CN113267800A

CN113267800A - Positioning and attitude determining method, device, equipment, storage medium and system thereof

Info

Publication number: CN113267800A
Application number: CN202110560552.8A
Authority: CN
Inventors: 王晓博; 朱常波; 王题; 杨杉; 白秀军
Original assignee: China United Network Communications Group Co Ltd
Current assignee: China United Network Communications Group Co Ltd
Priority date: 2021-05-21
Filing date: 2021-05-21
Publication date: 2021-08-17
Anticipated expiration: 2041-05-21
Also published as: CN113267800B

Abstract

The application provides a positioning and attitude determining method, a positioning and attitude determining device, positioning and attitude determining equipment, a storage medium and a positioning and attitude determining system. The method comprises the steps of firstly obtaining first observation data received by double antennas, carrying out preset difference and baseline operation on the first observation data and traditional pose data based on a 5G module to obtain second observation data, obtaining a target course angle according to the second observation data and the second observation course angle, determining a roll angle and a pitch angle in the target course angle and the traditional pose data as attitude data of a target object, and obtaining pose data of the target object by combining three-dimensional coordinates to position and fix a pose of the target object. The 5G module is configured in the differential inertial navigation system to form a 5G-based positioning and attitude determination system, and the positioning and attitude determination is realized through the fusion of the 5G technology and the differential inertial navigation system, so that the positioning and attitude determination precision is effectively improved, the large-area deployment of wired and optical fiber/serial port communication is not needed, the seamless butt joint with a control system of a target object is realized, and the industrial application scene requirement is met.

Description

Positioning and attitude determining method, device, equipment, storage medium and system thereof

Technical Field

The present application relates to the field of 5G communications technologies, and in particular, to a method, an apparatus, a device, a storage medium, and a system for positioning and determining a posture.

Background

In the operation process of some industrial scenes, the operation object needs to be positioned and oriented so as to be correspondingly controlled. The current Positioning and attitude determination method and related technologies include the implementation of Positioning by using a common single-point GNSS (Global Navigation Satellite System) powered by fiber/serial communication cable, the combination of low-precision inertial Navigation and the differential Positioning of GPS (Global Positioning System) powered by cable/serial communication cable, the combination of low-precision inertial Navigation and the like,

however, in practical industrial application scenarios, the existing positioning and attitude determination schemes still have some technical defects. For example, the positioning and pose determining accuracy is limited, which cannot meet the service scene requirement of high-precision positioning and pose determining, and for example, large-area deployment cannot be performed in an industrial application scene in a wired power supply and optical fiber/serial port communication manner, and even though pose data is acquired through positioning and pose determining, since transmission of a data serial port cannot be in seamless butt joint with a control system in an actual working condition, deployment of a network system for transmitting data may become more complicated.

Therefore, for the application of the positioning and attitude determination technology in an actual industrial scene, a positioning and attitude determination solution capable of overcoming the technical defects in the prior art is urgently needed.

Disclosure of Invention

The application provides a positioning and attitude determining method, a positioning and attitude determining device, an attitude determining device, a storage medium and a positioning and attitude determining system, which are used for overcoming the technical defects that the existing positioning and attitude determining precision cannot meet the industrial service scene requirement, the adopted communication mode cannot be deployed in a large area, the network system deployment becomes more complex due to data transmission and the like.

In a first aspect, the present application provides a positioning and attitude determination method, including:

acquiring first observation data received by double antennas, and performing preset difference and baseline operation on the first observation data and traditional pose data based on a 5G module to obtain second observation data, wherein the second observation data comprises three-dimensional coordinates of a target object, a first observation course angle of the target object and angle data in the traditional pose data;

performing preset correction operation according to the first observation course angle and a second observation course angle in the traditional pose data to obtain a target course angle of the target object;

and determining the target course angle and the roll angle and the pitch angle in the traditional pose data as the pose data of the target object, and generating the pose data of the target object according to the pose data and the two-dimensional coordinates corresponding to the three-dimensional coordinates of the target object.

In one possible design, after the generating the pose data of the target object, the method further includes:

the 5G module sends the pose data of the target object to a remote server according to a preset sending mode, so that the remote server generates a task processing strategy according to the pose data of the target object;

and the remote server sends the task processing strategy to a preset controller through the 5G module so that the preset controller carries out loading work on the target object according to the corresponding task contained in the task processing strategy, and the preset controller is configured in an automatic port loading system.

In one possible design, the performing pre-difference and baseline operations on the first observation data and the traditional pose data based on the 5G module to obtain second observation data includes:

acquiring the traditional pose data based on the 5G module, wherein the traditional pose data comprises measurement data obtained by monitoring the pose of the target object by an inertial navigation module;

respectively performing preset difference operation and preset baseline vector operation on the first observation data and the traditional pose data, and determining an operation result as second observation data;

and the preset difference and baseline operation comprises the preset difference operation and the preset baseline vector operation.

