CN111649746B - 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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- CN111649746B CN111649746B CN202010526692.9A CN202010526692A CN111649746B CN 111649746 B CN111649746 B CN 111649746B CN 202010526692 A CN202010526692 A CN 202010526692A CN 111649746 B CN111649746 B CN 111649746B
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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) marking, 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 overcome the problems of high cost, insufficient flexibility and the like of artificial landmark arrangement, the invention provides an indoor positioning and 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;
and 2, step: establishing a path according to task needs, wherein the path is represented by a series of coordinate points, and setting a task target point P set ；
And 3, 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 marking current And calculating to obtain a point P closest to the robot on the set path nearest ，P nearest Along the set path direction P set The nth point of the direction is marked as P aim ；
Step 10: calculating P nearest To P aim Vector V of aim ，V aim The direction vector of the robot is obtained;
step 11: according to the attitude vector V of the robot at the k +1 moment robot And a direction vector V aim Calculating a yaw angle alpha and a pitch angle beta of the robot; controlling the motion angular speed of the robot according to the sizes of alpha and beta, and controlling the motion angular speed of the robot according to P aim And a set point P set The distance between the two controls the linear speed of the movement of the robot;
step 12: judging the current position P of the robot current Whether or not to equal P set And 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 [10 0].
Preferably, in step 5, after the camera obtains the pose under the world coordinate system by recognizing the ArUco mark, 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,
is a quaternion representing the rotation operation, k represents the time when the camera obtains the gesture under the world coordinate system by recognizing the Aruco mark, and/or>
Is the gesture of the inertial navigation element in the world coordinate system at the initial moment, namely 0 moment>
For the position of the camera at the moment k in the world coordinate system, < >>
The rotation of the camera at the moment k relative to a time coordinate system of the inertial navigation element 0;
according to the formula (2)
In the formula (I), the compound is shown in the specification,
for solving the attitude at the moment k of the inertial navigation element>
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 formula
Is the posture of the inertial navigation element at the moment k +1 in the world coordinate system, and is/is judged>
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 formula
Is the pose of the camera in the world coordinate system at time k +1, when ≥ er>
The 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 the effect of the ArUco map and the task path.
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 for implementing visual positioning and navigation by fusing inertial navigation measurement and 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 calibration method Zhang Zhengyou is adopted to calibrate the camera internal parameters.
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 c
Comprises the following steps:
the rotation is expressed in quaternion form:
in the formula
Is a unit quaternion representing the rotation of c to b, f Q Is 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 according to a certain angular speed, the identification mode is a FAST mode, so that the identification speed of the mark is increased until the ArUco mark is observed by the camera, and the identification mode is switched to a NORMAL mode, so that the identification 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 formula
For the mean attitude quaternion to be found, omega i Is the weight corresponding to the i-th sample attitude quaternion, where ω is i Are all 1.A (q) i ) A rotation matrix corresponding to an ith sample attitude quaternion>
Is->
Corresponding rotation matrix, according to which the status of the rotating device is selected>
Is Frobenius norm. />
2) Defined by the Frobenius norm, and A (q) i ) And
are all orthogonal matrices, and can obtain:
for any 3 rd order orthogonal matrix a, there are:
tr{A T A}＝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:
3) Order to
Singular value decomposition is carried out on the obtained product:
in the formula j As diagonal arrays of singular values, U j And
for orthogonal singular vector matrices, the optimal solution to the above problem is:
quaternion of the mean
Can be selected from the gesture matrix>
Is obtained and is based on>
I.e. is>
Step 6: obtained according to step 5
And &>
Calculating the initial resolving attitude of the inertial navigation element in a world coordinate system:
in the formula
For the relative rotation of the power-on time coordinate system and the world coordinate system of the inertial navigation element, the device>
The rotation operation is expressed by quaternion.
And 7: obtained according to step 6
Obtaining 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 step 8: obtained according to step 7
Obtaining the gesture of the camera in the world coordinate system at the next moment>
/>
In the formula
The 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 marking current As shown in fig. 5, a point P closest to the robot on the set path is calculated nearest And the nth point along the set path toward the target direction is denoted as P aim And the value of n is proportional to the maximum running speed and the path of the AGVDot density.
Step 10: calculating P nearest To P aim Vector V of aim ，V aim I.e. the target direction of the robot.
Step 11: according to the attitude vector V of the robot at the k +1 moment robot And a direction vector V aim And calculating the yaw angle alpha of the robot. Controlling the angular speed of the robot according to the alpha value; according to P aim And a set point P set The distance between them controls the linear velocity of the robot.
Step 12: judging the current position P of the robot current Whether or not to equal P set And (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 (3)
1.A positioning and navigation method integrating inertial navigation measurement and Aruco markers is characterized in that: adopting an inertial navigation element and a camera, comprising the following steps:
step 1: establishing an Aruco map;
and 2, step: establishing a path according to task needs, wherein the path is represented by a series of coordinate points, and setting a task target point P set ；
And 3, step 3: fixing the relative pose of the inertial navigation element and the camera, and calculating to obtain the rotation relation between the inertial navigation 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 an ArUco mark, the posture of the camera under a world coordinate system is successfully obtained, the current moment is set to be k moment, and the posture of the current 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 marking current And calculating to obtain a point P closest to the robot on the set path nearest ，P nearest Along the set path direction P set The nth point of the direction is marked as P aim ；
Step 10: calculating P nearest To P aim Vector V of aim ，V aim The direction vector of the robot is obtained;
step 11: according to the attitude vector V of the robot at the t + delta t moment robot And a direction vector V aim Calculating a yaw angle alpha and a pitch angle beta of the robot; controlling the motion angular speed of the robot according to the sizes of alpha and beta, and controlling the motion angular speed of the robot according to P aim And a set point P set The distance between the two controls the moving linear speed of the robot;
step 12: judging the current position P of the robot current Whether or not to equal P set If the difference is not equal, skipping to the step 7, and if the difference is equal, ending the navigation;
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, so that the specific coordinate relation between the inertial navigation element and the camera can be calibrated;
in the step 4, the process is carried out,
the initial value of the quaternion of the attitude of the inertial navigation element which starts to solve is generally set to be [1000];
in step 5, after acquiring the posture under the world coordinate system by the camera through recognizing the Aruco mark, taking posture average data in a period of time to increase the positioning accuracy;
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,
the quaternion represents the operation of rotation, k represents the time when the camera obtains the gesture under the world coordinate system by identifying the Aruco mark, and/or>
Is the gesture of the inertial navigation element in the world coordinate system at the initial moment, namely 0 moment>
For the position of the camera at the moment k in the world coordinate system, < >>
The rotation of the camera at the moment k relative to a time coordinate system of the inertial navigation element 0;
according to the formula (2)
In the formula (I), the compound is shown in the specification,
for solving the attitude at the moment k of the inertial navigation element>
Is the rotational relationship between the inertial navigation coordinate system and the camera coordinate system.
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 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):
in the formula
Is the posture of the inertial navigation element at the moment k +1 in the world coordinate system, and is/is judged>
And solving the attitude of the inertial navigation element at the moment k + 1.
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 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 formula
Is the pose of the camera in the world coordinate system at time k +1, when ≥ er>
Is no longer dependent on the identification of the ArUco marker at the time of k +1And (4) obtaining the result. />
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