CN109856640B - Single-line laser radar two-dimensional positioning method based on reflecting column or reflecting plate - Google Patents
Single-line laser radar two-dimensional positioning method based on reflecting column or reflecting plate Download PDFInfo
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- CN109856640B CN109856640B CN201811605992.5A CN201811605992A CN109856640B CN 109856640 B CN109856640 B CN 109856640B CN 201811605992 A CN201811605992 A CN 201811605992A CN 109856640 B CN109856640 B CN 109856640B
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Abstract
The invention relates to a single-line laser radar two-dimensional positioning method based on a reflecting column or a reflecting plate; s1, performing horizontal distortion on original measurement data of a single-line laser radar, and calculating the actual position of a horizontal target azimuth; s2, performing motion distortion correction on the original measurement data of the single-line laser radar; s3, globally matching the measured data of the single-line laser radar after the deviation correction in the steps S2 and S3 with the map data of the actual position of the target azimuth in the step S1; according to the single-line laser radar two-dimensional positioning method based on the reflecting column or the reflecting plate, errors of measured data are greatly reduced through horizontal distortion correction and motion distortion correction, the errors are smaller, calculation is different from triangulation, all target directions participate in calculation to obtain an optimal solution, three points are not used for calculation in triangulation, errors and precision of the three points directly influence the final calculation result, and therefore the precision is higher.
Description
Technical Field
The invention relates to the technical field of radar positioning, in particular to a single-line laser radar two-dimensional positioning method based on a reflecting column or a reflecting plate.
Background
Geometric triangulation in the conventional technology refers to a mathematical principle, in which 3 or more than 3 target orientations detected by a single line laser radar at different positions are utilized, and then the position and azimuth angle of the single line laser radar are determined by utilizing the geometric principle of triangulation. The triangulation method is the most common positioning method so far because it is simple, fast and widely used, and it is difficult to apply the positioning method to some high-precision industrial positioning scenes due to measurement errors. In order to reduce accidental errors, horizontal distortion and motion distortion, increase target orientations (three in triangulation) participating in positioning calculation, improve positioning accuracy, and meet the requirements of high-accuracy industrial positioning scenes, a positioning method with higher accuracy including various error calculations is urgently needed.
The invention provides a single-line laser radar two-dimensional positioning method based on a reflecting column or a reflecting plate, which greatly reduces the error of measured data by horizontal distortion correction and motion distortion correction, has smaller error, and is different from triangular positioning in that all target directions participate in calculation to obtain an optimal solution, but not three points of triangular positioning are taken for calculation, and the errors and the precision of the three points directly influence the final calculation result, so the precision is higher.
Disclosure of Invention
In order to realize a single-line laser radar two-dimensional positioning method with smaller error and higher precision, the method comprises the following steps:
s1, performing horizontal distortion on original measurement data of a single-line laser radar, and calculating the actual position of a horizontal target azimuth;
s2, performing motion distortion correction on the original measurement data of the single-line laser radar;
and S3, globally matching the measured data of the single line laser radar rectified in the steps S2 and S3 with the map data of the actual position of the target azimuth in the step S1.
Further, the step S1 specifically includes: and acquiring the horizontal deflection angle change in a certain time period, and calculating the actual position of the horizontal target azimuth.
Further, the change of the horizontal declination angle is obtained through data of the sensor.
Further, the variation of the horizontal declination angle is continuous and average.
Further, the carrier of the linear laser radar in the step S2 always performs uniform acceleration linear motion or uniform deceleration linear motion.
Furthermore, according to the speed, the acceleration and the time difference, the displacement at a certain moment is calculated, and the motion distortion data of the single-line radar is corrected.
Further, the step S3 specifically includes: and through translation and rotation, obtaining translation and rotation with the highest matching degree as the azimuth and the azimuth angle of the single-line laser radar at the current moment.
By the scheme, the invention at least has the following advantages:
(1) The error is smaller: the error of the measured data is greatly reduced by horizontal distortion correction and motion distortion correction;
(2) The precision is higher: the calculation is different from the triangulation in that all target orientations participate in the calculation to obtain an optimal solution, instead of only taking three points for calculation in triangulation, and errors and precision of the three points directly influence the final calculation result.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
Fig. 1 is a schematic flow chart of a single-line laser radar two-dimensional positioning method based on a reflective column or a reflective plate according to the present invention.
Detailed Description
The following detailed description of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Accidental errors: accidental errors are caused by uncertain accidental factors, and are characterized in that single observation data are irregular, but a plurality of observation data show certain regularity, such as rounding errors, measurement errors, the accuracy of the single-line laser radar and the like.
Horizontal distortion: in practical application, the single-line laser radar moves along with a carrier (such as an AGV), and in the moving process, the single-line laser radar is not on the initial horizontal plane due to the reasons of road flatness, carrier vibration and the like, so that the data error measured by the single-line laser radar is increased.
Motion distortion: the single line laser radar measures one turn (i.e. 360 °) of data, which takes a certain time. If the carrier of the single line laser radar is displaced or rotated within the time, if the distortion caused by the movement is neglected, the measurement error is increased.
