below in conjunction with the accompanying drawings, the embodiment of the present invention is further described.Following examples are only used for more
Clearly demonstrate technical scheme, and can not be limited the scope of the invention with this.
Fig. 1 shows a kind of schematic flow sheet of the scaling method for roadside unit antenna that the present embodiment provides, including：
The first angle between S101, the reference axis of measurement antenna coordinate system and the frame of reference reference axis, according to institute
State the first angle and obtain the first transition matrix of antenna coordinate system and the frame of reference.
Wherein, the horizontal antenna of the antenna coordinate system is X-axis, and Longitudinal Antenna is Y-axis, and vertical antenna array plane is Z
Axle.
The frame of reference is can be as the coordinate system of benchmark.
For example, the frame of reference can be northeast day coordinate system.Northeast day coordinate system (ENU) is also referred to as website
Coordinate system (local Cartesian coordinates coordinate system), with the heart of standing (reception antenna) for coordinate
It is origin, Z axis overlaps with ellipsoid normal, is upwards just (day to), Y overlaps (north), X-axis and semimajor axis of ellipsoid with semiminor axis of ellipsoid
Overlap in (east).
Using horizontal antenna as X-axis, Longitudinal Antenna is Y-axis for the antenna coordinate system, and vertical antenna array plane is Z axis.
First angle is the angle between the reference axis of antenna coordinate system and the reference axis of the frame of reference.
First transition matrix is antenna coordinate system and the transition matrix of the frame of reference.
The second angle between S102, the reference axis for measuring track coordinate system and the frame of reference reference axis, root
The second transition matrix of the track coordinate system and the frame of reference is obtained according to second angle.
Wherein, coordinate system is established in track coordinate system face on the basis of carriageway surfacing, RSU is in track plane projection point
Origin, vertical road surface are Z axis, and it is X-axis vertically to block road surface direction, and direction to the car is Y-axis.
Second angle is the angle between the reference axis of track coordinate system and the reference axis of the frame of reference.
Second transition matrix is the track coordinate system and the transition matrix of the frame of reference.
Specifically, first angle and/or second angle can be measured by nine axle gyroscopes.
S103, according to first transition matrix and second transition matrix, obtain the antenna coordinate system and described
3rd transition matrix of track coordinate system.
Wherein, the 3rd transition matrix is the transition matrix of the antenna coordinate system and the track coordinate system.
S104, the setting height(from bottom) for obtaining antenna, according to the setting height(from bottom) and the 3rd transition matrix, obtain trackside list
The calibrating parameters of first antenna.
Wherein, the setting height(from bottom) is the height on antenna distance road surface.
The calibrating parameters are the parameter demarcated to roadside unit antenna.
The present embodiment is used as middle coordinate system by the frame of reference, and antenna coordinate system and the frame of reference is calculated
First transition matrix, and track coordinate system and the second transition matrix of the frame of reference, and further according to the first conversion square
The setting height(from bottom) of battle array, the second transition matrix and antenna, obtains the calibrating parameters of antenna high precision, simplifies demarcation stream
Journey, efficiency is improved, while improve accuracy and positioning precision that antenna positions for board units.
Further, on the basis of above method embodiment, the setting height(from bottom) of antenna, specific bag are obtained described in S104
Include：
Coordinate of the antenna in the track coordinate system is determined, determines that the installation of the antenna is high according to the coordinate
Degree.
The present embodiment considers lane information and RSU mount messages, completes RSU calibrating parameters and calculates, improves RSU
For the accuracy and positioning precision of OBU positioning, and can also be provided for some complicated installation environments accurate high-precision
Calibrating parameters, ensure that RSU to the requirement of OBU positioning performances, simplifies demarcation flow, improves engineer applied effect under complex environment
Rate.
Further, on the basis of above method embodiment, methods described also includes：
S105, the angle information for obtaining board units and the roadside unit antenna, according to the angle information and described
Calibrating parameters, obtain coordinate information of the board units in the track coordinate system.
A kind of scaling method to space array RSU antennas is present embodiments provided, available for space array RSU antennas
Demarcation and calibration, realize positioning of the RSU antennas to OBU.This method includes：Gyroscope measures RSU antennas under ENU coordinate systems
Transitional information, gyroscope measurement track plane change ginseng in transformational relation, the calculating RSU of ENU coordinate systems under the coordinate system of track
Number, this method may include steps of：
A1, track coordinate system is established, RSU antennas are determined in track plane projection point, according to subpoint position, according to track
Track coordinate system is established in coordinate system direction.
