CN108594282A - A kind of ROS robot navigation methods based on the positioning of high-precision GNSS real-time collaborative - Google Patents
A kind of ROS robot navigation methods based on the positioning of high-precision GNSS real-time collaborative Download PDFInfo
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- CN108594282A CN108594282A CN201810508463.7A CN201810508463A CN108594282A CN 108594282 A CN108594282 A CN 108594282A CN 201810508463 A CN201810508463 A CN 201810508463A CN 108594282 A CN108594282 A CN 108594282A
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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
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
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Abstract
The present invention proposes a kind of ROS robot navigation methods positioned based on high-precision GNSS real-time collaborative, and the ROS is robot operating system, and high-precision GNSS locating module is integrated into ROS；GNSS positioning results are transformed into UTM coordinate systems, and UTM coordinate frames are added in the coordinate transition tree of ROS, realize the connection between world coordinates and local coordinate；Robot itself odometer is corrected by high-precision GNSS positioning result and radar fix result, realizes robot global positioning.It may make using the present invention and obtain the high-precision navigation data of low cost in the region for having GNSS signal, and the location information problem of continuous-stable can not be obtained for single-sensor, on the one hand in GNSS signal weakness area, there are when deviations, use radar fix result, on the other hand in radar data there are when noise jamming positioning amendment is carried out with GNSS data.So that system accuracy increases, robustness enhancing, applicability improves.
Description
Technical field
The present invention describes a kind of to be assisted based on the robot of ROS using high-precision BDS/GPS and radar multisensor in real time
With positioning and airmanship, belong to robot autonomous technical field of navigation and positioning.
Background technology
Outdoor robot based on robot operating system (ROS) has real-time navigation and stationkeeping ability, in 3D environment weights
Build, go on patrol and rescue etc. fields be widely used.Robot carrier is by self-contained sensor under completely strange environment
Estimate the movement of itself by the information perceived and build ambient enviroment map in real time, is that further avoidance and path are advised
Draw etc. tasks lay the foundation.On the one hand, the existing robot based on ROS all lacks the direct branch of high-precision GNSS positioning function
It holds, high-precision GNSS locating module is integrated into the robot based on ROS by the present invention.On the other hand, due to outdoor building
The situations such as object blocking or reflection can lead to GNSS, and there are multipath error influence and non-line-of-sight scenes, and radar can be by real-time
Point cloud surface sweeping matching calculates carrier pose, and positioning is not influenced by signal, and conventional method positions the two each other as standby
Part, continue reliably to position to provide, the present invention is using odometer motion model as system state equation, with two positioning results
As measurement equation, the stronger positioning result of robustness is obtained by particle filter algorithm.
Invention content
The purpose of the present invention is to provide a kind of real-time high-precision co-locateds based on GNSS and laser radar and navigation
Method, first, this method are integrated in high-precision GNSS locating module to ROS, and it is fixed that real-time high-precision GNSS can be provided in ROS
Position for outdoor robot as a result, provide Global localization；Secondly, the location information issued in ROS using laser radar, with GNSS
The information of publication is merged, to promote positioning accuracy and enhance applicability.
The technical solution adopted in the present invention is provided a kind of ROS robots positioned based on high-precision GNSS real-time collaborative and led
Boat method, the ROS are robot operating systems, and high-precision GNSS locating module is integrated into ROS；By GNSS positioning results
It is transformed into UTM coordinate systems, and UTM coordinate frames is added in the coordinate transition tree of ROS, realize that world coordinates and part are sat
Connection between mark；Robot itself odometer is corrected by high-precision GNSS positioning result, realizes robot global
Positioning.
Moreover, carrying out co-located and the navigation of outdoor robot in conjunction with GNSS and radar.
Moreover, when GNSS signal is influenced by multipath error with non-line-of-sight scene, positioned instead of GNSS using radar fix；
When GNSS signal is good, the initial pose of the overall situation that GNSS positioning results are resolved as radar points cloud makes radar have in outdoor
Global localization ability, while GNSS positioning results carry out minimum range to radar fix result and particle point cloud to be selected and judge to count
It calculates, filters out the particle point cloud by noise jamming so that positioning accuracy improves.
Moreover, described be integrated into high-precision GNSS locating module in ROS, realization method is, in GNSS locating modules
It establishes wide area correction data reception node, serial data reading node and wide area high accuracy positioning algorithm and resolves RTK nodes,
Data server is broadcast using TCP Client connection wide area in wide area corrects data reception node, is received accurate
Satellite orbit, Clock Bias and ionospheric correction evidence, later by parsing, and according to the data format in ROS into
Row encapsulates and is distributed to wide area high accuracy positioning algorithm；
The satellite data that GNSS positioning chips receive can be spread out of by serial ports, read node by serial data and read number
According to being parsed, and wide area high accuracy positioning algorithm is also distributed to after carrying out ROS message format encapsulation；
Wide area high accuracy positioning algorithm starts to execute, and calculates current high accuracy positioning result in real time.
