CN111649746A - Positioning and navigation method integrating inertial navigation measurement and ArUco marker - Google Patents
Positioning and navigation method integrating inertial navigation measurement and ArUco marker Download PDFInfo
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- CN111649746A CN111649746A CN202010526692.9A CN202010526692A CN111649746A CN 111649746 A CN111649746 A CN 111649746A CN 202010526692 A CN202010526692 A CN 202010526692A CN 111649746 A CN111649746 A CN 111649746A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The invention discloses a positioning and navigation method integrating inertial navigation measurement and ArUco markers, and belongs to the technical field of computer vision positioning and mobile robot navigation. In the invention, under the Aruco map environment, the coordinate systems of the inertial navigation element and the camera are unified, and the current attitude loss of the mobile robot caused by misrecognition or missing recognition of the Aruco marker is overcome; the problem of limited camera vision is overcome to a certain extent, the gesture sensing capability of the robot is improved, and the robot can complete more complex gesture adjustment in navigation.
Description
Technical Field
The invention belongs to the technical field of computer vision positioning and mobile robot navigation, relates to an indoor positioning and navigation method, and more particularly relates to a positioning and navigation method integrating inertial navigation measurement and ArUco (Augmented Reality of Cordoba, university of Cordova) marks, which can be used for autonomous positioning and navigation of intelligent mobile equipment such as a mobile robot, an unmanned aerial vehicle and the like in an indoor environment.
Background
Under the promotion of the fields of computers, sensors and the like, the mobile robot technology is rapidly developed and widely applied to the fields of national defense science and technology and economic life, such as medical treatment, military, industry, space and the like. Positioning navigation is a basic technology of robot motion control and action operation, and especially under the condition of lacking satellite navigation signals indoors, positioning of an indoor robot by utilizing environmental information becomes a common implementation mode.
Indoor positioning and autonomous navigation methods can be classified into a relative estimation method and a tracking method. The relative estimation method is to use inertial navigation element or distance measuring element to measure and calculate the current position and relative moving distance, but the disadvantage is that the measured data of the element has drift, and the precision instrument is expensive. The tracing method needs to arrange a track or a road sign, and the track or the road sign is identified and positioned through an electromagnetic sensor or an image sensor carried by the robot, and when the task of the robot is changed, a path needs to be rearranged. In addition, a mode of providing navigation and positioning information by using traditional two-dimension code information appears, and in the mode, the robot identifies the two-dimension code information by arranging the two-dimension code on the ground so as to judge the self pose and guide the operation of the robot. However, the traditional two-dimensional code has a short scanning distance, and in practical use, the robot cannot well identify the two-dimensional code, so that the two-dimensional code has great limitation. In addition, the method generally needs to be arranged in a checkerboard shape, the arrangement position of the two-dimensional code needs to be measured before arrangement, and the arrangement cost is high. In addition, the robot can only travel on a path with the two-dimensional code, the movement range of the robot is limited, and certain flexibility is insufficient.
In order to solve the problems of high cost, insufficient flexibility and the like of artificial landmark arrangement, the invention provides an indoor positioning navigation method integrating inertial navigation measurement and ArUco marking. The method comprises the steps of constructing an indoor map by using an ArUco marker, realizing robot positioning calculation by using the ArUco marker as a navigation beacon, fusing an inertial navigation measuring element into positioning based on the ArUco marker, and providing attitude output under the conditions of right-angle turning, loss of the ArUco marker and the like by using the autonomy and stability of an inertial measurement component, so that the stability of acquiring the position and attitude of the robot is ensured, and the navigation robustness is improved.
The method provided by the invention realizes the indoor positioning navigation of the robot by utilizing the ArUco marker mapping, simultaneously, the inertial navigation measurement information is fused, the problem of attitude error caused by the navigation that the ArUco marker cannot be recognized at the path corner and ambiguity is recognized is solved, and the stability of the navigation system is enhanced.
