CN109870156A - A kind of automobile-used inexpensive micro-mechanical inertial navigation system Camera calibration method - Google Patents
A kind of automobile-used inexpensive micro-mechanical inertial navigation system Camera calibration method Download PDFInfo
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Abstract
The invention belongs to the unmanned automobile-used micro- inertial positioning technical fields of cargo transport of wisdom storehouse, and in particular to a kind of automobile-used inexpensive micro-mechanical inertial navigation system Camera calibration method；Method includes the following steps: micro-mechanical inertial navigation system starts self-test first, after self-test success, control centre sends " initialization instruction " to micro-mechanical inertial navigation system；Secondly micro-mechanical inertial navigation system is initially prepared, and completes initial position bookbinding；Then control centre plans van driving path according to storage/access article position；After van receives the path planning of control centre, unidirectional positioning calculation is carried out using the accelerometer of micro-mechanical inertial navigation system in real time, Camera calibration is carried out, and control centre is sent to by wireless network in real time by obtained position coordinate value is resolved, completes the navigator fix of van.
Description
Technical field
The invention belongs to the unmanned automobile-used micro- inertial positioning technical fields of cargo transport of wisdom storehouse, and in particular to it is a kind of it is automobile-used it is low at
This micro-mechanical inertial navigation system Camera calibration method.
Background technique
With flourishing for " internet+", shopping online is in explosive growth, and quick despatch is more and more, storehouse construction
Also increasing.It manually stores, extraction express mail has been unable to satisfy industry requirement.For this purpose, the express deliveries such as Alibaba, Jingdone district giant
Intelligent storehouse is being built energetically, is realized using unmanned van (referred to as " van ") and is stored, extracts, distributing express mail.
The substantially workflow of van is as follows:
(1) van starting up determines current location and course angle, and is uniformly controlled by wireless network to storehouse
(referred to as " control centre ") reports the information such as self-position and course at center.
(2) cargo transport garage is cooked up in position of the control centre according to the position, express mail to be mentioned of van in storehouse automatically
Path is sailed, and route programming result is sent to van.
(3) after van receives path planning, according to the location information of itself real-time resolving, specified storage lattice are driven to
Position carries out storage/access express mail, drives at specified storage/access goods later again, complete this subtask.
From the workflow of van it is found that van only grasps itself accurate location information in real time, could complete to deposit/
Take the task of express mail.
In recent years, Mierotubule-associated proteins are fast-developing, and the advantages such as at low cost, small in size, low in energy consumption have been widely applied to
Each civil field.Using the information such as acceleration, magnetic heading of Mierotubule-associated proteins output, it can be achieved that navigator fix to van,
Therefore, micro- inertial positioning technology is a kind of technological approaches for solving van orientation problem.
Summary of the invention
For the above-mentioned prior art, the purpose of the present invention is to provide a kind of automobile-used inexpensive micro-mechanical inertial navigation system is autonomous
Navigation locating method solves the problems, such as that freight positions.
In order to achieve the above object, the present invention uses following technical scheme.
The purpose of the present invention is to provide a kind of automobile-used inexpensive micro-mechanical inertial navigation system Camera calibration methods:
It is defined as follows two three-dimensional cartesian coordinate systems:
(1) van carrier coordinate system: with before van to for X-axis, be above vehicle Y-axis, on the right side of vehicle for the coordinate of Z axis
System；
(2) navigational coordinate system: being N axis, day to the coordinate system for being E axis for U axis, east orientation with north orientation；
Storehouse is laid out by transverse and longitudinal grid lines, and van is travelled along grid lines, and transverse and longitudinal is intersected mesh point and is known as with regard to site, in place
Point contains location tags, and van obtains current location according to location tags；Transverse and longitudinal grid lines interweaves nets hole out, if being arranged in net hole
Dry storage lattice；
Storage lattice and position of the site in storehouse is demarcated in advance；
Shown in position coordinates form such as formula (1):
(N.XXXXX, E.XXXXX) (1)
In formula: N is the N articles motion profile from south to north, and E is the E articles motion profile from west to east；The subsequent XXXXX of N is
Van and nearest south are with regard at a distance between site, unit cm；The subsequent XXXXX of E is van and nearest west with regard to site
