CN111272198B - Method for evaluating dynamic running precision of landmark picking equipment - Google Patents
Method for evaluating dynamic running precision of landmark picking equipment Download PDFInfo
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- CN111272198B CN111272198B CN202010169442.4A CN202010169442A CN111272198B CN 111272198 B CN111272198 B CN 111272198B CN 202010169442 A CN202010169442 A CN 202010169442A CN 111272198 B CN111272198 B CN 111272198B
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/30—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring roughness or irregularity of surfaces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/02—Means for marking measuring points
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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Abstract
The invention discloses a dynamic roadster precision evaluation method of landmark picking equipment, which utilizes the principle of hypotenuse solving of a right triangle to preset a calibration point and a landmark which are positioned on the same horizontal line, and the landmark picking equipment runs along a vertical line between a starting point and the calibration point, no matter which point on the vertical line senses the landmark, the right triangle can be formed, and the real-time straight-line distance between the landmark picking equipment and the landmark is calculated, so that whether the precision of the landmark (reference point) dynamically picked by the landmark picking equipment meets the requirements of customers is evaluated; the method provides an evaluation method for the dynamic picking precision of the landmark picking equipment, is simple and reliable, has low cost, and is suitable for being widely applied to acceptance of the landmark picking equipment.
Description
Technical Field
The invention relates to a dynamic roadster precision evaluation method for landmark picking equipment.
Background
The landmark picking device is matched auxiliary equipment for battlefield construction, is mounted on a vehicle during operation and is used for dynamically picking up reference point (landmark) information for field calibration. The dynamic roadster precision of the landmark picking equipment needs to be evaluated when the landmark picking equipment is accepted, namely, whether the equipment meets the landmark picking error requirements in the vertical direction and the horizontal direction is examined under the condition that the vehicle speed is not more than 70km/h, the picking error index requirement is meter-level, and when the landmark picking equipment is accepted, how to consider the precision index is a difficult problem without any reference method.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a dynamic sports car precision evaluation method of landmark picking equipment, so as to realize the evaluation of landmark picking precision.
The invention solves the technical problems through the following technical scheme: a dynamic sports car precision evaluation method for landmark picking equipment comprises the following steps:
step 1: selecting a road with a flat surface and less traffic flow as a test site, wherein the length of the test site is more than 220 m;
step 2: selecting a starting point and marking; setting a calibration point according to the departure point, wherein the distance between the calibration point and the departure point is more than 200m, and the calibration point and the departure point are positioned on the same vertical line; setting a landmark according to the calibration point, wherein the landmark and the calibration point are positioned on the same horizontal line, the landmark is provided with a unique and identifiable preset code ID, and the preset code ID is internally recorded with a three-dimensional coordinate of the landmark;
and step 3: starting from a starting point, a vehicle carrying landmark picking equipment drives to a calibration point along the vertical line, recording the driving distance of the vehicle when the landmark picking equipment senses the landmark, and acquiring information in a landmark preset code ID;
and 4, step 4: calculating a real-time linear distance between the landmark picking device and the landmark according to the distance between the calibration point and the departure point, the distance between the calibration point and the landmark and the vehicle driving distance;
and 5: and evaluating whether the precision of the landmark picking equipment meets the requirement of a client or not according to the real-time straight line distance.
The method of the invention utilizes the principle that the right triangle calculates the hypotenuse, the calibration point and the landmark which are positioned on the same horizontal line are preset, and the landmark picking device runs along the vertical line between the starting point and the calibration point, no matter which point on the vertical line senses the landmark, the right triangle can be formed, the real-time straight line distance between the landmark picking device and the landmark is calculated, thereby evaluating whether the precision of the landmark (reference point) dynamically picked by the landmark picking device meets the requirements of customers; the method provides an evaluation method for the dynamic picking precision of the landmark picking equipment, is simple and reliable, has low cost, and is suitable for being widely applied to acceptance of the landmark picking equipment.
Further, in the step 1, whether the road surface is flat or not is measured by the flatness of the road surface, and the flatness is obtained by adopting a multipoint measurement method.
Further, the flatness is less than 0.1 m.
Further, in the step 3, the driving distance of the vehicle is recorded by an odometer which is a model DZL-1 electronic odometer; the electronic odometer has small volume, is waterproof, dustproof and sand-proof, does not need flexible shaft connection, can automatically identify forward or backward signals of a carrier, generates 6000 +/-6 TTL pulse signals when the electronic odometer rotates for 50 circles, has different transformation ratios of a vehicle transmission system and different output precision, has millimeter-grade output precision and meets the design requirement; the driving distance of the vehicle is recorded through the electronic odometer, so that the driving distance is recorded more accurately, and the evaluation precision is improved.