In one possible design, the acquiring the legacy pose data based on the 5G module includes:

unpacking a preset request message according to preset parameters of a navigation system to which the inertial navigation module belongs, and repackaging the unpacked preset request message according to a preset bearing format of the 5G module to obtain a 5G fusion message, wherein the preset request message is used for requesting to acquire the traditional pose data;

and sending the 5G fusion message to the inertial navigation module through a 5G network so as to obtain the measurement data of the inertial navigation module for the target object.

In one possible design, the performing a default difference operation and a default baseline vector operation on the first observation data and the conventional pose data, respectively, includes:

packaging the acquired measurement data of the inertial navigation module according to the preset bearing format of the 5G module;

sending the packaged measurement data to a differential operation module through the 5G network, and unpacking the measurement data received by the differential operation module according to the preset parameters;

and utilizing the difference operation module to respectively perform the preset difference operation and the preset baseline vector operation on the first observation data and the unpacked measurement data.

In one possible design, the performing a preset correction operation according to the first observed course angle and the second observed course angle in the conventional pose data includes:

and performing preset filtering operation on the first observation course angle and the second observation course angle to determine the preset filtering operation result as the target course angle, wherein the preset correction operation comprises the preset filtering operation.

In one possible design, the predetermined filtering operation is reset if the difference between the predetermined filtering operation result and the first observed course angle exceeds a predetermined correction threshold within a predetermined time interval.

In one possible design, the 5G module sends the pose data of the target object to the remote server according to the preset sending mode, including:

encapsulating the pose data of the target object into a data packet of a preset protocol according to the preset parameters, and unpacking the data packet according to the preset parameters;

the unpacked data packet is packaged according to the preset bearing format of the 5G module, so that the packaged data packet is sent to the remote server through the 5G network;

the preset sending mode comprises the preset parameters, the preset protocol and the preset bearing format.

In one possible design, the predetermined bearer format includes a non-independent networking/independent networking (NSA/SA) bearer format;

the preset protocol comprises a Message Queue Telemetry Transport (MQTT) protocol and/or a serial communication (Modbus) protocol.

In one possible design, each task included in the task processing strategy includes at least one of a remote monitoring task, a remote scheduling task, a load capacity and progress prediction task, and a load capacity statistics task.

In a second aspect, the present application provides a positioning and attitude determining apparatus, comprising:

the first processing module is used for acquiring first observation data received by the double antennas, and performing preset difference and baseline operation on the first observation data and traditional pose data based on the 5G module to obtain second observation data, wherein the second observation data comprise three-dimensional coordinates of a target object, a first observation course angle of the target object and angle data in the traditional pose data;

the second processing module is used for carrying out preset correction operation according to the first observation course angle and a second observation course angle in the traditional pose data so as to obtain a target course angle of the target object;

and the third processing module is used for determining the target course angle and the roll angle and the pitch angle in the traditional pose data as the attitude data of the target object and generating the pose data of the target object according to the attitude data and the two-dimensional coordinates corresponding to the three-dimensional coordinates of the target object.

In one possible design, the position and orientation device further includes:

the fourth processing module is used for sending the pose data of the target object to a remote server by the 5G module according to a preset sending mode so that the remote server can generate a task processing strategy according to the pose data of the target object;

and the fifth processing module is used for sending the task processing strategy to a preset controller through the 5G module by the remote server so that the preset controller carries out loading work on the target object according to the corresponding task contained in the task processing strategy, and the preset controller is configured in the port automatic loading system.

In one possible design, the first processing module is specifically configured to:

In one possible design, the first processing module is further configured to:

In one possible design, the first processing module further includes: a processing sub-module to:

In one possible design, the second processing module is specifically configured to:

In one possible design, the second processing module is further configured to:

and if the difference value between the preset filtering operation result and the first observed course angle in a preset time interval exceeds a preset correction threshold value, resetting the preset filtering operation.

In one possible design, the third processing module is specifically configured to:

In a third aspect, the present application provides an electronic device, comprising:

a processor; and the number of the first and second groups,

a memory for storing a computer program for the processor;

wherein the processor is configured to perform any one of the possible positioning and pose methods provided by the first aspect via execution of the computer program.

In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, where the computer program is used to execute any one of the possible positioning and attitude determination methods provided in the first aspect.

In a fifth aspect, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the computer program implements any one of the possible positioning and attitude determination methods provided in the first aspect.

In a sixth aspect, the present application further provides a 5G-based positioning and attitude determination system, including: a differential inertial navigation system configured with a 5G module, the differential inertial navigation system being placed on a target object surface and further comprising:

the inertial navigation module is used for monitoring the pose of the target object to obtain measurement data;

the double-antenna is used for receiving first observation data, and the first observation data is satellite data;

the 5G module is used for determining pose data of the target object according to the measurement data and the first observation data and transmitting the pose data to a remote server, so that the remote server controls a preset controller to execute a task processing strategy on the target object.

