CN113219492A - Method and system for positioning and navigating river course ship driving - Google Patents
Method and system for positioning and navigating river course ship driving Download PDFInfo
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- CN113219492A CN113219492A CN202110343086.8A CN202110343086A CN113219492A CN 113219492 A CN113219492 A CN 113219492A CN 202110343086 A CN202110343086 A CN 202110343086A CN 113219492 A CN113219492 A CN 113219492A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000005259 measurement Methods 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000007781 pre-processing Methods 0.000 claims description 2
- 230000009466 transformation Effects 0.000 claims description 2
- 238000005457 optimization Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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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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- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a method for simultaneously positioning and establishing a map for a river channel ship, which comprises the following steps: the front-end odometer estimates the pose information data of the sensor group at the moment through the data sent by the sensor group in real time and the adjacent point cloud data and image information; sending pose information data transmitted by the front-end odometer to a pre-constructed rear end to obtain a globally consistent track and map; according to the method, some shipborne sensors are arranged on the ship, the autonomous positioning and composition of the ship on the narrow river channel can be realized, the size of hardware required by the scheme is small, the weight is light, the application is convenient and fast, the platform is simple and easy to understand, and the method is suitable for expansion after subsequent improvement.
Description
Technical Field
The invention relates to a method and a system for positioning and navigating the running of a river channel ship, and belongs to the technical field of unmanned ship driving.
Background
In the past decades, river vessel autonomous navigation has made great progress in positioning, target detection, path planning, tracking control and the like. However, current underwater drones are typically developed for open water, and the effectiveness of these controls is compromised in narrow and crowded urban water environments. Today vessels typically use global positioning systems and inertial measurement units (fused by Extended Kalman Filters (EKFs) or Unscented Kalman Filters (UKF)) to achieve positioning, which typically results in meter-level accuracy. These methods based on a combination of global positioning system inertial measurements may be unstable in urban waterways where global positioning system signals are often severely attenuated. Then, based on this situation, the navigation of unmanned ships in narrow waterways can be more challenging than in open waters.
Disclosure of Invention
The invention aims to provide a method for positioning and navigating the running of a river channel ship, which aims to overcome the defects in the prior art.
A method for simultaneously positioning and establishing a map of a river vessel, the method comprising the steps of:
the front-end odometer estimates the pose information data of the sensor group at the moment through the data sent by the sensor group in real time and the adjacent point cloud data and image information;
and sending the pose information data transmitted by the front-end odometer to a pre-constructed rear end to obtain a globally consistent track and map.
Further, the pose information data is matched with the point cloud by using an NDT algorithm.
Further, the backend model optimizes pose information data using the graph of g2 o.
Further, the point cloud data is processed with measurement noise by adopting a normal distribution transformation matching algorithm.
Further, the method further comprises: and after the ship starts to start, acquiring sensor information, and preprocessing the information acquired by the sensor.
Further, the method further comprises:
and matching the current frame of the data acquired by the sensor with the key frame of the historical data through loop detection, and transmitting the matched data to the rear end.
A system for simultaneous localization and mapping of a river vessel, the system comprising:
3D laser radar: for positioning and obstacle detection;
RGB-D camera: the system is used for providing a visual odometer for positioning the extended Kalman filter;
an inertia measurement unit: for monitoring the attitude, linear acceleration and angular velocity of the robot;
a main controller: the system comprises a three-dimensional (3D) laser radar, an RGB-D camera and an inertia measurement unit, and is used for receiving data generated by the 3D laser radar, the RGB-D camera and the inertia measurement unit and outputting the real-time pose of a ship;
a propulsion device: and driving the ship to operate according to the real-time pose of the ship.
Compared with the prior art, the invention has the following beneficial effects: according to the method, some shipborne sensors are arranged on the ship, the autonomous positioning and composition of the ship on the narrow river channel can be realized, the size of hardware required by the scheme is small, the weight is light, the application is convenient and fast, the platform is simple and easy to understand, and the method is suitable for expansion after subsequent improvement.