Disclosure of Invention
In view of the above technical problems in the prior art, the main object of the present invention is to: aiming at the problems of high arrangement cost, insufficient flexibility and the like of the traditional indoor navigation method, the positioning and navigation method integrating inertial navigation measurement and the ArUco marker is provided, so that the cost is reduced, and the flexibility and the robustness of the system are improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
a positioning and navigation method fusing inertial navigation measurement and ArUco markers adopts an inertial navigation element and a camera, and comprises the following steps:
step 1: establishing an Aruco map;
step 2: establishing a path according to task needs, wherein the path is represented by a series of coordinate points, and setting a task target point Pset;
And step 3: fixing the relative poses of the inertial navigation element and the camera, and calculating to obtain the rotation relation between the inertial element coordinate system and the camera coordinate system;
and 4, step 4: the inertial navigation element begins to solve the attitude;
and 5: the robot rotates at a fixed angular speed until the camera observes the ArUco mark, the posture of the camera under a world coordinate system is successfully obtained, the current time is set to be k time, and the current posture of the camera in the world coordinate system and the self-calculation posture of the inertial navigation element are recorded;
step 6: calculating the attitude of the inertial navigation element in the world coordinate system according to the attitude of the camera in the world coordinate system obtained in the step 5 and the self-solution attitude of the inertial navigation element;
and 7: setting the next moment as a moment k +1, and calculating the posture of the inertial navigation element at the moment k +1 in the world coordinate system according to the posture of the inertial navigation element in the world coordinate system obtained in the step 6;
and 8: calculating to obtain the posture of the camera at the moment k +1 in the world coordinate system according to the posture of the inertial navigation element at the moment k +1 in the world coordinate system obtained in the step 7;
and step 9: obtaining the position P of the robot in a world coordinate system through Aruco markingcurrentAnd calculating to obtain a point P closest to the robot on the set pathnearest,PnearestAlong the set path direction PsetThe nth point of the direction is marked as Paim;
Step 10: calculating PnearestTo PaimVector V ofaim,VaimThe direction vector of the robot is obtained;
step 11: according to the attitude vector V of the robot at the k +1 momentrobotAnd a direction vector VaimCalculating yaw α and pitch β of the robot, controlling the motion angular speed of the robot according to α and β, and controlling the motion angular speed of the robot according to PaimAnd a set point PsetThe distance between the two controls the linear speed of the movement of the robot;
step 12: judging the current position P of the robotcurrentWhether or not to equal PsetAnd if the difference is not equal, jumping to the step 7, and if the difference is equal, ending the navigation.
Preferably, in step 3,
the inertial navigation element and the camera adopt an orthogonal fixing method, and the rotation relation between a camera coordinate system and an inertial navigation coordinate system can be directly deduced;
the inertial navigation element and the camera adopt a combined calibration method, and the specific coordinate relation between the inertial navigation element and the camera can be calibrated.
Preferably, in step 4,
the initial quaternion value of the attitude at which the inertial navigation element starts to solve is generally set to [ 1000 ].
Preferably, in step 5, after the camera obtains the pose under the world coordinate system by recognizing the ArUco marker, the pose average data in a period of time is taken to increase the positioning accuracy;
preferably, in step 6, the attitude of the inertial navigation element in the world coordinate system is calculated according to formula (1):
in the formula, q is a quaternion,in order for the quaternion to represent the operation of rotation, k represents the time at which the camera obtains the attitude in the world coordinate system by recognizing the ArUco marker,the attitude of the inertial navigation element in the world coordinate system at the initial moment, namely 0 moment,for the pose of the camera in the world coordinate system at time k,the rotation of the camera at the moment k relative to a time coordinate system of the inertial navigation element 0;
In the formula (I), the compound is shown in the specification,for the calculation attitude of the inertial navigation element k at the moment,is the rotational relationship between the inertial navigation coordinate system and the camera coordinate system.
Preferably, in step 7, the attitude of the inertial navigation unit in the world coordinate system at the time k +1 is calculated according to formula (3):
in the formulaIs the attitude of the inertial navigation element at the moment k +1 in the world coordinate system,and solving the attitude of the inertial navigation element at the moment k + 1.
Preferably, in step 8, the pose of the camera in the world coordinate system at the time k +1 is calculated according to formula (4):
in the formulaThe pose of the camera in the world coordinate system at the moment k +1, at this momentThe calculation of (a) is no longer dependent on the recognition result of the Aruco marker at the time k + 1.
The invention has the following beneficial technical effects:
(1) under the Aruco map environment, coordinate systems of an inertial navigation element and a camera are unified, and the problem that the current posture of the mobile robot is lost due to misrecognition or missing recognition of an Aruco mark is solved.
(2) The problem of limited camera vision is overcome to a certain extent, the gesture sensing capability of the robot is improved, and the robot can complete more complex gesture adjustment in navigation.
Drawings
FIG. 1 is a schematic diagram of an indoor Aruco marker arrangement.
Fig. 2 is a schematic diagram of an ArUco map and task path effects.
FIG. 3 is a schematic diagram of a coordinate system relationship of a navigation system.
FIG. 4 is a flowchart of AGV initial pose acquisition.
FIG. 5 is a schematic diagram of AGV navigation control.
FIG. 6 is a flow chart of an implementation of fusion of inertial navigation measurements and visual positioning and navigation of an Aruco marker.
Detailed Description
The invention is described in further detail below with reference to the following figures and detailed description:
the following figures and embodiments are described with reference to AGV (Automated Guided Vehicle) navigation as an example.