The application provides a positioning and attitude determining method, a positioning and attitude determining device, positioning and attitude determining equipment, a storage medium and a positioning and attitude determining system. The positioning and attitude determining method provided by the application comprises the steps of firstly obtaining first observation data received by double antennas, and carrying out preset difference and baseline operation on the first observation data and traditional attitude and attitude data based on a 5G module to obtain second observation data. And then, carrying out preset correction operation according to the first observation course angle and a second observation course angle in the traditional pose data to obtain a target course angle of the target object, determining the target course angle and a roll angle and a pitch angle in the traditional pose data as the attitude data of the target object, and generating pose data of the target object according to the attitude data and a two-dimensional coordinate corresponding to the three-dimensional coordinate of the target object to realize positioning and pose determination of the target object. According to the method and the device, the 5G module is configured in the differential inertial navigation system to form a 5G-based positioning and attitude determining system, the fusion of the 5G and the navigation system is realized, the 5G and the traditional attitude and attitude data monitored by the differential inertial navigation system are fused in the process of obtaining the attitude and attitude data, the positioning and attitude determining precision is effectively improved, and the obtained attitude and attitude data of the target object meets the requirements of a business scene in industrial application. And because the 5G module is matched to realize positioning and attitude determination, large-area deployment of wired and optical fiber/serial port communication is not needed, seamless butt joint with a target object control system can be realized, the 5G technology and the positioning and attitude determination technology are integrated, and the technical defects of positioning and attitude determination in industrial application scenes are effectively overcome.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;

fig. 2 is a schematic flow chart of a positioning and attitude determination method according to an embodiment of the present application;

fig. 3 is a schematic flow chart of another method for positioning and determining posture according to an embodiment of the present disclosure;

fig. 4 is a schematic flowchart of another positioning and attitude determination method according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a positioning and attitude determining apparatus according to an embodiment of the present disclosure;

FIG. 6 is a schematic structural diagram of another attitude determination and positioning device according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of an electronic device provided in the present application.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of methods and apparatus consistent with certain aspects of the present application, as detailed in the appended claims.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the above-described drawings (if any) are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In the current industrial application scenario, the existing positioning and attitude determination schemes still have some technical defects. For example, the positioning and attitude determination accuracy is limited, and the service scene requirement of high-accuracy positioning and attitude determination cannot be met; large-area deployment cannot be carried out in an industrial application scene in a wired power supply and optical fiber/serial port communication mode; even if pose data are acquired through positioning and pose determination, the deployment of a network system for transmitting data may become more complex and the like because the transmission of a data serial port cannot be in seamless joint with a control system in an actual working condition.

In view of the above problems in the prior art, the present application provides a method, an apparatus, a device, a storage medium, and a system for positioning and determining a pose. According to the positioning and attitude determination method provided by the application, the 5G module is configured in the differential inertial navigation system, the 5G technology and the attitude data monitored by the differential inertial navigation system are effectively fused in the process of acquiring the attitude data of the target object, so that the positioning and attitude determination precision is improved, and the problems that a wired and serial communication mode cannot be deployed in a large area, data transmission through a serial port cannot be in seamless butt joint with a control system of an industrial scene and the like in the prior art can be solved by utilizing the advantages of low time delay, high transmission rate and the like of the 5G technology, so that the high-precision positioning and attitude determination method is applied to automatic production of the industrial scene by integrating the 5G technology and the positioning and attitude determination technology.

An exemplary application scenario of the embodiments of the present application is described below.

Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application, and as shown in fig. 1, a 5G network may be a medium for providing a communication link between a navigation system 11, a remote server 12, and an automatic loading system 13, and the network may include various connection types. The navigation system 11 is used for positioning and pose determination of the target object to obtain pose data. The obtained pose data can be transmitted to the remote server 12 through the 5G network, and the remote server 12 is used for generating a task processing strategy required by the automatic loading system 13 according to the pose data of the target object, so that the automatic loading system 13 can load the target object according to a corresponding task in the task processing strategy. Wherein, the information interaction between the remote server 12 and the automatic loading system 13 is also realized through the 5G network. The 5G technology and the navigation system 11 are effectively fused according to the actual situation of the automatic loading system 13 to achieve high-precision positioning and attitude determination of the target object in an industrial application scene, which may be a large-scale automatic industrial operation scene, such as a port operation scene, and the like, but the implementation is not limited thereto.

The navigation system 11 may be various differential inertial navigation systems configured with a 5G module to support 5G technology, such as a beidou differential inertial navigation system, and the like, which is not limited in this embodiment. The remote server 12 may also be a server cluster, which is illustrated in fig. 1 as a server cluster. The automatic loading system 13 may also be various actual automatic operation systems in industrial application scenarios, and this embodiment is not limited thereto.

It should be noted that the above application scenarios are only exemplary, and the positioning and attitude determining method, apparatus, device, storage medium, and system provided in the embodiments of the present application include, but are not limited to, the above application scenarios.

Fig. 2 is a schematic flow chart of a positioning and attitude determination method according to an embodiment of the present application. As shown in fig. 2, the positioning and attitude determining method provided in this embodiment includes:

s101: and acquiring first observation data received by the double antennas, and performing preset difference and baseline operation on the first observation data and the traditional pose data based on a 5G module to obtain second observation data.

The second observation data comprises three-dimensional coordinates of the target object, a first observation course angle of the target object and angle data in the traditional pose data.