Between distance, unit cm；
(1) if van northwards or is southwards travelled along certain track, position coordinates are (N.XXXXX, E)；
Then, E is the E articles north-south path that van is currently travelling, and N is the East and West direction nearest from van south
Path, XXXXX is van with south recently with regard at a distance between site after decimal point；
(2) if van travels eastwards or westwards along certain track, position coordinates are (N, E.XXXXX)；
Then, N is the N articles western east orientation path that van is currently travelling, and E is the north-south nearest from van west
Path, XXXXX is van with west recently with regard at a distance between site after decimal point；
Step 1: micro-mechanical inertial navigation system starts self-test；
The micro-mechanical inertial navigation system includes micro-acceleration gauge module and micro- magnetometer module；When van storage/access goods,
The starting of micro-mechanical inertial navigation system boot, self-test, and oneself state is sent to control centre by wireless network in real time；If self-test is lost
It loses, then reports failure to control centre, wait to be repaired；If self-test success, is reported successfully to control centre, control centre passes through wireless
Network sends initialization instruction to micro-mechanical inertial navigation system；
Step 2: micro-mechanical inertial navigation system initially prepares；
Location information starts when micro-mechanical inertial navigation system was shut down with last time；
The location information that micro-mechanical inertial navigation system is saved when being shut down using last time is completed initial position and is bound；Utilize micro- magnetic strength
The course angle that module calculates van is counted, calculation formula is as follows:
In formula: Mx、MzRespectively X and the output of Z-direction magnetometer, unit gauss；For magnetic declination, according to earth magnetic
Field mode WMM2010 can proper geomagnetic declination, unit be °；For course angle, unit is ° that north by west is positive, and range exists
(0 °, 360 °)；
Van is only travelled along 4 directions of motion, and when storehouse due south, due east are laid out, van only has 4 course angle difference
It is 0 ° of north orientation, west is to 90 °, 180 ° of south orientation, 270 ° of east orientation；
Therefore, the corresponding relationship of van traveling course angle and magnetic heading angle is as follows:
Micro-mechanical inertial navigation system obtains van current location and course angle, completes initial preparation；
Step 3: van driving path is planned；
After initial vehicle of freighting is ready, its current location, course and ready information are sent to control centre；Control
Center processed according to van current location, to storage/access article position, plan driving path for van；
Step 4: Camera calibration；
After van receives the path planning of control centre, carried out in real time using the accelerometer of micro-mechanical inertial navigation system
Unidirectional positioning calculation, calculation formula are as follows:
In formula:Specific force output respectively after accelerometer factory calibration compensation, unit m/s2；Ax、
Ay、AzRespectively accelerometer is exported along the equivalent specific force of carrier system, theoretically Ay、AzIt is 0, unit m/s2；φx、φy、φzPoint
Fix error angle not between accelerometer and carrier coordinate system, micro-mechanical inertial navigation system are packed into calibration after van, unit
For rad；V is van travel speed, unit m/s；v0For van initial velocity, initial speed 0, unit m/s；P
For the displacement of van direction of advance, unit m；
The P value of resolving is converted to the position coordinate value of formula (1) agreement, the position that micro-mechanical inertial navigation system obtains resolving
Coordinate value is sent to control centre by wireless network in real time.
This method is further comprising the steps of:
Step 5: zero-velocity curve micro-mechanical inertial navigation systematic error；
Van is intended to stop when equal Wait Orders, avoiding other vehicle conditions；
Micro-mechanical inertial navigation system judges automatically whether van stops using 3 real-time output valves of accelerometer, judges to mark
It is quasi- as follows:
In formula: Gate is threshold value, is set according to micro-mechanical inertial navigation system and actual use situation；A is less than Gate
When, judge that van is stationary state.
The micro-mechanical inertial navigation system is calculated using binary channels:
(1) position externally exported all the way remains unchanged；
(2) another way normal position resolves, and calculates accelerometer bias according to velocity variable, equivalent relation is as follows:
In formula:For equivalent accelerometer bias, unit m/s2；Δvx、Δvy、ΔvzFor resting stage
Between velocity variable, unit m/s；Δ t is the zero-velocity curve time of van, unit s.
This method is further comprising the steps of:
Step 6: correcting micro-mechanical inertial navigation systematic error with regard to site；
Van drives to certain and is rotated with regard to site according to the path planning that control centre sets, after rotateing in place,
Micro-mechanical inertial navigation system position is corrected using the location tags with regard to site.