Further, before the test, the electronic odometer is calibrated, and the specific calibration method comprises the following steps: driving with 5m as a standard unit, and recording the pulse number output by the electronic odometer until the driving from the starting point to the calibration point is finished; and drawing a sectional line graph of the driving distance and the output pulse number, so that the driving distance can be conveniently determined according to the sectional line graph and the output pulse number during the test.
Further, in step 4, the real-time linear distance is calculated by the following formula:
wherein, x is the real-time straight-line distance between the landmark picking device and the landmark, h is the distance between the starting point and the calibration point, a is the driving distance of the vehicle, and d is the distance between the calibration point and the landmark.
Further, in the step 5, the accuracy evaluation mode of the landmark picking device is as follows: and judging whether the real-time linear distance is within the required index range, if so, meeting the precision requirement, otherwise, not meeting the precision requirement. The required index range is given by the customer.
Further, in step 5, the accuracy evaluation mode of the landmark pickup device is as follows: calculating the three-dimensional coordinate of the landmark according to the real-time linear distance, and subtracting the three-dimensional coordinate from the three-dimensional coordinate obtained from the preset code ID of the landmark to obtain the picking error of the landmark picking device; and judging whether the pick-up error meets the error requirement.
Advantageous effects
Compared with the prior art, the dynamic sports car precision evaluation method of the landmark picking device, provided by the invention, has the advantages that the calibration point and the landmark (the three-dimensional coordinates of the calibration point and the landmark are known) which are positioned on the same horizontal line are preset by utilizing the principle of hypotenuse calculation of the right triangle, the landmark picking device runs along the vertical line between the starting point and the calibration point, no matter which point on the vertical line senses the landmark, the right triangle can be formed, the real-time straight-line distance between the landmark picking device and the landmark is calculated, and therefore whether the precision of the landmark (reference point) dynamically picked by the landmark picking device meets the requirements of customers is evaluated; the method provides an evaluation method for the dynamic picking precision of the landmark picking equipment, is simple and reliable, has low cost, and is suitable for being widely applied to the acceptance of the landmark picking equipment.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only one embodiment of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flow chart of a dynamic sports car precision evaluation method of a landmark picking device according to an embodiment of the invention;
fig. 2 is a schematic diagram of a dynamic sports car precision evaluation method of the landmark picking device in the embodiment of the invention.
Detailed Description
The technical solutions in the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive efforts based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
As shown in fig. 1, the method for evaluating the accuracy of a dynamic sports car of a landmark picking device provided by the invention comprises the following steps:
1. selecting a site: a road with a smooth surface and less traffic flow is selected as a test site, and the length of the test site is more than 220 m. In this embodiment, the length of the test site is 400m, that is, the length of the road is 400 m.
Whether the road surface is flat or not is measured by the flatness of the road surface, the flatness is obtained by adopting a multipoint measuring method, and the specific operation of the multipoint measuring method is as follows: selecting a plurality of groups of points (every two points are a group) distributed along the vertical direction on the road surface, measuring the height difference between each group of points, wherein the average value of the plurality of height differences is the flatness. In this embodiment, the flatness is less than 0.1 m.
2. Site arrangement: selecting a starting point and marking; setting a calibration point according to the starting point, wherein the distance between the calibration point and the starting point is more than 200m, and the calibration point and the starting point are positioned on the same vertical line; and setting a landmark according to the calibration point, wherein the landmark and the calibration point are positioned on the same horizontal line, the landmark is provided with a unique and distinguishable preset code ID, and the three-dimensional coordinate of the landmark is recorded in the preset code ID.
As shown in fig. 2, O is a starting point, a is a calibration point, B is a landmark, C is a test point, and the test point is a point when the landmark pickup device senses the landmark. The departure point O and the calibration point A are on the same vertical line, the calibration point A and the landmark B are on the same horizontal line, and the landmark B and the calibration point A are located on the same horizontal plane. When the starting point, the calibration point and the landmark are set, the three-dimensional coordinates of the points are known, and the distances between the points are also known, that is, the distance h between the starting point O and the calibration point a is known, the distance d between the calibration point a and the landmark B is known, x is the distance between the landmark B and the test point C, and x is the real-time linear distance to be obtained. During the test, h and d were considered constant. In this embodiment, the distance d between the landmark point a and the landmark B may be set according to an index range required by a client, for example, the required index range is 10-20 m, and then d should be smaller than 10 m.