A2, measurement RSU coordinates under the coordinate system of track, that is, determine RSU setting height(from bottom)s H.
Angle between A3, gyroscope frock measurement antenna coordinate system and ENU frame of reference reference axis.
Angle between A4, gyroscope frock measurement track coordinate system and ENU frame of reference reference axis.
A5, RSU coordinate systems and track coordinate system transformational relation and track plane equation are solved, finally try to achieve all RSU
Calibrating parameters, complete calibration process.
Specifically, RSU and OBU position relationship schematic diagram OBU is illustrated in figure 2 on vehicle, and RSU is located at road
Fixed position.
It is illustrated in figure 3 ENU coordinate systems, X-axis is that earth east orientation, Y-axis are earth north orientation, Z axis gravity normal direction, top
Spiral shell instrument can be presently according to own module location fix information be output in it is each between gyroscope coordinate system and ENU coordinate system axles
Individual angle information.
As shown in figure 4, towards direction to the car, using the subpoints of RSU on the ground as the origin of coordinates, it is across the road surface left side
X-axis, direction to the car are Y-axis, to for Z axis on vertical road surface is vertical, establish track coordinate system XPYPZP.Towards direction to the car, RSU
Center of antenna is the origin of coordinates, and horizontal aerial array direction is X-axis, and vertical antenna plane direction to the car is Z axis, Longitudinal Antenna battle array
Column direction is Y-axis, establishes antenna coordinate system XP'YP'ZP'。
Gyro module is placed according to RSU antenna coordinates system orientation, RSU antenna coordinates system is gyroscope coordinate
System, current output and ENU reference axis angles are angle between RSU antenna coordinates system and each reference axis of ENU coordinate systems, similarly,
Gyro module is carried out into placement according to track coordinate system orientation can try to achieve current lane coordinate system and each coordinate of ENU coordinate systems
Angle between axle.
According to spatial coordinate transformation principle, any two origin same coordinate system can be built by a spin matrix
Vertical contact, if spin matrix is M, then has：
OBU point P (x under the coordinate system of trackp,yp,zp) in antenna coordinate it is P'(xp',yp',zp'), Pr(xr,yr,zr) be
Antenna coordinate system point of origin PO' the coordinate of (0,0,0) under the coordinate system of track, i.e. translation parameters, then P and P' relation be：
P=P'*M+Pr (1)
P-Pr=P'*M (2)
Any cartesian coordinate system can be converted to another cartesian coordinate system by rotating three times, by above-mentioned coordinate system
Definition understands that above-mentioned coordinate system all meets cartesian coordinate system, as long as their origins are identical, then can pass through following three conversion squares
Battle array is changed：
Then final coordinate system transition matrix can represent as follows：
Gyroscope output is the anglec of rotation between the reference axis of coordinate system to be measured and benchmark ENU coordinate system respective coordinates axles
α,β,γ。
Antenna coordinate system and track coordinate system measurement RSU height H, can try to achieve and be translated in RSU coordinate systems to track coordinate system
Parameter
P=(0,0, H) (7)
Gyroscope measures antenna coordinate system and ENU frame of reference reference axis angle αsr,βr,γr, coordinate system can be tried to achieve and turned
Change matrix
That is OBU point P under antenna coordinate systemr(xr,yr,zr), the coordinate P under the ENU frames of referencee(xe,ye,ze), then it is full
Foot：
Pe=Pr*Rr (8)
Gyroscope measures track coordinate system and ENU frame of reference reference axis angle αsl,βl,γl, coordinate system can be tried to achieve and turned
Change matrix
Because track coordinate system is consistent with RSU coordinate system change in coordinate axis direction, then OBU coordinate P under the coordinate system of trackv(xv,
yv,zv), OBU point P under RSU coordinate systemsl(xl,yl,zl), meet following relation：
Pl(xl,yl,zl)=Pv(xv,yv,zv)+P(0,0,H) (9)
OBU point P under RSU coordinate systemsl(xl,yl,zl), the coordinate P under the ENU frames of referencee(xe,ye,ze), then meet：
Pe=Pl*Rl
Pl*Rl=Pr*Rr (10)
Then OBU P under the coordinate system of trackl(xl,yl,zl) can obtain：
So far conversion parameter all solves completion between the coordinate points under the coordinate system of track and antenna coordinate point.