Using the method for the invention, compared with prior art, the present invention for the first time integrates high-precision GNSS locating module
Into ROS, good positioning service is provided for outdoor robot.Secondly, by GNSS and laser radar positioning result into
Row fusion obtains position stability and is significantly better than single-sensor navigation, realizes that robot connects in outdoor large-scale complex environment
Continuous property seamless positioning, enhances the applicability and robustness of system.
Description of the drawings
Fig. 1 is the co-located system senses frame diagram of the embodiment of the present invention.
Fig. 2 is that the high-precision GNSS locating module interdependent node in the robot operating system ROS of the embodiment of the present invention shows
It is intended to.
Fig. 3 is the GNSS and laser radar co-located algorithm flow chart of the embodiment of the present invention.
Specific implementation mode
Understand for the ease of those of ordinary skill in the art and implement the present invention, with reference to the accompanying drawings and embodiments to this hair
It is bright to be described in further detail, it should be understood that implementation example described herein is merely to illustrate and explain the present invention, not
For limiting the present invention.
The present invention proposes, a kind of BDS/GPS and laser radar based on ROS carry out co-located and navigation when high-precision real
Technology, be primarily based on ROS realize high-precision GNSS locating module, and realize the publication of high-precision GNSS positioning result in ROS,
The co-located that GNSS is merged with laser radar positioning result.
The nucleus module is the high-precision GNSS locating module developed based on ROS, and it is high-precision that it contains existing wide area
Location algorithm is spent, high accuracy positioning can be provided, supports instant RTK.
In order to issue the message of high-precision GNSS positioning result data in ROS, feasible flow is：It will be existing high-precision
Degree GNSS locating modules are integrated into ROS；GNSS positioning results are transformed into UTM coordinate systems, and UTM coordinate frames are added
Into the coordinate transition tree of ROS, the connection between world coordinates and local coordinate is realized；Pass through high-precision GNSS positioning result pair
Robot itself odometer is corrected, realizes that robot global positions.
Further, the present invention realizes that GNSS carries out co-located and the navigation of outdoor robot with radar.Believe in GNSS
When number being influenced with non-line-of-sight scene by multipath error, positioned instead of GNSS using radar fix；When GNSS signal is good, GNSS
The initial pose of the overall situation that positioning result is resolved as radar points cloud, makes radar have good Global localization ability in outdoor.Together
When GNSS positioning results minimum range carried out to radar fix result and particle point cloud to be selected judge to calculate, filter out by noise jamming
Particle point cloud so that positioning accuracy improve.
The embodiment of the present invention proposes that positioning is led when a kind of GNSS carries out the high-precision real of Fusion with radar
Boat method includes mainly the following steps：
The first step：Existing high-precision GNSS locating module is integrated into ROS.First, it is established in GNSS locating modules wide
Data reception node is corrected in domain, serial data reads node and wide area high accuracy positioning algorithm resolves RTK nodes.On the one hand, exist
Data server is broadcast using TCP Client connection wide area in wide area correction data reception node, receives precise satellite track, essence
The data such as close satellite clock correction and ionosphere correction, later parse these data by data resolution module, and according in ROS
Data format be packaged and be distributed to wide area high accuracy positioning algorithm resolve RTK nodes.On the other hand, GNSS positioning chips
The satellite data received can be spread out of by serial ports, read node by serial data and read data, carry out data resolution module
It parses and is also distributed to wide area high accuracy positioning algorithm resolving RTK nodes after carrying out ROS message format encapsulation.Then wide area is high-precision
Degree location algorithm starts to execute, and calculates current high-precision GNSS positioning result in real time.
Second step：GNSS coordinate frame is added to ROS coordinate-systems, by high-precision GNSS positioning result to robot
Itself odometer is corrected, realizes transformation between each coordinate frame.GNSS coordinate switching node is initially set up, subscription is passed through
The high-precision GNSS positioning result message that wide area high accuracy positioning algorithm resolves the publication of RTK nodes obtains latitude and longitude information, then
It converts latitude and longitude coordinates to Mercator's plane coordinates UTM to issue out, and the coordinate frame is added to the coordinate transform of ROS
In tree, the complete conversion of world coordinates and local coordinate is completed.
Third walks：The positioning result that GNSS and radar are issued is merged by particle filter method in ROS, obtains robust
More preferable, the higher positioning result of precision of property.First, the initial pose for giving robot carries out stochastical sampling using Gaussian Profile
To obtain population；Then odometer information is obtained according to odometer, uses the movement of odometer motion model simulation particle group.