Step 1: as shown in fig. 1, the ArUco marks are arranged indoors, are generated by an ArUco official repository, are uniform in size, and are arranged in a camera-recognizable range such as a wall surface. Designation number 26 is marked as a reference mark and visual mapping is completed, with an ArUco map as shown in fig. 2. In addition, the camera internal parameters are calibrated by adopting a Zhang Zhengyou calibration method.
Step 2: the navigation path is established according to the task requirements, as shown in fig. 2. A mathematical equation is established according to the No. 26 mark coordinate system and is scattered into a series of points, and the scattering density is 1000/m. In this example, the navigation path is a path with a quarter turn, and the path equation is:
and step 3: as shown in fig. 3, a relationship diagram of each coordinate system in the present invention, the present invention obtains position information of a camera in a world coordinate system by using a camera and an ArUco marker, and obtains pose information of the camera in the world coordinate system by using an Inertial Measurement Unit (IMU). The world coordinate system in FIG. 3 is the Aruco marker coordinate system specified by the Aruco map, denoted w, X-Y-Z, constituting the right hand coordinate system. The camera coordinate system and the IMU coordinate system are fixed in relation, and the IMU and the camera are installed orthogonally. The camera coordinate system is denoted as c, the X axis is the advancing direction of the AGV, the Y axis is vertical to the moving plane of the vehicle body and faces downwards, and the Z axis is the optical axis of the camera and points to the left side of the advancing direction of the vehicle body horizontally. The IMU coordinate system is marked as b, the X axis horizontally points to the left side of the advancing direction of the vehicle body, the direction of the X axis is the same as that of the Z axis of the camera, the advancing direction of the Y axis is opposite to that of the AGV, and the Z axis is vertical to the moving plane of the vehicle body and faces upwards.
In fig. 3, the IMU coordinate system is rotated by-90 ° around the X axis and then rotated by 90 ° around the Y axis, which may be the same as the coordinate axis of the camera coordinate system. At this time, the rotational relationship between b and cComprises the following steps:
the rotation is expressed in quaternion form:
in the formulaIs a unit quaternion representing the rotation of c to b, fQIs the mapping of the identity matrix to the identity quaternion.
And 4, step 4: the resolving attitude of the inertial navigation element is set as the initial attitude at the power-on time of the inertial navigation element
And 5: the AGV rotates at a certain angular speed, the recognition mode is a FAST mode, so that the recognition speed of the mark is increased, until the ArUco mark is observed by the camera, and the recognition mode is switched to a NORMAL mode, so that the recognition precision is increased. After the ArUco marker is successfully identified by the camera, the pixel coordinates of the marker corner point are obtained, the position and the posture of the camera under a world coordinate system are obtained through a PnP algorithm, the posture average data in one second is taken to increase the positioning accuracy, and the method for obtaining the average posture is as follows:
1) constructing the following attitude cost function:
in the formulaFor the mean attitude quaternion, omega, to be solvediIs the weight corresponding to the i-th sample attitude quaternion, where ω isiAre all 1. A (q)i) Is the rotation matrix corresponding to the ith sample attitude quaternion,is thatThe corresponding rotation matrix is set to be a matrix of rotation,is Frobenius norm.
for any 3 rd order orthogonal matrix a, there are:
tr{ATA}=3
thus:
therefore, the problem of finding the minimum value of the mahalanobis distance can be converted into the problem of finding the maximum value of the trace:
formula (III) ∑jAs diagonal arrays of singular values, UjAndfor orthogonal singular vector matrices, the optimal solution to the above problem is:
quaternion of the mean value soughtCan follow the attitude matrixThe obtained product is obtained by the method in the step (1),is that
Step 6: obtained according to step 5Andcalculating an initial resolving attitude of the inertial navigation element in a world coordinate system:
in the formulaFor the relative rotation of the power-on time coordinate system and the world coordinate system of the inertial navigation element,the rotation operation is expressed by quaternion.
And 7: obtained according to step 6Obtaining the attitude of the inertial navigation element in the world coordinate system at the next moment
Where k +1 represents the next time the pose of the camera in the world coordinate system is first obtained,and solving the attitude of the inertial navigation element at the moment k + 1.
And 8: obtained according to step 7Obtaining the pose of the camera in the world coordinate system at the next moment
In the formulaThe calculation of (a) is no longer dependent on the recognition result of the Aruco marker at the time k + 1.
And step 9: obtaining the position P of the robot in a world coordinate system through Aruco markingcurrentAs shown in fig. 5, a point P closest to the robot on the set path is calculatednearestAnd the nth point along the set path toward the target direction is denoted as PaimAnd the value of n is in direct proportion to the maximum running speed and the path point density of the AGV.
Step 10: calculating PnearestTo PaimVector V ofaim,VaimI.e. the target direction of the robot.