The triangulation method can calculate a unique accurate value in geometric theory. However, in the actual application process, the addition of various errors can increase the error of the calculation result, deteriorate the positioning accuracy, and cannot meet the application requirements of some high-accuracy positioning scenes.
In order to reduce accidental errors, horizontal distortion and motion distortion, increase target orientations (not three in triangular positioning) participating in positioning calculation, improve positioning accuracy and meet the requirements of high-accuracy industrial positioning scenes, the single-line laser radar two-dimensional positioning method based on the reflecting column or the reflecting plate provided by the invention comprises the following steps:
s1, performing horizontal distortion correction on original measurement data of the single-line laser radar, wherein in the step, horizontal deflection angle change within a certain time is obtained through other sensors, and the change is assumed to be continuous and average, so that the actual position of a horizontal target azimuth can be simply calculated;
and S2, performing motion distortion correction on the original measurement data of the single-line laser radar, wherein in the step, the carrier of the single-line laser radar is supposed to perform uniform acceleration linear motion or uniform deceleration linear motion all the time. According to the following steps: the displacement at a certain moment can be obtained by the speed, the acceleration and the time difference, so that the motion distortion data of the single-line radar can be corrected;
s3, performing global matching on the measurement data of the single-line laser radar and the original target azimuth map data, and performing global matching on the corrected target azimuth and target azimuth map data scanned immediately; through translation and rotation, translation and rotation with the best matching degree can be finally obtained, and the translation and rotation at the moment are used as the azimuth and the azimuth angle of the single-line laser radar at the current moment.
In this embodiment, the same target azimuth map and the same single line laser radar carrier are used, the carrier moves at a constant speed of 1 m/s, and the repeated accuracy of the triangulation and the repeated accuracy of the positioning of the method are compared, wherein the repeated accuracy of the triangulation is about 40mm, and the repeated accuracy of the method is about 15mm.
The embodiment of the invention discloses a specific two-dimensional positioning method for a single-line laser radar based on a reflecting column or a reflecting plate, which comprises the following specific steps:
in order to obtain the change of the horizontal declination within a certain time period, the actual position of the azimuth of the horizontal target is calculated, the change of the horizontal declination is obtained through the data of the sensors, and the change of the horizontal declination is continuous and average.
Because the carrier of the single-line laser radar always performs uniform acceleration linear motion or uniform deceleration linear motion in the step S2, the displacement at a certain moment can be calculated according to the speed, the acceleration and the time difference, and the motion distortion data of the single-line radar can be corrected.
Step S3 specifically includes: and through translation and rotation, obtaining translation and rotation with the highest matching degree as the azimuth and the azimuth angle of the single-line laser radar at the current moment.
The single-line laser radar two-dimensional positioning method based on the reflecting column or the reflecting plate provided by the invention has the following advantages:
(1) Horizontal distortion correction: correcting the original measurement data;
(2) And (3) correcting motion distortion: correcting the original measurement data;
(3) Multi-target orientation positioning: the positioning calculation error is reduced, and the positioning result precision is improved.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (4)
1. A single-line laser radar two-dimensional positioning method based on a reflecting column or a reflecting plate is characterized by comprising the following steps:
s1, performing horizontal distortion on original measurement data of a single-line laser radar, and calculating the actual position of a horizontal target azimuth;
s2, performing motion distortion correction on the original measurement data of the single-line laser radar;
s3, globally matching the measured data of the single-line laser radar after the deviation correction in the steps S2 and S3 with the map data of the actual position of the target azimuth in the step S1;
the step S1 specifically includes: acquiring horizontal deflection angle change in a certain time period, and calculating the actual position of a horizontal target azimuth;
the carrier of the linear laser radar in the step S2 always performs uniform acceleration linear motion or uniform deceleration linear motion;
the step S3 specifically includes: and through translation and rotation, obtaining translation and rotation with the highest matching degree as the azimuth and the azimuth angle of the single-line laser radar at the current moment.
2. The single line laser radar two-dimensional positioning method based on the reflecting column or the reflecting plate as claimed in claim 1, wherein: the change of the horizontal declination angle is obtained through data of the sensor.
3. The single line laser radar two-dimensional positioning method based on the reflecting column or the reflecting plate as claimed in claim 1, wherein: the variation of the horizontal declination angle is continuous and average.
4. The single line laser radar two-dimensional positioning method based on the reflecting column or the reflecting plate as claimed in claim 1, wherein: and calculating the displacement at a certain moment according to the speed, the acceleration and the time difference, and correcting the motion distortion data of the single-line radar.
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| CN110471072B (en) * | 2019-08-19 | 2021-04-02 | 华晟（青岛）智能装备科技有限公司 | Method and system for identifying position of reflecting column |
| CN111060092B (en) * | 2019-12-31 | 2021-07-30 | 芜湖哈特机器人产业技术研究院有限公司 | Rapid matching method of reflective columns |
| CN111679261B (en) * | 2020-08-05 | 2021-04-27 | 湖北工业大学 | Laser radar positioning method and system based on reflector |
| CN112305520B (en) * | 2020-10-27 | 2024-03-12 | 三一机器人科技有限公司 | Correction method and device for detection position of reflection column of single laser radar |
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