In this embodiment, an electronic tag is attached to the landmark, and the electronic tag includes a FLASH memory, and a unique recognizable preset code ID is stored in the FLASH memory. The electronic tag is in wireless communication with an RFID (radio frequency identification) system on the landmark picking equipment, and the RFID system can sense the electronic tag and acquire information in the electronic tag.
3. And (3) calibrating the odometer: before the sports car test, the calibration of the odometer is firstly carried out, and the specific calibration method comprises the following steps: starting from a starting point O, driving by taking 5m as a standard unit, and recording the pulse number output by the electronic odometer until the driving from the starting point O to a calibration point A is finished; and drawing a sectional line drawing of the driving distance and the output pulse number, and storing the sectional line drawing in an upper computer, so that the driving distance can be conveniently determined according to the sectional line drawing and the output pulse number of the odometer during testing.
The running distance of the vehicle is recorded by the odometer, so that the accuracy of the running distance measurement is improved. The odometer is a model DZL-1 electronic odometer; this electronic odometer is small, waterproof, dustproof, sand prevention, need not the flexible axle and connect, and ability automatic identification carrier is advanced or is retreated the signal, when electronic odometer changes 50 rings, will produce 6000 6 TTL pulse signal, and vehicle transmission system transformation ratio is different, and the output precision rank is the millimeter level, satisfies the design requirement.
TABLE 1 electronic odometer socket definition
| Foot horn | Color of the lead wire | Definition of |
| 1 | Red colour | Working power supply +12V (for automobile battery) |
| 2 | Black color (black) | Working power supply 12VGND (for automobile battery) |
| 4 | Orange colour | Isolated power supply +5V (system supply) |
| 5 | Brown colour | Isolation power supply 5VGND (System provision) |
| 7 | Green colour | A path pulse output |
| 3 | Blue color | B path pulse output |
| 6 | Yellow colour | C path pulse output |
4. The sports car test: the vehicle with the landmark picking device starts from a starting point O and drives to a calibration point A along a vertical line formed by the starting point O and the calibration point A, when the landmark picking device senses a landmark B, the distance traveled by the vehicle is recorded through the odometer, and information in a landmark preset code ID (namely three-dimensional coordinate information of the landmark in the preset code ID) is obtained.
In the process of running, when the vehicle is required to run to a distance of 150m from the starting point, the running speed of the vehicle reaches 70km/h, and the speed is kept until the test is finished, so that the vehicle can be prepared to sense the landmark at medium and high speed, and the information in the landmark preset code ID is obtained.
5. Data arrangement: and calculating the real-time straight-line distance between the landmark picking device and the landmark according to the distance between the landmark A and the departure point O, the distance between the landmark A and the landmark B and the vehicle running distance.
The landmark picking equipment sends the acquired three-dimensional coordinates of the landmarks to the upper computer; the acquisition card acquires the mileage recorded by the odometer when the vehicle runs to the test point C, and sends the mileage to the upper computer, and the upper computer calculates the real-time linear distance between the landmark picking device and the landmark according to the following formula:
wherein, x is the real-time linear distance between the landmark picking device and the landmark, h is the distance between the departure point O and the calibration point A, a is the driving distance of the vehicle (i.e. the distance from the departure point O to the test point C), and d is the distance between the calibration point A and the landmark B. Multiple tests can be performed, and the average value of the real-time linear distance is taken as the final result, so that the evaluation accuracy is improved.
The upper computer can be a desktop computer or a notebook computer, is in communication connection with the acquisition card and the landmark pickup equipment through a serial port, acquires the mileage information of the vehicle running and the landmark information acquired by the landmark pickup equipment in real time, and stores and calculates the data.
6. And (3) precision judgment: and evaluating whether the precision of the landmark picking equipment meets the requirement of a client or not according to the real-time straight line distance.
In this embodiment, two accuracy evaluation methods of the landmark pickup device are improved: one method is to judge whether the real-time linear distance is in the required index range, if so, the precision requirement is met, otherwise, the precision requirement is not met. The required index range is given by the customer.
The other method is that the three-dimensional coordinate of the landmark is calculated according to the real-time linear distance, and the picking error of the landmark picking device is obtained by subtracting the three-dimensional coordinate from the three-dimensional coordinate obtained from the preset code ID of the landmark; it is determined whether the pickup error meets the customer's error requirements.