Then using the positioning result of GNSS and radar as observational equation, the core of observational equation is how to calculate particle weights,
Here radar data measure weight obtained using the mode of Probabilistic Cell map match, GNSS data measure weight by with
Lower formula is calculated；
Wherein zkFor the measured value at current time,For odometer predicted value, V is measurement noise variance.Finally by
Resampling more row population.
When it is implemented, software technology, which can be used, realizes automatic running.
Embodiment is after by high accuracy positioning integration procedure to ROS, when reality carries out location navigation, using following steps：
Step 1：It is received from the TCP Client in ROS and broadcasts the GNSS related datas that data server is broadcast from wide area,
The satellite data that bottom GNSS receiver receives is received from serial ports, environment point cloud data is obtained using laser radar scanning.
Step 2：Wide area is broadcast the GNSS related datas that data server is broadcast to parse and seal by data resolution module
The data format that dress obtains meeting ROS requirements is issued on theme；The data that bottom GNSS receiver receives are passed through serial ports
Go out, ROS message format encapsulation is parsed and carried out by data resolution module, is also issued on theme.When receiving two above
After theme, starts to execute ready-made wide area high accuracy positioning algorithm, calculate current high accuracy positioning result in real time.
Step 3：GNSS coordinate system frame is defined, the coordinate position that step 2 obtains is defined into coordinate system/UTM, and and ROS
In map coordinates system converted and corrected, pass through TF trees realization/UTM and odometer coordinate system/odom and robot itself
The conversion of coordinate system/baselink.Robot flight path information can be issued by GNSS coordinate, it is global fixed to be provided for outdoor robot
Position result.
Step 4：The initial value changed using GNSS positioning results as laser radar point cloud Iterative pose, can also solve
Calculation obtains the pose of robot.
Step 5：Motion model using odometer information as robot describes the state equation of system, according to GNSS and
Measurement equation of the radar fix result as system obtains positioning accuracy higher, robustness using particle filter blending algorithm
Stronger positioning result.
It is the robot frame for realizing multi-sensor information fusion positioning in ROS referring to Fig. 1, Fig. 1, is broadly divided into multi-source biography
Sensor layer, co-located sensing layer and bottom control layer.Multiple Source Sensor layer mainly obtains external high-precision map and based on sharp
The point cloud information that optical radar obtains realizes that the two all pass to association by map service module and laser radar module respectively
With location aware layer, the odometer information of bottom control layer is also transferred to co-located sensing layer as external sensible information.Association
Positioning result on the one hand is obtained by carrying out processing to cloud information with location aware layer, it is on the other hand fixed by high-precision GNSS
Position module can obtain high-precision GNSS positioning result, and the two combination odometer information realizes Shandong by simple particle filter algorithm
The better positioning result of stick.Then positioning result is passed into contexture by self module, contexture by self module be based on cartographic information,
Obstacle information and high-precision GNSS positioning result after real-time collected cloud walking around of information carry out Global motion planning drawn game
Portion plans, and control information is transmitted to bottom control layer.After bottom control layer receives the control command from contexture by self module,
Base controller module just drives robot motion, and movement mileage information is fed back to co-located module.
It is the realization block diagram of the high-precision GNSS locating module based on ROS referring to Fig. 2, Fig. 2.This part mainly relies on ROS
In topic subscribe to and issue mechanism, mainly used three nodes.Node R ecvClient4ROS processing comes from wide-area data
The data of server connect wide area data service by TCP Client, then parse the data received, will finally count
It gives out information on topic/correctNum according to being packaged into after the data format of ROS requirements.Node Gnss_meas processing comes from
The data of bottom GNSS receiver, first by serial acquisition to data parse, then encapsulate data into ROS requirement number
According to giving out information in topic/gnssmeas after format.Node R TK_server is by subscribing to the data in both the above topic
And the parameter in ROS parameter servers is combined to carry out the resolving of high-precision GNSS positioning result, it is serviced first by ROS parameters
Device reads default parameters, starts rtklib_fetchParam services according to the service of the offer in ROS and rtklib_reset takes
Business, the former provides RTK data and sends service, and the latter then provides RTK resetting services.Topic/the correctNum that will be subscribed to
It is input in wide area high accuracy positioning algoritic module and is resolved with the data in topic/gnssmesa, obtained high-precision real
When positioning result issued in topic/beseline and topic/latlon respectively.