Under antenna coordinate system reference axis and track plane (plane where OBU) intersection point be respectively A (a, 0,0), B (0, b, 0),
C (0,0, c), and a, b, c ≠ 0, as shown in Figure 5.
Then intercept form plane equation is：
If A=1/a, B=1/b, C=1/c.
According to antenna coordinate system to RSU Conversion Matrix of Coordinate
And antenna installation height H, plane equation of the track plane under antenna coordinate system can be tried to achieve
Then
So far antenna coordinate system is to RSU Conversion Matrix of Coordinate MrlAnd track plane is in antenna coordinate system lower plane equation
Parametric solution finishes, and completes RSU calibration process.Subsequently estimate that incident angle can solve OBU under the coordinate system of track according to DOA
Coordinate.
On specific positioning principle, if P is the OBU points in the plane of track, the coordinate P (x under the coordinate system of trackp,yp,
zp) it is required, if coordinates of the P under antenna coordinate system is (xp',yp',zp')。
As shown in Figure 4, OBU to RSU distance is：
It can be obtained by the relation of incidence angle：
Because P is in track plane, then P point coordinates meets track plane equation：
Equation group is obtained by formula (15) (16) (17)：
Obtained by formula (16)：
Formula (19) is substituted into formula (18), abbreviation equation group can obtain：
Abbreviation obtains again：
Obtained respectively instead of 1/a, 1/b, 1/c abbreviation with A, B, C：
Formula (20) is updated to formula (18) (17), obtained：
Transformation matrix M and plane parameter A, B, C are obtained in calibration process, according to formula P=P'*M+Pr, can lead to
Cross coordinate system transformation and obtain coordinate (xs of the OBU under the coordinate system of trackp,yp,zp), (xp,yp,zp) it is final positioning result.
For example, antenna installation height is measured, with tape measure RSU relative to track Plane Installation height H=4.8m,
Gyroscope measures rotation angle (45,0,0) of the antenna coordinate system relative to the ENU frames of reference.According to Conversion Matrix of Coordinate：
The transition matrix tried to achieve between RSU coordinate systems and benchmark ENU coordinate systems is as follows：
Gyroscope measures reference axis angle (0,0,0) of the track coordinate system relative to the ENU frames of reference, according to coordinate system
Transition matrix：
It is as follows to try to achieve matrix of walking around：
Further, antenna coordinate system is solved for the transition matrix of RSU coordinate systems, is tried to achieve as follows：
According to transition matrix MrlAnd RSU setting height(from bottom)s, it is as follows to solve track plane parameter under antenna coordinate system：
A=10000 (infinity)
B=678.8
C=678.8
Information source incidence angle：AngleX=90, AngleY=90, then pushed over according to above-mentioned position fixing process, try to achieve and sat in track
Coordinate under mark system is (0,4.8).
Fig. 6 shows a kind of structural representation of the caliberating device for roadside unit antenna that the present embodiment provides, the dress
Put including：First transition matrix acquisition module 601, the second transition matrix acquisition module 602, the 3rd transition matrix acquisition module
603 and calibrating parameters acquisition module 604, wherein：
The first transition matrix acquisition module 601 is used to measure the reference axis of antenna coordinate system and the seat of the frame of reference
The first angle between parameter, antenna coordinate system and the first conversion square of the frame of reference are obtained according to first angle
Battle array；
The second transition matrix acquisition module 602 is used for the reference axis for measuring track coordinate system and the frame of reference
Reference axis between the second angle, the of the track coordinate system and the frame of reference is obtained according to second angle
Two transition matrixes；
The 3rd transition matrix acquisition module 603 is used for according to first transition matrix and the second conversion square
Battle array, obtains the 3rd transition matrix of the antenna coordinate system and the track coordinate system；
The calibrating parameters acquisition module 604 is used to obtain the setting height(from bottom) of antenna, according to the setting height(from bottom) and described
3rd transition matrix, obtain the calibrating parameters of roadside unit antenna.