Step 11: according to the attitude vector V of the robot at the k +1 momentrobotAnd a direction vector VaimCalculating the yaw angle α of the robot, controlling the angular speed of the robot according to α size, and calculating the yaw angle P of the robotaimAnd a set point PsetThe distance between them controls the linear velocity of the robot.
Step 12: judging the current position P of the robotcurrentWhether or not to equal PsetAnd (7) if the navigation is not equal, ending the navigation.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (7)
1. A method for integrating inertial navigation measurement and ArUco (positioning and navigation of a marker is characterized in that an inertial navigation element and a camera are adopted, and the method comprises the following steps:
step 1: establishing an Aruco map;
step 2: establishing a path according to task needs, wherein the path is represented by a series of coordinate points, and setting a task target point Pset;
And step 3: fixing the relative poses of the inertial navigation element and the camera, and calculating to obtain the rotation relation between the coordinate system of the inertial navigation element and the coordinate system of the camera;
and 4, step 4: the inertial navigation element begins to solve the attitude;
and 5: the robot rotates at a fixed angular speed until the camera observes the ArUco mark, the posture of the camera under a world coordinate system is successfully obtained, the current time is set to be k time, and the current posture of the camera in the world coordinate system and the self-calculation posture of the inertial navigation element are recorded;
step 6: calculating the attitude of the inertial navigation element in the world coordinate system according to the attitude of the camera in the world coordinate system obtained in the step 5 and the self-solution attitude of the inertial navigation element;
and 7: setting the next moment as a moment k +1, and calculating the posture of the inertial navigation element at the moment k +1 in the world coordinate system according to the posture of the inertial navigation element in the world coordinate system obtained in the step 6;
and 8: calculating to obtain the posture of the camera at the moment k +1 in the world coordinate system according to the posture of the inertial navigation element at the moment k +1 in the world coordinate system obtained in the step 7;
and step 9: obtaining the position P of the robot in a world coordinate system through Aruco markingcurrentAnd calculating to obtain a point P closest to the robot on the set pathnearest,PnearestAlong the set path direction PsetThe nth point of the direction is marked as Paim;
Step 10: calculating PnearestTo PaimVector V ofaim,VaimThe direction vector of the robot is obtained;
step 11: according to the attitude vector V of the robot at the t + delta t momentrobotAnd a direction vector VaimCalculating yaw α and pitch β of the robot, controlling the motion angular speed of the robot according to α and β, and controlling the motion angular speed of the robot according to PaimAnd a set point PsetThe distance between the two controls the linear speed of the movement of the robot;
step 12: judging the current position P of the robotcurrentWhether or not to equal PsetAnd if the difference is not equal, jumping to the step 7, and if the difference is equal, ending the navigation.
2. The method for fused inertial navigation measurement and location and navigation of Aruco markers according to claim 1, wherein the method comprises the following steps: in step 3;
the inertial navigation element and the camera adopt an orthogonal fixing method, and the rotation relation between a camera coordinate system and an inertial navigation coordinate system can be directly deduced;
the inertial navigation element and the camera adopt a combined calibration method, and the specific coordinate relation between the inertial navigation element and the camera can be calibrated.
3. The method for fused inertial navigation measurement and location and navigation of Aruco markers according to claim 1, wherein the method comprises the following steps: in the step 4, the process is carried out,
the initial quaternion value of the attitude at which the inertial navigation element starts to solve is generally set to [ 1000 ].
4. The method for fused inertial navigation measurement and location and navigation of Aruco markers according to claim 1, wherein the method comprises the following steps: in step 5, after the camera obtains the gesture under the world coordinate system by recognizing the Aruco marker, the gesture average data in a period of time is taken to increase the positioning accuracy.
5. The method for fused inertial navigation measurement and location and navigation of Aruco markers according to claim 1, wherein the method comprises the following steps: in step 6, the attitude of the inertial navigation element in the world coordinate system is calculated according to formula (1):
in the formula, q is a quaternion,in order for the quaternion to represent the operation during rotation, k represents the time when the camera obtains the attitude in the world coordinate system by recognizing the Aruco mark,the attitude of the inertial navigation element in the world coordinate system at the initial moment, namely 0 moment,for the pose of the camera in the world coordinate system at time k,the rotation of the camera at the moment k relative to a time coordinate system of the inertial navigation element 0;
6. The method for fused inertial navigation measurement and location and navigation of Aruco markers according to claim 1, wherein the method comprises the following steps: in step 7, the attitude of the inertial navigation element at the moment k +1 in the world coordinate system is calculated according to the formula (3):
7. The method for fused inertial navigation measurement and location and navigation of Aruco markers according to claim 1, wherein the method comprises the following steps: in step 8, the pose of the camera in the world coordinate system at the time k +1 is calculated according to formula (4):
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