It is the data anastomosing algorithm flow chart based on GNSS positioning and laser radar positioning referring to Fig. 3, Fig. 3.Wherein/UTM
For coordinate system where GNSS positioning results ,/odom is odometer coordinate system, and/baselink is robot coordinate system, and/map is complete
Office's coordinate system, and the conversion between coordinate system has invertibity.Initialization procedure mainly realizes radar fix and GNSS positioning
The two positioning is unified under a coordinate frame, and initializes grain according to given initial alignment varivance matrix by registration
Subgroup；Secondly with the movement of odometer motion model simulation particle, system mode update is carried out, respectively with both GNSS and radar
Positioning is updated two positioning results as the measurement of particle filter, calculates separately the weight of particle, normalization importance power
Value；Then, resampling is carried out, the small particle of weight is given up according to preset threshold value, the big particle of weight is copied into new grain
Son replaces the particle given up with these new particles, prepares for the filtering iteration process of next subsystem, realizes according to probability weight
Sampling, regenerates particle, and redistribute particle weights, then weights to obtain the estimation of position according to the particle regenerated
Value, i.e. the optimal estimation for robot in global coordinate system/map, and position error variance matrix is updated, according to above two
Item carries out the particle sampler of next round；Finally realize that the conversion between coordinate system, including publication are based on world coordinates in ROS
The positioning result of system/map, the position of the origin of global coordinate system/map, passes through machine under calculating robot's coordinate system/baselink
Coordinate transform between device people coordinate system/baselink to odometer coordinate system/odom obtains complete under odometer coordinate system/odom
The position of office's coordinate system/map origins, the coordinate transform result of publication odometer coordinate system/odom to global coordinate system/map.
It should be understood that the above-mentioned description for preferred embodiment is more detailed, can not therefore be considered to this
The limitation of invention patent protection range, those skilled in the art under the inspiration of the present invention, are not departing from power of the present invention
Profit requires in the case of protecting, and can also make replacement or deformation, each fall within protection scope of the present invention, of the invention
Range, which is claimed, to be determined by the appended claims.
Claims (4)
1. a kind of ROS robot navigation methods based on the positioning of high-precision GNSS real-time collaborative, the ROS is robot manipulation system
System, it is characterised in that：High-precision GNSS locating module is integrated into ROS；GNSS positioning results are transformed into UTM coordinate systems
In, and UTM coordinate frames are added in the coordinate transition tree of ROS, realize the connection between world coordinates and local coordinate；It is logical
It crosses high-precision GNSS positioning result and radar fix result to be corrected robot itself odometer, realizes that robot global is fixed
Position.
2. the ROS robot navigation methods according to claim 1 based on the positioning of high-precision GNSS real-time collaborative, feature exist
In：Co-located and the navigation of outdoor robot are carried out in conjunction with GNSS and radar.
3. the ROS robot navigation methods according to claim 2 based on the positioning of high-precision GNSS real-time collaborative, feature exist
In：When GNSS signal is influenced by multipath error with non-line-of-sight scene, positioned instead of GNSS using radar fix；In GNSS signal
When good, the initial pose of the overall situation that GNSS positioning results are resolved as radar points cloud enables radar to have Global localization in outdoor
Power.Odometer information is as system state equation, while GNSS positioning results and radar fix result use grain as observation
Sub- filtering algorithm obtains precision with height, the higher positioning result of adaptivity.
4. according to claims 1 or 2 or the 3 ROS robot navigation methods based on the positioning of high-precision GNSS real-time collaborative,
It is characterized in that：Described that high-precision GNSS locating module is integrated into ROS, realization method is to be established in GNSS locating modules
Wide area corrects data reception node, serial data reads node and wide area high accuracy positioning algorithm resolves RTK nodes,
Data server is broadcast using TCP Client connection wide area in wide area corrects data reception node, receives precise satellite
Track, Clock Bias and ionospheric correction evidence later by parsing, and are sealed according to the data format in ROS
It fills and is distributed to wide area high accuracy positioning algorithm；
The satellite data that GNSS positioning chips receive can be spread out of by serial ports, read node by serial data and read data,
It is parsed, and wide area high accuracy positioning algorithm is also distributed to after carrying out ROS message format encapsulation；Wide area high accuracy positioning algorithm
Start to execute, calculates current high accuracy positioning result in real time.
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| CN111721289A (en) * | 2020-06-28 | 2020-09-29 | 北京百度网讯科技有限公司 | Vehicle positioning method, device, equipment, storage medium and vehicle |
| CN111736137A (en) * | 2020-08-06 | 2020-10-02 | 广州汽车集团股份有限公司 | LiDAR external parameter calibration method, system, computer equipment and readable storage medium |
| CN112068174A (en) * | 2020-08-18 | 2020-12-11 | 三一专用汽车有限责任公司 | Positioning method, positioning apparatus, and computer-readable storage medium |
| CN112731927A (en) * | 2020-12-21 | 2021-04-30 | 正从科技(上海)有限公司 | Artificial intelligent cleaning robot control method and system |
| CN113514863A (en) * | 2021-03-23 | 2021-10-19 | 重庆兰德适普信息科技有限公司 | Multi-sensor fusion positioning method |
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Application publication date: 20180928 |
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