Specifically, the first transition matrix acquisition module 601 measures the reference axis and the frame of reference of antenna coordinate system
Reference axis between the first angle, first turn of antenna coordinate system and the frame of reference is obtained according to first angle
Change matrix；The second transition matrix acquisition module 602 measures the reference axis of track coordinate system and the seat of the frame of reference
The second angle between parameter, second turn of the track coordinate system and the frame of reference is obtained according to second angle
Change matrix；The 3rd transition matrix acquisition module 603 obtains according to first transition matrix and second transition matrix
The antenna coordinate system and the 3rd transition matrix of the track coordinate system；The calibrating parameters acquisition module 604 obtains antenna
Setting height(from bottom), according to the setting height(from bottom) and the 3rd transition matrix, obtain the calibrating parameters of roadside unit antenna.
The present embodiment is used as middle coordinate system by the frame of reference, and antenna coordinate system and the frame of reference is calculated
First transition matrix, and track coordinate system and the second transition matrix of the frame of reference, and further according to the first conversion square
The setting height(from bottom) of battle array, the second transition matrix and antenna, obtains the calibrating parameters of the high precision of roadside unit antenna, simplifies demarcation
Flow, efficiency is improved, while improve accuracy and positioning precision that antenna positions for board units.
Further, on the basis of said apparatus embodiment, the calibrating parameters acquisition module 604 is specifically used for determining
The antenna determines the setting height(from bottom) of the antenna according to the coordinate in the coordinate of the track coordinate system.
Further, on the basis of said apparatus embodiment, described device also includes：
Board units locating module, for obtaining the angle information of board units and the roadside unit antenna, according to institute
Angle information and the calibrating parameters are stated, obtains coordinate information of the board units in the track coordinate system.
Further, on the basis of said apparatus embodiment, first angle and/or second angle pass through nine
Axle gyroscope measures.
Further, on the basis of said apparatus embodiment, the frame of reference is northeast day coordinate system.
The caliberating device of roadside unit antenna described in the present embodiment can be used for performing above method embodiment, its principle
Similar with technique effect, here is omitted.
Reference picture 7, the electronic equipment, including：Processor (processor) 701, memory (memory) 702 and total
Line 703；
Wherein,
The processor 701 and memory 702 complete mutual communication by the bus 703；
The processor 701 is used to call the programmed instruction in the memory 702, to perform above-mentioned each method embodiment
The method provided.
The present embodiment discloses a kind of computer program product, and the computer program product includes being stored in non-transient calculating
Computer program on machine readable storage medium storing program for executing, the computer program include programmed instruction, when described program instruction is calculated
When machine performs, computer is able to carry out the method that above-mentioned each method embodiment is provided.
The present embodiment provides a kind of non-transient computer readable storage medium storing program for executing, the non-transient computer readable storage medium storing program for executing
Computer instruction is stored, the computer instruction makes the computer perform the method that above-mentioned each method embodiment is provided.
Device embodiment described above is only schematical, wherein the unit illustrated as separating component can
To be or may not be physically separate, it can be as the part that unit is shown or may not be physics list
Member, you can with positioned at a place, or can also be distributed on multiple NEs.It can be selected according to the actual needs
In some or all of module realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
Realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on such understanding, on
The part that technical scheme substantially in other words contributes to prior art is stated to embody in the form of software product, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including some fingers
Make to cause a computer equipment (can be personal computer, server, or network equipment etc.) to perform each implementation
Method described in some parts of example or embodiment.
It should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although reference
The present invention is described in detail previous embodiment, it will be understood by those within the art that：It still can be right
Technical scheme described in foregoing embodiments is modified, or carries out equivalent substitution to which part technical characteristic；And this
A little modifications are replaced, and the essence of appropriate technical solution is departed from the spirit and model of various embodiments of the present invention technical scheme
Enclose.
Claims (10)
- A kind of 1. scaling method of roadside unit antenna, it is characterised in that including：The first angle between the reference axis of antenna coordinate system and the reference axis of the frame of reference is measured, according to first angle Obtain the first transition matrix of antenna coordinate system and the frame of reference；The second angle between the reference axis of track coordinate system and the reference axis of the frame of reference is measured, according to described second Angle obtains the second transition matrix of the track coordinate system and the frame of reference；According to first transition matrix and second transition matrix, the antenna coordinate system and the track coordinate system are obtained The 3rd transition matrix；The setting height(from bottom) of antenna is obtained, according to the setting height(from bottom) and the 3rd transition matrix, obtains roadside unit antenna Calibrating parameters.