The differential inertial navigation system with the 5G module is configured, namely, the 5G-based positioning and attitude determining system is designed by double antennas, namely, the system comprises a positioning main antenna and an attitude determining auxiliary antenna, the double antennas are subjected to non-integral separation design to receive satellite data, the acquired satellite data is first observation data, and the first observation data can comprise antenna observation position data of a target object and a course angle, a pitch angle and a roll angle observed by the antenna.

It should be noted that the 5G-based positioning and attitude determination system can be placed on any position of the surface of the target object. When the placing positions are different, the positions of the double antennas are changed, and the course angle, the pitch angle and the roll angle observed by the antennas are obtained through measurement of the different placing positions.

Further, preset difference and baseline operation are carried out on the first observation data and the traditional pose data received by the double antennas based on the 5G module, so that second observation data are obtained. The traditional pose data is measured data monitored by an inertial navigation module in the positioning and pose determining system based on 5G aiming at a target object, and the measured data can comprise angle data and position data of a course angle, a roll angle and a pitch angle measured by the inertial navigation module. The purpose of carrying out the preset difference and baseline operation is to carry out difference and baseline operation on data respectively monitored by the dual-antenna and the inertial navigation module so as to improve the accuracy of the monitored data and further improve the positioning and attitude determination precision.

The second observation data obtained by performing the preset difference and baseline operation comprises a three-dimensional coordinate representing the space position of the target object, a first observation course angle representing the course angle of the target object and angle data in the traditional pose data, wherein the three-dimensional coordinate is an operation result obtained by performing the preset difference and baseline operation on antenna observation position data obtained by measuring an antenna and position data obtained by measuring the inertial navigation module. And the first observed course angle is an operation result of the course angle obtained by antenna observation and the course angle in the angle data obtained by inertial navigation module measurement after preset difference and baseline operation. The angle data in the traditional pose data comprise a heading angle, a roll angle and a pitch angle measured by the inertial navigation module.

For example, the possible implementation manners of performing the preset difference and baseline operation on the first observation data and the traditional pose data based on the 5G module to obtain the second observation data include:

the method comprises the steps of firstly acquiring traditional pose data based on a 5G module, namely acquiring measurement data obtained by monitoring the pose of a target object by using an inertial navigation module based on the 5G module, and defining the measurement data obtained by monitoring the pose of the target object by the inertial navigation module as the traditional pose data.

And then, respectively carrying out preset difference operation and preset baseline vector operation on the first observation data and the traditional pose data, and determining an operation result as second observation data, wherein the preset difference and baseline operation comprises the preset difference operation and the preset baseline vector operation.

The preset difference operation and the preset baseline vector operation may be implemented by using a software program supporting a corresponding operation function, which is not limited in this embodiment.

S102: and performing preset correction operation according to the first observation course angle and a second observation course angle in the traditional pose data to obtain a target course angle of the target object.

Because an error may exist between the first observed course angle and the course angle measured by the inertial navigation module, the general error is represented as +/-0.1 degree, and in order to ensure high precision of a finally obtained positioning and attitude determining result, the step is used for correcting the two course angles, namely the first observed course angle obtained through the preset difference and baseline operation and the second observed course angle in the traditional attitude and attitude data according to the preset correction operation, and determining the corrected result as the target course angle of the target object so as to obtain the target course angle with better data precision.

For example, a preset filtering operation is performed on the first observed course angle and the second observed course angle, and a result of the preset filtering operation is determined as the target course angle, wherein the preset correction operation includes the preset filtering operation. Specifically, the preset filtering operation process is to perform filtering, smoothing and other processing on the first observed course angle and the second observed course angle through preset filtering operation to obtain a combined course angle of the two course angles, wherein the combined course angle is defined as a target course angle.

The preset filtering operation may also be implemented by a corresponding software program, such as a least square method or a kalman filtering operation.

It should be noted that, for the difference between the respective corresponding values of the current combined heading angle and the first observed heading angle, if the difference between the two values exceeds the preset correction threshold, it indicates that the antenna may be abnormal, and thus the combined heading angle is still determined as the target heading angle. If the difference between the combined course angle obtained for multiple times within the preset time interval, i.e., the preset filtering operation result, and the first observed course angle exceeds the preset correction threshold, the preset filtering operation is reset, e.g., the preset filtering operation is performed again or/and the preset filtering operation is updated, until the difference between the preset filtering operation result obtained for multiple times within the preset time interval and the first observed course angle does not exceed the preset correction threshold.

S103: and determining the target course angle and the roll angle and the pitch angle in the traditional pose data as the attitude data of the target object, and generating the pose data of the target object according to the attitude data and the two-dimensional coordinates corresponding to the three-dimensional coordinates of the target object.

After the target course angle is obtained, the target course angle and the roll angle and the pitch angle measured by the inertial navigation system in the traditional pose data are determined as the pose data of the target object, so that the pose of the target object is determined through the pose data. For the position data, coordinate conversion is performed on the three-dimensional coordinates of the target object to obtain two-dimensional coordinates corresponding to the three-dimensional coordinates, so that the target object is positioned through the two-dimensional coordinates. And generating pose data of the target object according to the pose data and the two-dimensional coordinates obtained after the three-dimensional coordinates are converted, so that the pose data are used for positioning and pose determination of the target object.