Micro-mechanical inertial navigation system is in two location informations with regard to calculating 3 directions between site and the two of prior precise measurement
It is a that site distance is matched, calculate three accelerometer bias；
In formula:Respectively indicate the moving displacement that three accelerometer actual measurements of van go out, unit m；For equivalent accelerometer bias, unit m/s2；PBenchmarkFor two with regard to the actual range between site, that is, freight
The practical distance walked of vehicle, unit m；T is from one with regard to site to next running time with regard to site, unit s.
The micro-mechanical inertial navigation system is started with dot position information in place；It is saved when the shutdown of micro-mechanical inertial navigation system last time
Location information it is invalid when, control centre to van send " advances " or " retrogressings " travel instruction arrive at nearby in place click-through
Row prepares；Micro-mechanical inertial navigation system utilizes the location tags with regard to site to obtain current location, completes initial position bookbinding；Utilize public affairs
Formula (2), (3) calculate van course angle, complete initial preparation.
Technical solution provided in an embodiment of the present invention has the benefit that
A kind of automobile-used inexpensive micro-mechanical inertial navigation system Camera calibration method of the invention, is calculated using micro-acceleration gauge
Van mileage travelled calculates traveling course using micro- magnetometer, using the fixed motion profile feature of storehouse and with regard to site
Location tags correct positioning result.
Detailed description of the invention
Fig. 1 is a kind of storehouse schematic layout pattern of the present invention；
Fig. 2 is a kind of van of the present invention with regard to site relation schematic diagram.
Specific embodiment
With reference to embodiment to a kind of automobile-used inexpensive micro-mechanical inertial navigation system Camera calibration of the invention
Method elaborates.
The present invention is defined as follows two three-dimensional cartesian coordinate systems:
(1) van carrier coordinate system: with before van to for X-axis, be above vehicle Y-axis, on the right side of vehicle for the coordinate of Z axis
System；
(2) navigational coordinate system: being N axis, day to the coordinate system for being E axis for U axis, east orientation with north orientation；
As shown in Figure 1, a kind of layout of typical case's storehouse:
Storehouse is laid out by transverse and longitudinal grid lines, and van is travelled along grid lines, and transverse and longitudinal intersects mesh point and is known as " with regard to site ", just
Site contains " location tags ", and van can obtain current location according to " location tags "；Each transverse and longitudinal grid lines interweaves nets hole out, net
Several storage lattice are set in hole, for storing express mail and other items；
Storage lattice and demarcating in advance with regard to position of the site in storehouse obtain；
Storehouse is 2 dimension horizontal planes, and micro-mechanical inertial navigation system need to only provide 2 location informations of transverse and longitudinal and can realize to van
Positioning, in conjunction with van only along 1 direction running the characteristics of, the present invention devises following position coordinates form:
(N.XXXXX, E.XXXXX) (1)
In formula: N is that the N articles motion profile, E are the E articles motion profiles from west to east in Fig. 1 from south to north in Fig. 1；N
Subsequent XXXXX is van with nearest south with regard at a distance between site, unit cm；The subsequent XXXXX of E be van with most
Nearly west is with regard to the distance between site, unit cm；
(1) if van northwards or is southwards travelled along certain track, position coordinates are (N.XXXXX, E)；
Then, E is the E articles north-south path that van is currently travelling, and N is the East and West direction nearest from van south
Path, XXXXX is van with south recently with regard at a distance between site after decimal point；Such as: coordinate (3.00050,2) refers in place
The position of point (3,2) north orientation 50cm；
(2) if van travels eastwards or westwards along certain track, position coordinates are (N, E.XXXXX)；
Then, N is the N articles western east orientation path that van is currently travelling, and E is the north-south nearest from van west
Path, XXXXX is van with west recently with regard at a distance between site after decimal point；Such as: coordinate (3,2.00050) refers in place
The position of point (3,2) east orientation 50cm.