The dynamic roadster precision evaluation method of the landmark picking device provided by the invention utilizes the principle of solving the hypotenuse of a right triangle, the calibration point and the landmark which are positioned on the same horizontal line are preset, the landmark picking device runs along the vertical line between the starting point and the calibration point, no matter which point on the vertical line senses the landmark, a right triangle can be formed, the real-time straight-line distance between the landmark picking device and the landmark is calculated, and therefore, whether the precision of the landmark (reference point) dynamically picked by the landmark picking device meets the requirements of customers is evaluated; the method provides an evaluation method for the dynamic picking precision of the landmark picking equipment. The tools or equipment adopted by the method only comprise: the method comprises the steps of measuring a measuring tape (measuring the distance from a starting point to a calibration point and from the calibration point to a landmark), reading mileage information of a speedometer in real time and sending the mileage information to an upper computer, measuring the distance of vehicle running in real time by the speedometer and storing and calculating data by the upper computer.
The above disclosure is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or modifications within the technical scope of the present invention, and shall be covered by the scope of the present invention.
Claims (8)
1. A dynamic sports car precision evaluation method for landmark picking equipment is characterized by comprising the following steps:
step 1: selecting a road with a smooth surface and less traffic flow as a test site, wherein the length of the test site is more than 220 m;
step 2: selecting a starting point and marking; setting a calibration point according to the departure point, wherein the distance between the calibration point and the departure point is more than 200m, and the calibration point and the departure point are positioned on the same vertical line; setting a landmark according to the calibration point, wherein the landmark and the calibration point are positioned on the same horizontal line, the landmark is provided with a unique identifiable preset code ID, and the preset code ID is recorded with the three-dimensional coordinate of the landmark;
and step 3: starting from a starting point, a vehicle carrying the landmark picking device drives to a calibration point along the vertical line, recording the driving distance of the vehicle when the landmark picking device senses the landmark, and acquiring information in the landmark preset code ID;
and 4, step 4: calculating a real-time linear distance between the landmark picking device and the landmark according to the distance between the calibration point and the departure point, the distance between the calibration point and the landmark and the vehicle running distance;
and 5: and evaluating whether the precision of the landmark picking equipment meets the requirement of a client or not according to the real-time straight line distance.
2. The dynamic sports car precision evaluation method for landmark picking equipment according to claim 1, wherein in the step 1, whether the road surface is flat is measured by the flatness of the road surface, and the flatness is obtained by a multipoint measurement method.
3. The dynamic sports car precision evaluation method for landmark picking-up equipment according to claim 2, wherein the flatness is less than 0.1 m.
4. The dynamic sports car precision evaluation method for landmark picking-up equipment according to claim 1, wherein in the step 3, the driving distance of the vehicle is recorded by an odometer, and the odometer is a model DZL-1 electronic odometer.
5. The method for evaluating the accuracy of the dynamic roadster of the landmark pickup device according to claim 4, wherein before the test, the electronic odometer is calibrated, and the specific calibration method comprises the following steps: driving with 5m as a standard unit, and recording the pulse number output by the electronic odometer until the driving from the starting point to the calibration point is finished; and drawing a sectional line graph of the driving distance and the output pulse number.
6. The method for evaluating the dynamic sports car precision of the landmark picking-up device according to claim 1, wherein in the step 4, the real-time straight line distance is calculated according to the formula:
wherein, the first and the second end of the pipe are connected with each other,xis the real-time linear distance between the landmark picking device and the landmark,his the distance between the starting point and the index point,ais the distance traveled by the vehicle,dis the distance between the calibration point and the landmark.
7. The dynamic sports car precision evaluation method for landmark picking-up equipment according to claim 1, wherein in the step 5, the precision evaluation mode of the landmark picking-up equipment is as follows: and judging whether the real-time linear distance is in the required index range, if so, meeting the precision requirement, otherwise, not meeting the precision requirement.
8. The method for evaluating the accuracy of the dynamic sports car of the landmark picking device according to claim 1, wherein in the step 5, the accuracy evaluation mode of the landmark picking device is as follows: calculating the three-dimensional coordinate of the landmark according to the real-time linear distance, and subtracting the three-dimensional coordinate from the three-dimensional coordinate obtained from the preset code ID of the landmark to obtain the picking error of the landmark picking device; and judging whether the pick-up error meets the error requirement.
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