The implementation manner of converting the three-dimensional coordinates of the target object to obtain the corresponding two-dimensional coordinates may be implemented by using any coordinate system conversion manner, for example, the three-dimensional coordinates may be used as input data of a corresponding software program for implementing the coordinate system conversion, and the obtained output data is the two-dimensional coordinates corresponding to the three-dimensional coordinates. The transformation process of the coordinate system mainly includes procedures of projection, expansion, contraction, deflection, and the like, and the specific process may be determined by a corresponding software program of the adopted coordinate system transformation, which is not limited in this embodiment.

According to the description of the embodiment, the differential inertial navigation system configured with the 5G module forms a 5G-based positioning and attitude determining system, first observation data received by the double antennas are obtained, then, the preset difference and baseline operation are performed on the first observation data and the traditional attitude and attitude data based on the 5G module, and second observation data with better monitoring precision are obtained. And further, correcting the first observation course angle in the second observation data and the second observation course angle monitored by the inertial navigation module to obtain a target course angle with better precision, and determining the target course angle and the roll angle and the pitch angle monitored by the inertial navigation module as the attitude data of the target object to realize attitude determination of the target data. And the three-dimensional coordinates of the target object are converted into corresponding two-dimensional coordinates to realize the positioning of the target object, so that the pose data of the target object is generated according to the pose data and the two-dimensional coordinates obtained by conversion, and the high-precision positioning and pose determination of the target object are realized. In addition, in the process of realizing positioning and attitude determination of the target object, data transmission and processing are carried out based on the 5G module, large-area deployment of wired and optical fiber/serial port communication is not needed, the problem of complex network deployment caused by incompatibility of serial port transmission does not exist, the 5G technology and the positioning and attitude determination are fused to realize integration, and the technical defects of the positioning and attitude determination in industrial application scenes are effectively overcome.

After the pose data of the target object is obtained, in order to effectively control the target object by using the pose data, the positioning and pose determination method provided by the embodiment of the application further includes steps S104 and S105.

S104: the 5G module sends the pose data of the target object to the remote server according to a preset sending mode, so that the remote server generates a task processing strategy according to the pose data of the target object.

The remote server is a corresponding server or a server cluster configured on the control center station and is used for carrying out operations such as effective supervision, control processing and the like on the target object according to the pose data of the target object.

Specifically, the 5G module sends the obtained pose data of the target object to the remote server according to a data transmission mode compatible with the remote server and the 5G-based positioning and pose determining system, so that the remote server generates a task processing strategy for executing a corresponding processing task on the target object by using the pose data of the target object as reference data. The task processing strategy may include at least one of a remote monitoring task, a remote scheduling task, a load capacity and progress prediction task, and a load capacity statistics task.

For example, the pose data of the target object is acquired from the pose data by using local shunting of an MEC (Mobile Edge Computing) in the 5G module and is safely and efficiently transmitted to the remote server by using a 5G-based positioning and pose determining system with the characteristics of a local area network, so that powerful data reference is provided for the control operation of the remote server, and the target object is accurately controlled.

In one possible design, the 5G module transmits the pose data of the target object to the remote server according to a preset transmission mode, and includes:

and encapsulating the pose data of the target object into a data packet of a preset protocol according to preset parameters, unpacking the data packet according to preset parameters, packaging the unpacked data packet according to a preset bearing format of the 5G module, and sending the packaged data packet to a remote server through a 5G network. The preset sending mode comprises preset parameters, a preset protocol and a preset bearing format.

In the step, the pose data of the target object is sent to a remote server through a 5G module. Due to the condition parameters of the 5G module itself and the structure, function and the like of the positioning and attitude determination system based on 5G, a preset sending mode needs to be set to perform data transmission according to the preset sending mode. The preset sending mode comprises preset parameters of the positioning and attitude determination system based on 5G, a preset protocol supported by the 5G module and a preset bearing format. The preset parameters of the positioning and attitude determination system based on 5G are determined by the differential inertial navigation system configured with the 5G module, but the embodiment is not limited thereto. The predetermined protocol may be a Message Queue Telemetry Transport (MQTT) protocol supported by the 5G module and/or a serial communication (Modbus) protocol, and the predetermined bearer format may be a Non-Standalone/Standalone (NSA/SA) bearer format supported by the 5G module. In addition, unpacking and packing of the pose data in the transmission process are performed to match a preset sending mode in the data transmission process.

S105: and the remote server sends the task processing strategy to the preset controller through the 5G module, so that the preset controller carries out loading work on the target object according to the corresponding task contained in the task processing strategy.

Wherein, the preset controller is configured in the port automatic loading system.

The remote server generates a task processing strategy according to the pose data of the target object, and then further sends the task processing strategy to a preset controller, and the preset controller can be configured in an automation control system of industrial application scenes such as a port automatic loading system, so that the preset controller executes corresponding loading and other operation work on the corresponding target object according to corresponding tasks contained in the task processing strategy.

The preset Controller may be a corresponding Controller installed in the automation control system, such as a Programmable Logic Controller (PLC), and is configured to execute a corresponding task in the task processing strategy.