A kind of automobile-used inexpensive micro-mechanical inertial navigation system Camera calibration method of the invention, comprising the following steps:
Step 1: micro-mechanical inertial navigation system starts self-test；
The micro-mechanical inertial navigation system includes micro-acceleration gauge module and micro- magnetometer module；When van storage/access goods,
The starting of micro-mechanical inertial navigation system boot, self-test, and oneself state is sent to control centre by wireless network in real time；If self-test is lost
It loses, then reports " failure " to control centre, wait to be repaired；If self-test success, is reported successfully, control centre passes through nothing to control centre
Gauze network sends " initialization instruction " to micro-mechanical inertial navigation system；
Step 2: micro-mechanical inertial navigation system initially prepares；
The initial preparation mode of micro-mechanical inertial navigation system includes following two:
(1) location information starting (default behavior) when being shut down with last time；
The location information that micro-mechanical inertial navigation system is saved when being shut down using last time is completed initial position and is bound；Utilize micro- magnetic strength
The course angle (calibration in advance) that module calculates van is counted, calculation formula is as follows:
In formula: Mx、MzRespectively X and the output of Z-direction magnetometer, unit gauss；For magnetic declination, according to earth magnetic
Field mode WMM2010 can proper geomagnetic declination, unit be °；For course angle, unit is ° that north by west is positive, and range exists
(0 °, 360 °)；
Van is only travelled along 4 directions of motion, therefore it is respectively 0 ° of north orientation that van, which only has 4 course angles, west to
90 °, 180 ° of south orientation, 270 ° of east orientation (assuming that storehouse due south, due east layout)；
Therefore, the corresponding relationship of van traveling course angle and magnetic heading angle is as follows:
Micro-mechanical inertial navigation system obtains van current location and course angle, completes initial preparation；
(2) with dot position information in place starting；
When the location information saved when the shutdown of micro-mechanical inertial navigation system last time is invalid, control centre sends to van
The instruction of " advance " or " retrogressing " traveling is arrived at point in place nearby and is prepared；Micro-mechanical inertial navigation system utilizes the position with regard to site
Label obtains current location, completes initial position bookbinding；Van course angle is calculated using formula (2), (3), is completed initial quasi-
Standby work；
Step 3: van driving path is planned；
After initial vehicle of freighting is ready, its current location, course and the information such as ready are sent to control centre；
Control centre according to van current location, to storage/access express mail position, plan driving path for van；
Step 4: Camera calibration
After van receives the path planning of control centre, carried out in real time using the accelerometer of micro-mechanical inertial navigation system
Unidirectional positioning calculation, calculation formula are as follows:
In formula:Specific force output respectively after accelerometer factory calibration compensation, unit m/s2；Ax、
Ay、AzRespectively accelerometer is exported along the equivalent specific force of carrier system, theoretically Ay、AzIt is 0, unit m/s2；φx、φy、φzPoint
Fix error angle not between accelerometer and carrier coordinate system, micro-mechanical inertial navigation system are packed into calibration after van, unit
For rad；V is van travel speed, unit m/s；v0For van initial velocity, initial speed 0, unit m/s；P
For the displacement of van direction of advance, unit m；
The P value of resolving is converted to the position coordinate value of formula (1) agreement, the position that micro-mechanical inertial navigation system obtains resolving
Coordinate value is sent to control centre by wireless network in real time；
Step 5: zero-velocity curve micro-mechanical inertial navigation systematic error；
Van is intended to stop when equal Wait Orders, avoiding other vehicles；
Micro-mechanical inertial navigation system judges automatically whether van stops using 3 real-time output valves of accelerometer, judges to mark
It is quasi- as follows:
In formula: Gate is threshold value, is set according to micro-mechanical inertial navigation system and actual use situation；A is less than Gate
When, judge that van is stationary state；
Micro-mechanical inertial navigation system is calculated using binary channels:
(1) position externally exported all the way remains unchanged；
(2) another way normal position resolves, and calculates accelerometer bias according to velocity variable, equivalent relation is as follows:
In formula:For equivalent accelerometer bias, unit m/s2；Δvx、Δvy、ΔvzFor resting stage
Between velocity variable, unit m/s；Δ t is the zero-velocity curve time of van, unit s；
The accelerometer bias value amendment accelerometer output of calculating, improves micro-mechanical inertial navigation system accuracy；
Step 6: correcting micro-mechanical inertial navigation systematic error with regard to site
Site is rotated (such as according to the path planning that control centre sets as shown in Figure 1, van drives to certain
Turn left 90 °, turn right 90 °), after rotateing in place, micro-mechanical inertial navigation system position is corrected using the location tags with regard to site；
It is surveyed in addition, micro-mechanical inertial navigation system is accurate in two location informations with regard to calculating 3 directions between site and in advance
Two of amount are matched with regard to site distance, three accelerometer bias can be calculated, as shown in Fig. 2 and formula (7)；
In Fig. 2Respectively indicate the moving displacement that three accelerometer actual measurements of van go out；
In formula:For equivalent accelerometer bias, unit m/s2；PBenchmarkFor two with regard to the reality between site
The practical distance walked of border distance, i.e. van, unit m；T be from one with regard to site to it is next with regard to site when driving
Between, unit s；The accelerometer bias value amendment accelerometer output of calculating, improves micro-mechanical inertial navigation system accuracy.