Drawings
FIG. 1 is a schematic view of a marine vessel;
FIG. 2 is a simultaneous positioning and mapping flowchart;
FIG. 3 is a schematic diagram of a method for implementing vessel positioning;
FIG. 4 is a flowchart of a marine vessel power propulsion;
in the figure: the device comprises a 1-3D laser radar, a 2-bracket, a 3-RGB-D camera and a 4-inertia measurement unit.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1-4, a method for simultaneously positioning and establishing a map of a river vessel is disclosed; the method comprises the following steps:
the method comprises the following steps: after the ship starts, sensor group information starts to be acquired, and the sensor group information is preprocessed;
step two: the front-end odometer estimates the pose information of the sensor group at the moment by utilizing data sent by the sensor group in real time and through adjacent point cloud data, image information and the like, wherein the point cloud matching is realized by using an NDT (normalized difference test) algorithm, and the point cloud matching is fused with the inertial measurement unit 4 to reduce the accumulated error;
step three: considering that the front-end visual odometer can give a track and map for a short time, the accumulation over time will cause map misalignment due to inevitable error accumulation. Therefore, on the basis, a scale and large-scale optimization problem, namely rear-end optimization is constructed, and after the rear end receives pose estimation data transmitted by a front-end odometer, the map of g2o is adopted for optimization to obtain globally consistent tracks and maps;
step four: in order to avoid accumulated errors from influencing the correctness of long-time tracks and map estimation, loop detection is introduced, so that the current data and the historical data are associated, and relocation can be carried out by utilizing the loop detection if necessary. Matching the current frame of the 3D laser radar 1 with the previous key frame in loop detection; and further, the accuracy and the robustness of the whole SLAM system are improved.
Step five: and for subsequent obstacle avoidance and navigation, the ship establishes a dense map based on the processed data information.
In a second aspect: the invention also discloses a system for simultaneously positioning and establishing the map of the river channel ship, which comprises: the system comprises a 3D laser radar 1, an inertia measurement unit 4 and an RGB-D camera 3, wherein a sensor group is formed; the support 2 is transversely placed in the middle of the ship body, and the 3D laser radar 1 serving as a main sensor is installed in the center of the top of the support 2 and used for positioning and obstacle detection; an inertial measurement unit 4 is provided parallel to the main axis of the vessel body to monitor the attitude, linear acceleration and angular velocity of the robot.
An RGB-D camera 3 is arranged below the 3D laser radar 1, namely on the lower side of the bracket 2, and provides a visual odometer for EKF positioning.
In the signal transmission flow chart, data acquired by each sensor is input to a corresponding input interface in an SLAM algorithm in the master controller Xavier, the real-time pose of the ship is output through algorithm processing, and the track at the next moment is predicted. Output signals related to Xiaver are input to the singlechip STM32, and the singlechip STM32 outputs corresponding power control signals (linear speed and angular speed) to the propelling device to realize the running of the ship.
The method comprises the steps that a ship positioning schematic diagram is realized through positioning, after external information is obtained by a sensor, Extended Kalman (EKF) filtering is carried out on data measured by the sensor, point cloud data measured by a radar is processed by a Normal Distribution Transform (NDT) matching algorithm, more specifically, a map is represented as a 3D grid, and probability distribution is distributed to each grid point. In this way, the non-destructive inspection matching algorithm matches the detected points to the distribution on the map. In consideration of the accumulated error of the inertial navigation odometer, the vision SLAM is carried out on the image measured by RGB-D for extra measurement of extended Kalman filtering, and the accurate positioning of the ship is realized through the method.
And finally, for subsequent obstacle avoidance and navigation, the ship establishes a dense map based on the processed data information.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (7)
1. A method for simultaneously positioning and establishing a map of a river vessel is characterized by comprising the following steps:
the front-end odometer estimates the pose information data of the sensor group at the moment through the data sent by the sensor group in real time and the adjacent point cloud data and image information;
and sending the pose information data transmitted by the front-end odometer to a pre-constructed rear end to obtain a globally consistent track and map.
2. The method for river vessel driving positioning navigation according to claim 1, wherein the pose information data is matched with point cloud by using NDT algorithm.
3. The method for river vessel driving positioning navigation according to claim 1, wherein the back-end model adopts a graph of g2o to optimize pose information data.
4. The method for positioning and navigating in driving of a river vessel according to claim 1, wherein the point cloud data is processed with measurement noise by a normal distribution transformation matching algorithm.
5. The method for river vessel driving positioning navigation according to claim 1, wherein the method further comprises: and after the ship starts to start, acquiring sensor information, and preprocessing the information acquired by the sensor.
6. The method for river vessel driving positioning navigation according to claim 1, wherein the method further comprises:
and matching the current frame of the data acquired by the sensor with the key frame of the historical data through loop detection, and transmitting the matched data to the rear end.
7. A system for simultaneously locating and mapping a river vessel, the system comprising:
3D laser radar: for positioning and obstacle detection;
RGB-D camera: the system is used for providing a visual odometer for positioning the extended Kalman filter;
an inertia measurement unit: for monitoring the attitude, linear acceleration and angular velocity of the robot;
a main controller: the system comprises a three-dimensional (3D) laser radar, an RGB-D camera and an inertia measurement unit, and is used for receiving data generated by the 3D laser radar, the RGB-D camera and the inertia measurement unit and outputting the real-time pose of a ship;
a propulsion device: and driving the ship to operate according to the real-time pose of the ship.
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| CN202110343086.8A CN113219492A (en) | 2021-03-30 | 2021-03-30 | Method and system for positioning and navigating river course ship driving |
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