It should be noted that the corresponding operation work performed by the preset controller on the target object may be determined according to the corresponding task in the task processing policy and the application scenario of the preset controller, which is not limited in this embodiment.

After the pose data of the target object is generated, the pose data of the target object is sent to a remote server by using a 5G module, so that the remote server generates a task processing strategy according to the pose data of the target object. And further sending the task processing strategy to a preset controller through a 5G module, so that the preset controller executes corresponding control actions on the target object according to corresponding tasks contained in the task processing strategy, and the 5G-based positioning and attitude determination system is applied to an actual corresponding industrial application scene, so that the target object is favorably monitored through attitude and attitude data obtained by positioning and attitude determination of the target object through the attitude and attitude data, and the corresponding positioning and attitude determination data is applied to actual industrial application to realize favorable monitoring on a working object in the application scene.

In a possible design, a possible implementation manner of acquiring traditional pose data based on a 5G module in the foregoing embodiment is shown in fig. 3, and fig. 3 is a schematic flow chart of another method for positioning and determining a pose provided by the embodiment of the present application. As shown in fig. 3, the acquiring of the traditional pose data based on the 5G module in the positioning and pose determination method provided by this embodiment includes:

s201: unpacking the preset request message according to preset parameters of a navigation system to which the inertial navigation module belongs, and repackaging the unpacked preset request message according to a preset bearing format of the 5G module to obtain a 5G fusion message.

The preset request message is used for requesting to acquire traditional pose data.

The traditional pose data acquisition needs to be indicated by a preset request message, namely the preset request message is used for requesting the traditional pose data acquisition. For example, if the navigation system to which the inertial navigation module belongs is a differential inertial navigation system, the preset request message may be a corresponding message for acquiring a GNSS differential data signal, where the GNSS differential data is used to represent measurement data of the inertial navigation module on the target object.

Based on a principle similar to that of sending pose data to the remote server by using the 5G module, unpacking and packing are also carried out according to a preset sending mode in the process of sending a preset message request to the inertial navigation module by using the 5G module.

For example, the method includes the steps of first, unpacking a preset request message according to preset parameters of a navigation system to which an inertial navigation module belongs, namely preset parameters of a positioning and attitude determining system based on 5G, and then repackaging the unpacked preset request message according to a preset bearer format supported by the 5G module to obtain a 5G fusion message from the preset request message. It can be understood that the preset request message is a corresponding message instruction issued by the remote server to obtain the measurement data of the inertial navigation module, and the message needs to be unpacked according to the preset parameters of the navigation system and packed according to the preset bearer format of the 5G module, so as to perform data transmission through the 5G module.

S202: and sending the 5G fusion message to the inertial navigation module through a 5G network so as to obtain the measurement data of the inertial navigation module aiming at the target object.

And after the 5G fusion message is obtained, transmitting the 5G fusion message to the inertial navigation module through a 5G network so as to instruct the inertial navigation module to obtain the measurement data of the inertial navigation module aiming at the target object according to the 5G fusion message. After the 5G fusion message is sent to the inertial navigation module, an opposite unpacking-packing process needs to be performed on the 5G fusion message to restore the 5G fusion message to a preset request message, so that the inertial navigation module obtains measurement data of a target object by using the preset request message as an indication, that is, traditional pose data.

In the positioning and pose determining method provided by this embodiment, based on the process of acquiring traditional pose data by the 5G module, the preset request message is unpacked according to the preset parameters of the navigation system to which the inertial navigation module belongs, then the unpacked preset request message is repackaged according to the preset bearer format of the 5G module to obtain a 5G fusion message, and then the 5G fusion message is sent to the inertial navigation module through the 5G network to acquire the measurement data of the inertial navigation module for the target object. Therefore, the preset message request is sent to the inertial navigation module arranged at the target object based on the 5G module, the safety and high efficiency of the process of the preset message request are ensured based on the advantages of low time delay, high transmission and the like of a 5G network in the 5G module, the conditions of malicious interception, monitoring and the like in the data transmission process are prevented, and the high-precision positioning and attitude determination of the target object are further ensured.

Further, in the above embodiment, during the process of performing the preset difference operation and the preset baseline vector operation on the first observation data and the conventional pose data respectively, data transmission is also performed based on the 5G module, so that corresponding data is transmitted to a corresponding processing module performing the preset difference and baseline operation in the 5G module. Optionally, a possible implementation manner of performing the preset difference operation and the preset baseline vector operation on the first observation data and the traditional pose data respectively in the above embodiment is shown in fig. 4. Fig. 4 is a schematic flow chart of another positioning and attitude determination method according to an embodiment of the present application. As shown in fig. 4, the present embodiment includes:

s301: and packaging the acquired measurement data of the inertial navigation module according to a preset bearing format of the 5G module.

S302: and sending the packaged measurement data to a differential operation module through a 5G network, and unpacking the measurement data received by the differential operation module according to preset parameters.

S303: and performing preset differential operation and preset baseline vector operation on the first observation data and the unpacked measurement data respectively by using a differential operation module.