Claims (6)
1. a kind of automobile-used inexpensive micro-mechanical inertial navigation system Camera calibration method, which is characterized in that this method includes following
Step:
It is defined as follows two three-dimensional cartesian coordinate systems:
(1) van carrier coordinate system: with before van to for X-axis, be above vehicle Y-axis, on the right side of vehicle for the coordinate system of Z axis；
(2) navigational coordinate system: being N axis, day to the coordinate system for being E axis for U axis, east orientation with north orientation；
Storehouse is laid out by transverse and longitudinal grid lines, and van is travelled along grid lines, and transverse and longitudinal intersects mesh point and is known as containing with regard to site with regard to site
Location tags, van obtain current location according to location tags；Transverse and longitudinal grid lines interweaves nets hole out, nets and several deposit is arranged in hole
Object lattice；
Storage lattice and position of the site in storehouse is demarcated in advance；
Shown in position coordinates form such as formula (1):
(N.XXXXX, E.XXXXX) (1)
In formula: N is the N articles motion profile from south to north, and E is the E articles motion profile from west to east；The subsequent XXXXX of N is cargo transport
Vehicle and nearest south are with regard at a distance between site, unit cm；The subsequent XXXXX of E is van and nearest west with regard between site
Distance, unit cm；
(1) if van northwards or is southwards travelled along certain track, position coordinates are (N.XXXXX, E)；
Then, E is the E articles north-south path that van is currently travelling, and N is the East and West direction road nearest from van south
Diameter, XXXXX is van with south recently with regard at a distance between site after decimal point；
(2) if van travels eastwards or westwards along certain track, position coordinates are (N, E.XXXXX)；
Then, N is the N articles western east orientation path that van is currently travelling, and E is the north-south road nearest from van west
Diameter, XXXXX is van with west recently with regard at a distance between site after decimal point；
Step 1: micro-mechanical inertial navigation system starts self-test；
The micro-mechanical inertial navigation system includes micro-acceleration gauge module and micro- magnetometer module；When van storage/access goods, microcomputer
Tool inertial navigation system starting up, self-test, and oneself state is sent to control centre by wireless network in real time；If fail self-test,
Failure then is reported to control centre, is waited to be repaired；If self-test success, is reported successfully, control centre passes through wireless network to control centre
Network sends initialization instruction to micro-mechanical inertial navigation system；
Step 2: micro-mechanical inertial navigation system initially prepares；
Location information starts when micro-mechanical inertial navigation system was shut down with last time；
The location information that micro-mechanical inertial navigation system is saved when being shut down using last time is completed initial position and is bound；Utilize micro- magnetometer mould
Block calculates the course angle of van, and calculation formula is as follows:
In formula: Mx、MzRespectively X and the output of Z-direction magnetometer, unit gauss；For magnetic declination, according to earth magnetic field mould
Formula WMM2010 can proper geomagnetic declination, unit be °；For course angle, unit is ° that north by west is positive, range (0 °,
360°)；
Van is only travelled along 4 directions of motion, and when storehouse due south, due east are laid out, it is respectively north that van, which only has 4 course angles,
To 0 °, west is to 90 °, 180 ° of south orientation, 270 ° of east orientation；
Therefore, the corresponding relationship of van traveling course angle and magnetic heading angle is as follows:
Micro-mechanical inertial navigation system obtains van current location and course angle, completes initial preparation；
Step 3: van driving path is planned；
After initial vehicle of freighting is ready, its current location, course and ready information are sent to control centre；In control
The heart according to van current location, to storage/access article position, plan driving path for van；
Step 4: Camera calibration；
After van receives the path planning of control centre, carried out in real time using the accelerometer of micro-mechanical inertial navigation system unidirectional
Positioning calculation, calculation formula are as follows:
In formula:Specific force output respectively after accelerometer factory calibration compensation, unit m/s2；Ax、Ay、Az
Respectively accelerometer is exported along the equivalent specific force of carrier system, theoretically Ay、AzIt is 0, unit m/s2；φx、φy、φzRespectively
Fix error angle between accelerometer and carrier coordinate system, micro-mechanical inertial navigation system are packed into calibration after van, and unit is
rad；V is van travel speed, unit m/s；v0For van initial velocity, initial speed 0, unit m/s；P is
The displacement of van direction of advance, unit m；
The P value of resolving is converted to the position coordinate value of formula (1) agreement, the position coordinates that micro-mechanical inertial navigation system obtains resolving
Value is sent to control centre by wireless network in real time.