- 2. according to the method for claim 1, it is characterised in that the setting height(from bottom) for obtaining antenna, specifically include：Coordinate of the antenna in the track coordinate system is determined, the setting height(from bottom) of the antenna is determined according to the coordinate.
- 3. according to the method for claim 1, it is characterised in that methods described also includes：The angle information of board units and the roadside unit antenna is obtained, according to the angle information and the calibrating parameters, Obtain coordinate information of the board units in the track coordinate system.
- 4. according to the method for claim 1, it is characterised in that first angle and/or second angle pass through nine Axle gyroscope measures.
- 5. according to the method for claim 1, it is characterised in that the frame of reference is northeast day coordinate system.
- A kind of 6. caliberating device of roadside unit antenna, it is characterised in that including：First transition matrix acquisition module, for measuring between the reference axis of antenna coordinate system and the reference axis of the frame of reference First angle, the first transition matrix of antenna coordinate system and the frame of reference is obtained according to first angle；Second transition matrix acquisition module, for measure the reference axis of track coordinate system and the frame of reference reference axis it Between the second angle, the second conversion square of the track coordinate system and the frame of reference is obtained according to second angle Battle array；3rd transition matrix acquisition module, for according to first transition matrix and second transition matrix, obtaining described Antenna coordinate system and the 3rd transition matrix of the track coordinate system；Calibrating parameters acquisition module, for obtaining the setting height(from bottom) of antenna, according to the setting height(from bottom) and the 3rd conversion square Battle array, obtains the calibrating parameters of roadside unit antenna.
- 7. device according to claim 6, it is characterised in that the calibrating parameters acquisition module is specifically used for described in determination Antenna determines the setting height(from bottom) of the antenna according to the coordinate in the coordinate of the track coordinate system.
- 8. device according to claim 6, it is characterised in that described device also includes：Board units locating module, for obtaining the angle information of board units and the roadside unit antenna, according to the angle Information and the calibrating parameters are spent, obtain coordinate information of the board units in the track coordinate system.
- 9. a kind of electronic equipment, it is characterised in that including：At least one processor；AndAt least one memory being connected with the processor communication, wherein：The memory storage has can be by the programmed instruction of the computing device, and the processor calls described program instruction energy Enough perform the method as described in claim 1 to 5 is any.
- 10. a kind of non-transient computer readable storage medium storing program for executing, it is characterised in that the non-transient computer readable storage medium storing program for executing is deposited Computer program is stored up, the computer program makes the computer perform the method as described in claim 1 to 5 is any.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710543680.5A CN107356244B (en) | 2017-07-05 | 2017-07-05 | Calibration method and device for road side unit antenna |
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| CN108020814A (en) * | 2017-11-23 | 2018-05-11 | 北京万集科技股份有限公司 | OBU localization methods and system |
| CN108507534A (en) * | 2018-03-09 | 2018-09-07 | 广州市中海达测绘仪器有限公司 | RTK tilt measuring methods and system |
| CN110440818A (en) * | 2018-05-04 | 2019-11-12 | 沈阳美行科技有限公司 | Lane matrix model and its construction method, read method and device |
| CN111121849A (en) * | 2020-01-02 | 2020-05-08 | 大陆投资(中国)有限公司 | Automatic calibration method for orientation parameters of sensor, edge calculation unit and roadside sensing system |
| CN114419746A (en) * | 2021-12-24 | 2022-04-29 | 北京万集科技股份有限公司 | RSU calibration method, device, electronic equipment and system |
| CN117129956A (en) * | 2023-10-27 | 2023-11-28 | 深圳绿米联创科技有限公司 | Positioning correction method, device, detection equipment, computer equipment and storage medium |
| CN117423231A (en) * | 2023-10-13 | 2024-01-19 | 深圳市天丽汽车电子科技有限公司 | Vehicle-mounted data processing method, device and medium based on multi-band antenna |
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| CN117129956A (en) * | 2023-10-27 | 2023-11-28 | 深圳绿米联创科技有限公司 | Positioning correction method, device, detection equipment, computer equipment and storage medium |
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