In this embodiment, the measurement data obtained by the inertial navigation module by measuring the target object, i.e., the conventional pose data, is safely and efficiently sent to the differential operation module performing the preset differential operation and the preset baseline vector operation based on the 5G module, so that the differential operation module performs the preset differential operation and the preset baseline vector operation on the first observation data and the conventional pose data, respectively, to obtain the second observation data.

The packing and unpacking process for safely and efficiently sending the measurement data to the differential operation module based on the 5G module is similar to that in the foregoing embodiment, and the detailed process may refer to the foregoing embodiment and is not described herein again.

The difference operation module can be a corresponding processing module configured exclusively for the 5G module to perform the preset difference and baseline operation. The standard form of the 5G module is different from the CAT1 and other modes, such as pin design, and the like, wherein an operation core module, for example, a differential operation module, in the system circuit design can be hooked with the 5G module through the m.2 and RMII interfaces. It should be noted that, the specific content and arrangement of various sub-modules and interfaces in the 5G module are not limited in this embodiment.

In the positioning and pose determining method provided by this embodiment, when performing preset differential operation and preset baseline vector operation on first observation data and traditional pose data, firstly, the obtained measurement data of the inertial navigation module is packaged according to a preset bearing format of the 5G module, then the packaged measurement data is sent to the differential operation module through the 5G network, the measurement data received by the differential operation module is unpacked according to preset parameters, and then the differential operation module is used to perform preset differential operation and preset baseline vector operation on the first observation data and the unpacked measurement data. The measurement data of the inertial navigation module is transmitted to the differential operation module configured in the 5G module based on the 5G module, and the advantages of low time delay, high transmission and the like of a 5G network in the 5G module are utilized to ensure the safety and high efficiency of the measurement data of the inertial navigation module in the transmission process, prevent the occurrence of conditions such as malicious interception, monitoring and the like in the transmission process, and further ensure the realization of high-precision positioning and attitude determination of a target object.

The following are embodiments of the apparatus of the present application that may be used to perform corresponding method embodiments of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method corresponding to the present application.

Fig. 5 is a schematic structural diagram of a positioning and attitude determining device according to an embodiment of the present application. As shown in fig. 5, the positioning and attitude determining apparatus 400 provided in this embodiment includes:

the first processing module 401 is configured to acquire first observation data received by the dual antennas, and perform preset difference and baseline operation on the first observation data and the traditional pose data based on the 5G module to obtain second observation data.

The second observation data includes three-dimensional coordinates of the target object, the first observed heading angle of the target object, and angle data in the conventional pose data.

And the second processing module 402 is configured to perform preset correction operation according to the first observed course angle and a second observed course angle in the traditional pose data to obtain a target course angle of the target object.

The third processing module 403 is configured to determine a target heading angle and a roll angle and a pitch angle in the conventional pose data as pose data of the target object, and generate pose data of the target object according to the pose data and two-dimensional coordinates corresponding to three-dimensional coordinates of the target object.

On the basis of the embodiment shown in fig. 5, fig. 6 is a schematic structural diagram of another positioning and attitude determination device provided in the embodiment of the present application. As shown in fig. 6, the positioning and attitude determining apparatus 400 provided in this embodiment further includes:

and a fourth processing module 404, configured to send the pose data of the target object to the remote server according to a preset sending mode by the 5G module, so that the remote server generates a task processing policy according to the pose data of the target object.

A fifth processing module 402, configured to send the task processing policy to the preset controller through the 5G module by the remote server, so that the preset controller performs loading work on the target object according to the corresponding task included in the task processing policy, where the preset controller is configured in the port automatic loading system.

In one possible design, the first processing module 401 is specifically configured to:

acquiring traditional pose data based on the 5G module, wherein the traditional pose data comprises measurement data obtained by monitoring the pose of the target object by the inertial navigation module;

respectively carrying out preset difference operation and preset baseline vector operation on the first observation data and the traditional pose data, and determining an operation result as second observation data;

the preset difference and baseline operation comprises a preset difference operation and a preset baseline vector operation.

In one possible design, the first processing module 401 is further configured to:

unpacking a preset request message according to preset parameters of a navigation system to which an inertial navigation module belongs, and repackaging the unpacked preset request message according to a preset bearing format of a 5G module to obtain a 5G fusion message, wherein the preset request message is used for requesting to acquire traditional pose data;

and sending the 5G fusion message to the inertial navigation module through a 5G network so as to obtain the measurement data of the inertial navigation module aiming at the target object.

In one possible design, the first processing module 401 further includes: and a processing submodule. The processing submodule is used for:

packaging the acquired measurement data of the inertial navigation module according to a preset bearing format of a 5G module;

sending the packaged measurement data to a differential operation module through a 5G network, and unpacking the measurement data received by the differential operation module according to preset parameters;

and performing preset differential operation and preset baseline vector operation on the first observation data and the unpacked measurement data respectively by using a differential operation module.

In one possible design, the second processing module 402 is specifically configured to:

and performing preset filtering operation on the first observation course angle and the second observation course angle to determine a preset filtering operation result as a target course angle, wherein the preset correction operation comprises preset filtering operation.