2. the automobile-used inexpensive micro-mechanical inertial navigation system Camera calibration method of one kind according to claim 1, feature
It is, this method is further comprising the steps of:
Step 5: zero-velocity curve micro-mechanical inertial navigation systematic error；
Van is intended to stop when equal Wait Orders, avoiding other vehicle conditions；
Micro-mechanical inertial navigation system judges automatically whether van stops using 3 real-time output valves of accelerometer, and judgment criteria is such as
Under:
In formula: Gate is threshold value, is set according to micro-mechanical inertial navigation system and actual use situation；When A is less than Gate, sentence
Disconnected van out is stationary state.
3. the automobile-used inexpensive micro-mechanical inertial navigation system Camera calibration method of one kind according to claim 2, feature
It is, the micro-mechanical inertial navigation system is calculated using binary channels:
(1) position externally exported all the way remains unchanged；
(2) another way normal position resolves, and calculates accelerometer bias according to velocity variable, equivalent relation is as follows:
In formula:For equivalent accelerometer bias, unit m/s2；Δvx、Δvy、ΔvzFor quiescent period speed
Spend variable quantity, unit m/s；Δ t is the zero-velocity curve time of van, unit s.
4. the automobile-used inexpensive micro-mechanical inertial navigation system Camera calibration method of one kind according to claim 1 or 2, special
Sign is that this method is further comprising the steps of:
Step 6: correcting micro-mechanical inertial navigation systematic error with regard to site；
Van drives to certain and is rotated with regard to site according to the path planning that control centre sets, and after rotateing in place, utilizes
Micro-mechanical inertial navigation system position is corrected with regard to the location tags in site.
5. the automobile-used inexpensive micro-mechanical inertial navigation system Camera calibration method of one kind according to claim 4, feature
It is: two in two location informations with regard to calculating 3 directions between site and prior precise measurement of micro-mechanical inertial navigation system
Site distance is matched, three accelerometer bias are calculated；
In formula:Respectively indicate the moving displacement that three accelerometer actual measurements of van go out, unit m；For equivalent accelerometer bias, unit m/s2；PBenchmarkFor two with regard to the actual range between site, that is, freight
The practical distance walked of vehicle, unit m；T is from one with regard to site to next running time with regard to site, unit s.
6. the automobile-used inexpensive micro-mechanical inertial navigation system Camera calibration method of one kind according to claim 1, feature
It is, the micro-mechanical inertial navigation system is started with dot position information in place；It is saved when the shutdown of micro-mechanical inertial navigation system last time
When location information is invalid, point progress in place nearby is arrived to the instruction that van sends " advance " or " retrogressing " traveling by control centre
Prepare；Micro-mechanical inertial navigation system utilizes the location tags with regard to site to obtain current location, completes initial position bookbinding；Utilize formula
(2), (3) calculate van course angle, complete initial preparation.
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| CN111637887A (en) * | 2020-06-01 | 2020-09-08 | 太原理工大学 | Mining monorail crane positioning method based on inertia module |
| CN112945275A (en) * | 2021-02-07 | 2021-06-11 | 无锡卡尔曼导航技术有限公司 | Method for judging carrier forward and backward and integrated navigation course initial alignment |
| CN113758482A (en) * | 2020-06-05 | 2021-12-07 | 深圳澳谷智能科技有限公司 | Vehicle navigation positioning method, device, base station, system and readable storage medium |
| WO2021243696A1 (en) * | 2020-06-05 | 2021-12-09 | 深圳澳谷智能科技有限公司 | Vehicle navigation positioning method and apparatus, and base station, system and readable storage medium |
| CN115410399A (en) * | 2022-08-09 | 2022-11-29 | 北京科技大学 | Truck parking method and device and electronic equipment |
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| CN115410399A (en) * | 2022-08-09 | 2022-11-29 | 北京科技大学 | Truck parking method and device and electronic equipment |
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