In one possible design, the second processing module 402 is further configured to:

and if the difference value between the preset filtering operation result and the first observed course angle in the preset time interval exceeds the preset correction threshold value, resetting the preset filtering operation.

In one possible design, the third processing module 403 is specifically configured to:

the pose data of the target object are packaged into a data packet of a preset protocol according to preset parameters, and the data packet is unpacked according to preset parameters;

the unpacked data packet is packaged according to a preset bearing format of a 5G module, so that the packaged data packet is sent to a remote server through a 5G network;

the preset sending mode comprises preset parameters, a preset protocol and a preset bearing format.

the preset protocols include a Message Queue Telemetry Transport (MQTT) protocol and/or a serial communication (Modbus) protocol.

The embodiment of the present application further provides a positioning and attitude determining system based on 5G, including: a differential inertial navigation system configured with a 5G module, the differential inertial navigation system being placed on a surface of a target object and further comprising:

and the 5G module is used for determining pose data of the target object according to the measurement data and the first observation data and transmitting the pose data to the remote server, so that the remote server controls the preset controller to execute a task processing strategy on the target object.

The specific implementation principles, modes and effects of the 5G module, the inertial navigation module and the dual antenna in this embodiment are described in detail in the above-mentioned embodiment of the positioning and attitude determination method, and specific contents may refer to the description in the foregoing embodiment and are not described herein again.

In addition, it should be noted that the specific configuration mode between each module unit in the positioning and attitude determination system based on 5G may be set according to the corresponding configuration requirement in the actual working condition, which is not limited in this embodiment.

Fig. 7 is a schematic structural diagram of an electronic device provided in the present application. As shown in fig. 7, the electronic device 500 may include: at least one processor 501 and memory 502. Fig. 7 shows an electronic device as an example of a processor.

A memory 502 for storing computer programs for the processor 501. In particular, the program may include program code including computer operating instructions.

Memory 502 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

The processor 501 is configured to execute a computer program stored in the memory 502 to implement the respective steps of the positioning and attitude determination method in the above embodiments of the method.

The processor 501 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

Alternatively, the memory 502 may be separate or integrated with the processor 501. When the memory 502 is a device separate from the processor 501, the electronic device 500 may further include:

a bus 503 for connecting the processor 501 and the memory 502. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. Buses may be classified as address buses, data buses, control buses, etc., but do not represent only one bus or type of bus.

Alternatively, in a specific implementation, if the memory 502 and the processor 501 are integrated on a chip, the memory 502 and the processor 501 may communicate through an internal interface.

The present application also provides a computer-readable storage medium, which may include: a variety of media that can store program codes, such as a usb disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and in particular, a computer program is stored in the computer-readable storage medium, and when at least one processor of the electronic device executes the computer program, the electronic device executes the steps of the positioning and attitude determining method provided by the foregoing various embodiments.

Embodiments of the present application also provide a computer program product, which includes a computer program, and the computer program is stored in a readable storage medium. The computer program can be read from a readable storage medium by at least one processor of the electronic device, and the execution of the computer program by the at least one processor causes the electronic device to implement the steps of the positioning and attitude determination method provided by the various embodiments described above.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A method for positioning and determining attitude, comprising:

2. The position and orientation method according to claim 1, further comprising, after the generating pose data of the target object:

3. The method according to claim 1, wherein the performing pre-differencing and baseline operations on the first observation data and traditional pose data based on a 5G module to obtain second observation data comprises:

4. The method according to claim 3, wherein the acquiring the conventional pose data based on the 5G module comprises:

5. The method according to claim 4, wherein the performing a pre-difference operation and a pre-baseline vector operation on the first observation data and the traditional pose data respectively comprises:

6. The method according to any one of claims 1 to 5, wherein the performing a preset correction operation according to the first observed heading angle and the second observed heading angle in the conventional pose data comprises:

7. The method of claim 6, wherein the predetermined filtering operation is reset if the difference between the predetermined filtering operation result and the first observed course angle exceeds a predetermined correction threshold within a predetermined time interval.

8. The positioning and attitude determination method according to claim 5, wherein the 5G module transmits the pose data of the target object to the remote server according to the preset transmission mode, and comprises:

9. The method according to claim 8, wherein the predetermined bearer format comprises a non-independent networking/independent networking (NSA/SA) bearer format;

10. A positioning and gesture determining method according to claim 2, wherein the task processing strategy comprises tasks including at least one of a remote monitoring task, a remote scheduling task, a load capacity and progress prediction task, and a load capacity statistics task.

11. A position and attitude determination device, comprising:

12. An electronic device, comprising:

a processor; and the number of the first and second groups,

a memory for storing a computer program for the processor;

wherein the processor is configured to perform the positioning and pose method of any of claims 1 to 10 via execution of the computer program.

13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method for determining position and orientation of any one of claims 1 to 10.

14. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, carries out the method for localization of poses of any of claims 1 to 10.

15. A5G-based positioning and attitude determination system is characterized by comprising: a differential inertial navigation system configured with a 5G module, the differential inertial navigation system being placed on a target object surface and further comprising: