CN115235527A - Sensor external parameter calibration method and device and electronic equipment - Google Patents
Sensor external parameter calibration method and device and electronic equipment Download PDFInfo
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Abstract
The invention discloses a sensor external parameter calibration method, a sensor external parameter calibration device and electronic equipment. The method comprises the following steps: controlling the target equipment to execute external reference calibration movement operation; determining the speed variation of target sensors corresponding to different target sensors on target equipment when external parameter calibration movement operation is executed; wherein different sensors are mounted on the target device through rigid connections; and carrying out external reference calibration on different target sensors according to the speed variation of the target sensors corresponding to the different target sensors. According to the technical scheme, external reference calibration is carried out by means of the speed change conditions among different sensors, and the problems that the external reference calibration difficulty is high due to the fact that position measurement of part of sensors is not easy to cause, and the external reference calibration error is large due to the fact that position measurement is inaccurate are solved.
Description
Technical Field
The invention relates to the technical field of sensor calibration, in particular to a method and a device for calibrating external parameters of a sensor and electronic equipment.
Background
External reference calibration between sensors is an important requirement in the fields of mobile robots and automatic driving. In general, a mobile robot and an autonomous vehicle are equipped with various sensors such as a camera, a laser radar, and an inertial measurement sensor. In the related art, after the robot moves, the external reference calibration can be usually performed by using the position change among the sensors carried on the robot, but similar inertial measurement sensors are difficult to measure the relative position change, the external reference calibration between the sensors is difficult to perform, and a large external reference calibration error is likely to occur due to inaccurate position measurement.
Disclosure of Invention
The invention provides a sensor external parameter calibration method, a sensor external parameter calibration device and electronic equipment, and aims to solve the problems of high external parameter calibration difficulty caused by high sensor position measurement difficulty and large external parameter calibration error possibly caused by inaccurate position measurement.
According to an aspect of the invention, a sensor external parameter calibration method is provided, which includes:
controlling the target equipment to execute external reference calibration movement operation;
determining the speed variation of target sensors corresponding to different target sensors on the target equipment when external reference calibration movement operation is executed; wherein different sensors are carried on the target device by rigid connection;
and carrying out external reference calibration on different target sensors according to the speed variation of the target sensors corresponding to the different target sensors.
According to another aspect of the present invention, there is provided a sensor external parameter calibration apparatus, the apparatus comprising:
the control module is used for controlling the target equipment to execute external reference calibration movement operation;
the speed variation determining module is used for determining the speed variations of target sensors corresponding to different target sensors on the target equipment when the external reference calibration movement operation is executed; wherein different sensors are carried on the target device by rigid connection;
and the calibration module is used for performing external reference calibration on different target sensors according to the speed variation of the target sensors corresponding to the different target sensors.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the sensor external reference calibration method according to any embodiment of the invention.
According to the technical scheme of the embodiment of the invention, the external reference calibration movement operation is executed by controlling the target equipment, and the speed variation of the target sensor corresponding to different target sensors which are rigidly connected on the target equipment is determined; according to the speed variation of the target sensors corresponding to different target sensors, the external reference calibration is carried out on different target sensors, the external reference calibration is carried out by means of the speed variation conditions among different sensors, the problems that the external reference calibration difficulty is large due to the fact that the position measurement of the sensors is not easy to cause and the external reference calibration error is large due to the fact that the position measurement is inaccurate are solved, the external reference calibration difficulty among the sensors is reduced, and the external parameter calibration universality among the sensors is improved.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flowchart of a method for calibrating external parameters of a sensor according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for calibrating external parameters of a sensor according to a second embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a sensor external reference calibration apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device implementing the sensor external reference calibration method according to the embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "target," "preset," and "to be optimized" and the like in the description and claims of the present invention and the above drawings are used for distinguishing similar objects and are not necessarily used for describing a specific order or sequence. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, 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.
Example one
Fig. 1 is a flowchart of a sensor external reference calibration method according to an embodiment of the present invention, where the present embodiment is applicable to a case of calibrating an external reference between sensors, and the method may be performed by a sensor external reference calibration apparatus, where the sensor external reference calibration apparatus may be implemented in a form of hardware and/or software, and the sensor external reference calibration apparatus may be configured in any electronic device having the sensor external reference calibration method. As shown in fig. 1, the method for calibrating the external reference of the sensor of the present embodiment may include:
and S110, controlling the target equipment to execute an external reference calibration movement operation.
The method is suitable for the scene of external parameter calibration of the sensor. For example, a plurality of sensors are generally mounted on the target device, and the output data of each sensor is generally output in the coordinate system of the sensor itself, and the data of the sensors needs to be unified in the same coordinate system, so that external parameters of the sensors need to be calibrated.
The target device may be a mobile device that needs to perform external reference calibration on multiple sensors mounted on the target device, such as a mobile robot or an autonomous vehicle. The external parameter is the relative position relation or relative angle relation between different sensors. The external parameter calibration can refer to a process of calibrating external parameters between target sensors carried on target equipment, and the external parameter calibration movement operation can realize movement operation adopted by external parameter calibration of the sensors carried on the target equipment.
In one possible embodiment, the control target device performs an external reference calibration movement operation, which may include the following processes:
and controlling the target equipment to perform acceleration and deceleration movement along the external reference calibration movement route with the preset shape, and enabling the speed adjustment frequency of the target equipment to be larger than a preset frequency threshold.
Wherein the speed adjustment comprises a speed magnitude and/or a speed direction; the acceleration and deceleration movement comprises fixed acceleration, fixed deceleration, variable acceleration and variable deceleration.
The preset shape may be any shape of a route trajectory that allows the target device to move, and may include, but is not limited to, a straight line trajectory and/or a curved line trajectory, for example, an "8" shaped route, an "S" shaped route, a "Z" shaped route, and the like, so that it is ensured that the external reference calibration result can be more suitable for an actual operation scene to be used, and a more accurate external reference calibration value is obtained. Alternatively, the predetermined shape of the outer reference course of motion may include, but is not limited to, straight, sharp, quarter turn, turn around, left turn, right turn, and the like.
The preset frequency threshold may be the minimum number of times of adjusting the speed of the target device, and may be specifically set according to actual conditions, and only if it is ensured that the target device performs multiple speed adjustment changes, more speed variation data can be obtained for the same sensor, so as to ensure the sufficiency and reality of the data amount as much as possible, and thus, the calibration deviation caused by individual data can be avoided.
According to the technical scheme, the target equipment is controlled to perform acceleration and deceleration movement for multiple times on the external parameter calibration movement path with the preset shape, so that the speed of the target equipment is changed for multiple times, the speed change quantity numerical values of the sensors when the target equipment operates according to various speeds are conveniently recorded, the data of the speed change quantity are ensured to be as much as possible, and the situation that the calibrated external parameters are not representative due to small data quantity is avoided.
In a possible embodiment, the controlling target device performs acceleration and deceleration movement along the external reference calibration movement path with the preset shape, which may include the following processes:
and adjusting the load capacity of the target equipment, and controlling the target equipment with the adjusted load capacity to move in an acceleration and deceleration manner along the external reference calibration movement route with the preset shape.
The load capacity can be the weight born by the target equipment, and the motion state of the target equipment when the target equipment bears objects with different weights can be simulated in the external parameter calibration motion process by adjusting the weight of the objects born by the target equipment, so that the target equipment can collect sensor output values under different load conditions for calibration, and the accuracy of external parameter calibration is ensured. Alternatively, if it is considered that invalid data occurs if different loads are set, it may be directly set as empty and full.
Specifically, the load capacity of the target device is adjusted, the target device is controlled to perform acceleration and deceleration movement according to the external reference calibration movement route with the preset shape when different load capacities are achieved, and the speed adjustment frequency of the target device is larger than a preset frequency threshold. For example, when the target device is in an idle state, the target device is controlled to perform acceleration and deceleration movement according to the 8-shaped movement route, and then the target device is in a full-load state, and the target device is controlled to perform acceleration and deceleration movement according to the 8-shaped movement route; and respectively recording the speed variation of the target equipment under different loading capacity so as to carry out external reference calibration.
According to the technical scheme, the target equipment with different carrying capacity is controlled to perform acceleration and deceleration movement according to the external parameter calibration movement route with the preset shape, the speed variation of the target equipment in different states can be recorded, the data unicity is avoided, the data diversity is realized, and the external parameter calibration is more accurate.
S120, determining the speed variation of target sensors corresponding to different target sensors on the target equipment when the external reference calibration movement operation is executed; wherein the different sensors are mounted on the target device by a rigid connection.
The target sensor is a detection device which can convert a detected signal into an electric signal according to a certain rule or output the electric signal in other required forms so as to meet the requirements of information transmission, processing, storage, display, recording, control and the like. Such as laser sensors, inertial sensors, displacement sensors, velocity sensors, acceleration sensors, and the like.
Rigid connection may refer to a connection between two connecting members, in which when one connecting member is displaced or stressed, the other connecting member is not displaced or deformed relative to the first connecting member, i.e. the two connecting members are an integral body. For example, two connected sensors, will not generate relative displacement or deformation of the connection position between the two when the target device is accelerated and decelerated.
Specifically, when the target device executes the external reference calibration movement operation, a plurality of speeds of different target sensors on the target device on the external reference calibration movement route in a preset shape are determined, and a plurality of speed variation amounts of the corresponding target sensors are determined according to the plurality of speeds of the target sensors. For example, when the robot performs acceleration and deceleration movement according to the 8-shaped route, a plurality of speed values of each target sensor in the robot are determined in the operation process, and a plurality of speed variation of the corresponding target sensor are determined according to the plurality of speed values of the target sensor in the robot, so that the plurality of speed variation of each target sensor on the robot can be determined more accurately, the problem that errors are large due to the fact that the speed variation data are too few is avoided, the calibration of external references is facilitated, and the calibration errors of the external references are reduced.
S130, carrying out external reference calibration on different target sensors according to the speed variation of the target sensors corresponding to the different target sensors.
Specifically, when the target device performs the external parameter calibration movement operation, a plurality of speed variation amounts of the target sensors corresponding to different target sensors are determined, and the external parameters between the target sensors are calibrated according to the plurality of speed variation amounts of the target sensors. For example, when the target device executes the external reference calibration movement operation, a first speed variation corresponding to a first sensor and a second speed variation corresponding to a second sensor on the target device within the same time interval are determined, and the external reference between the first sensor and the second sensor is calibrated according to the first speed variation and the second speed variation of the same time interval.
According to the technical scheme of the embodiment of the invention, the external reference calibration movement operation is executed by controlling the target equipment, and the speed variation of the target sensor corresponding to different target sensors which are rigidly connected on the target equipment is determined; according to the method and the device for calibrating the external parameters of the sensor, the external parameters of different target sensors are calibrated according to the speed variation of the target sensors corresponding to the different target sensors, the external parameters are calibrated by means of the speed variation conditions among the different sensors, the problems that the external parameters are calibrated difficultly due to the fact that the measurement difficulty of the position data of the sensor is large and the external parameters are calibrated with large errors possibly due to the fact that the position measurement is inaccurate are solved, and the external parameters are calibrated among the sensors.
Example two
Fig. 2 is a flowchart of a sensor external reference calibration method according to a second embodiment of the present invention, and this embodiment describes in detail a speed variation of a target sensor on the basis of the second embodiment, so as to perform external reference calibration on different target sensors. As shown in fig. 2, the method for calibrating the external reference of the sensor of the present embodiment may include:
s210, aiming at each target sensor, determining the target sensor data corresponding to the target sensor acquired when the target equipment executes the external reference calibration movement operation at each acquisition moment.
Different target sensors are carried on the target equipment, and in the process of executing the external reference calibration movement operation by the target equipment, the target sensors can acquire data, namely the data of the target sensors corresponding to the target sensors acquired by each target sensor at different acquisition moments can be obtained. The target sensor data may include, but is not limited to, position data of the sensor, data of speed and direction, acceleration data, and data collection time of the sensor.
S220, determining the speed variation of the target sensor at a target time interval according to the data of the target sensor at each acquisition moment; each target time interval is determined by the time interval between any two adjacent acquisition moments selected from the respective acquisition moments, and the different target time intervals are not overlapping in time.
For each target time interval, each target sensor needs to obtain a target sensor speed variation, namely, each target sensor in the same target time interval calculates to obtain a target sensor speed variation, so that the speed variations in the same time interval can be used for representing when the speed variation difference between different sensors is determined. The target time interval can be a time interval within threshold time, so that a plurality of speed variation of the target equipment in the movement process can be obtained, the data volume is increased, and the reduction of external parameter errors is facilitated. It is understood that the threshold time may be set according to actual conditions, and may be 0.5 seconds, 1 second, 2 seconds, or the like.
Optionally, the target sensor data acquired at different acquisition moments are acquired when the target device moves along a straight line in the process of executing the external reference calibration movement operation.
Specifically, no matter what external reference calibration movement route of the preset shape the target equipment moves in an acceleration and deceleration manner, the target sensor data of the target equipment moving along the linear section are collected as far as possible, and the accuracy of the target sensor speed variation obtained at the target time interval can be ensured because the target sensor data of the target equipment moving along the linear section are collected when the time interval is used for obtaining the target sensor speed variation. For example, in the case of a position sensor, when position data of a curved portion is acquired, the position change data of a target time interval is calculated to be small, and the speed change amount acquired by the position change data is also small, which greatly affects the accuracy of the data, so that the target sensor data is recorded when the target device moves along a straight line.
In one possible embodiment, determining the target sensor speed variation of the target sensor at the target time interval based on the target sensor data of the target sensor at each acquisition time may include the following steps A1-A2:
step A1, if the target sensor is suitable for speed measurement, determining the acceleration of the target sensor at each acquisition time from the target sensor data of the target sensor at each acquisition time.
And A2, calculating the speed variation of the target sensor at different target time intervals according to the acceleration of the target sensor at each acquisition time and the target time interval duration.
Specifically, the method is suitable for a target sensor for speed measurement, and can acquire target sensor data at each acquisition time of the target sensor in the external reference calibration movement operation process of target equipment, determine the acceleration of the target sensor at each acquisition time according to the data of the target sensor, determine different target time intervals of the target sensor, and obtain the speed variation of the target sensor at different target time intervals through calculation by combining the acceleration of the target sensor at each acquisition time.
An example of an inertial sensor suitable for speed measurement during robot motion is to obtain t 1 Acceleration of inertial sensor at time, acceleration
Comprises the following steps:
in the same way, obtain t 2 Acceleration of time-of-day inertial sensor
Then at t 2 Velocity variation of moment inertial sensor
Relative to t 1 The time is as follows:
the method can obtain the speed variation of the target sensor at different target time intervals
The speed variation of the target sensor is more accurate. Wherein i is a positive integer greater than zero.
According to the technical scheme, after the acceleration of each acquisition moment of the target sensor suitable for speed measurement is determined, the speed variation of the target sensor at different target time intervals is accurately calculated, and the accuracy and the simplicity of acquisition of the speed variation of the target sensor are realized.
In one possible embodiment, determining the target sensor speed variation of the target sensor at the target time interval according to the target sensor data of the target sensor at each acquisition time may include the following steps B1-B2:
and B1, if the target sensor is suitable for position measurement, determining the sensor position of the target sensor at each acquisition time from the target sensor data of the target sensor at each acquisition time.
And B2, calculating the speed variation of the target sensor at different target time intervals according to the sensor position of the target sensor at each acquisition time and the target time interval duration.
Specifically, the method is suitable for a target sensor for position measurement, and can be used for acquiring target sensor data at each acquisition time of the target sensor in the external reference calibration movement operation process of target equipment, determining the sensor position at each acquisition time of the target sensor according to the data of the target sensor, determining different target time intervals of the target sensor, and obtaining the speed variation of the target sensor at different target time intervals through calculation by combining the sensor position at each acquisition time of the target sensor.
For example, during the movement of the robot, for the laser sensor on the robot, which is suitable for position measurement, the laser sensor t is obtained by using the laser odometer technology 0 Position of time of day
Comprises the following steps:
similarly, get t 2 Position of temporal laser sensor
Suppose the vehicle is moving at a constant speed, t, within a target time interval 0 <t 1 <t 2 And t is 0 、t 1 、t 2 Time of day is in thresholdWithin a time period of value, then t 1 Velocity of time-of-day laser sensor
Comprises the following steps:
similarly, get t 2 Velocity of time-of-day laser sensor
The laser sensor speed variation at time t2
Relative to t 1 The time is as follows:
the method can obtain the speed variation of the target sensor at different target time intervals
The speed variation of the target sensor is more accurate. Wherein i is a positive integer greater than zero.
According to the technical scheme, the position of each acquisition moment of the target sensor suitable for position measurement is determined, although the position data is easier to acquire, some target sensors such as an inertial measurement sensor cannot easily acquire the position data, and therefore the external reference calibration with the target sensor for position measurement is very difficult, the speed variation of the target sensor for position measurement at different target time intervals needs to be simply and accurately calculated, and the accuracy and the simplicity of acquisition of the speed variation of the target sensor are achieved. For example, the position of each acquisition time of the laser sensor is obtained, the speed variation of each target time interval is determined by determining different time intervals and the respective position information of the start time and the end time of the corresponding time interval, the acquisition of the speed variation is simply and accurately finished, and the external reference calibration is easier to perform.
In a possible embodiment, the external reference calibration of different target sensors according to the speed variation of the target sensor corresponding to the different target sensors may include the following steps C1-C2:
step C1, adopting the external reference calibration parameter variable to be optimized and the speed variation of the target sensors corresponding to the two target sensors in the same target time interval to construct a speed residual error between the target sensors; the speed residual error is used for describing the difference between the speed variable quantities of different sensors converted into the same coordinate system through external parameters;
and step C2, optimizing the speed residual errors among the target sensors at different target time intervals, and determining the optimized value of the external reference calibration parameter to be optimized.
The external parameter calibration parameter variable to be optimized can be an original external parameter with a certain error obtained by machining parameters or directly measuring before external parameter calibration operation.
Specifically, the speed residual error between the target sensors is constructed by adopting the external parameter calibration parameter variable to be optimized and the speed variable quantity of the target sensors corresponding to two target sensors in the same target time interval. For example, in the moving process of the robot, two sensors are respectively an inertial sensor and a laser sensor as target sensors with the same target time interval in the process of moving, and the external reference calibration parameter variable U to be optimized is combined with the speed variation of the inertial sensor in the same time interval
And the speed variation of the laser sensor
A formula for the velocity residual characterized by the difference in velocity change between the two sensors can be derived as follows:
wherein i is a positive integer greater than zero, t i Indicating the end time of the target time interval, the start time t of the target time interval i-1 . According to the technical scheme, the speed residual error between the target sensors is obtained through the speed variable quantity of the external parameter to be optimized and the speed variable quantity of the target sensors corresponding to the two target sensors in the same target time interval, when the speed residual error between the target sensors is smaller, the fact that the current external parameter is more practical is shown, and the error in calibration can be reduced, so that the speed residual error needs to be optimized to determine the optimized value of the external parameter to be optimized, and the external parameter is more accurate.
In one possible embodiment, optimizing the velocity residual function between target sensors for different target time intervals may include the following steps D1-D2:
and D1, taking the summation of multiplication results between speed residual errors between target sensors corresponding to different target time intervals and speed residual error transpose between the target sensors as a target function.
And D2, solving the objective function, and determining the value of the external parameter calibration parameter variable to be optimized when the objective function takes the minimum value.
Specifically, after the speed residual is determined, in order to obtain accurate external parameters, the external parameters need to be optimized, the sum of multiplication results between the speed residual between the target sensors corresponding to different target time intervals and the speed residual transpose between the target sensors needs to be used as a target function, the target function is solved, and the minimum value obtained by solving the target function is used as an optimized value of the external parameter calibration parameter variable to be optimized. For example, during robot motion, the velocity residual between the inertial sensor and the laser sensor has been obtained, and the objective function is:
and solving the objective function to obtain the minimum value of the objective function, and then obtaining the optimized value of the external reference calibration parameter variable to be optimized. In addition, after calibration is finished, the optimized value of the external parameter calibration parameter variable to be optimized can be used as the external parameter for sensor calibration, but as time goes on, due to various practical reasons, the error of the external parameter value becomes larger, so that the external parameter needs to be calibrated again after a period of time, so as to ensure the accuracy of the operation of the target equipment; of course, a dynamic calibration method may also be used to add the newly added speed variation to obtain the optimized value of the external reference calibration parameter variable to be optimized.
According to the technical scheme, after the speed residual between the target sensors is obtained, the target function is optimized, and the external parameter with higher precision is obtained through accurate calculation, so that the error between the target sensors is reduced, and the accuracy of the operation of target equipment is ensured.
According to the technical scheme of the embodiment of the invention, the external reference calibration movement operation is executed by controlling the target equipment, and the speed variation of the target sensor corresponding to different target sensors which are rigidly connected on the target equipment is determined; according to the method and the device for calibrating the external parameters of the sensor, the external parameters of different target sensors are calibrated according to the speed variation of the target sensors corresponding to the different target sensors, the technical scheme of the application carries out the external parameters calibration by means of the speed variation condition among the different sensors, the problems that the external parameters calibration difficulty is large due to the large measurement difficulty of the position of the sensor, and the external parameters calibration error is large due to the inaccurate position measurement are solved, the external parameters calibration difficulty among the sensors is reduced, and meanwhile, the precision of the external parameters calibration among the sensors is improved.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a sensor external reference calibration apparatus according to a third embodiment of the present invention. As shown in fig. 3, the apparatus includes:
and the control module 310 is configured to control the target device to perform an external reference calibration movement operation.
A speed variation determining module 320, configured to determine speed variations of target sensors corresponding to different target sensors on the target device when the external reference calibration movement operation is performed; wherein the different sensors are mounted on the target device by a rigid connection.
The calibration module 330 is configured to perform external reference calibration on different target sensors according to the speed variation of the target sensors corresponding to the different target sensors.
Optionally, the control module is specifically configured to:
controlling the target equipment to perform acceleration and deceleration movement along the external reference calibration movement route with the preset shape, and enabling the speed adjustment frequency of the target equipment to be larger than a preset frequency threshold;
wherein the speed adjustment comprises a speed magnitude and/or a speed direction; the acceleration and deceleration movement comprises fixed acceleration, fixed deceleration, variable acceleration and variable deceleration.
Optionally, the control module includes an operation unit, specifically configured to:
and adjusting the load capacity of the target equipment, and controlling the target equipment with the adjusted load capacity to move in an acceleration and deceleration manner along the external reference calibration movement route with the preset shape.
Optionally, the speed variation determining module is specifically configured to:
for each target sensor, determining target sensor data corresponding to the acquired target sensor when the target equipment executes the external reference calibration movement operation at each acquisition moment;
determining the speed variation of the target sensor at a target time interval according to the data of the target sensor at each acquisition moment;
each target time interval is determined by the time interval between any two adjacent acquisition moments selected from the respective acquisition moments, and the different target time intervals are not overlapping in time.
Optionally, the speed variation determining module includes a first speed variation determining unit, and is specifically configured to:
if the target sensor is suitable for speed measurement, determining the acceleration of the target sensor at each acquisition time from the target sensor data of the target sensor at each acquisition time;
and calculating the speed variation of the target sensor at different target time intervals according to the acceleration of the target sensor at each acquisition moment and the target time interval duration.
Optionally, the speed variation determining module includes a second speed variation determining unit, and is specifically configured to: :
if the target sensor is suitable for position measurement, determining the sensor position of the target sensor at each acquisition time from the target sensor data of the target sensor at each acquisition time;
calculating the speed variation of the target sensor at different target time intervals according to the sensor position of the target sensor at each acquisition moment and the target time interval duration;
optionally, the data of the target sensor acquired at different acquisition moments is acquired when the target device moves along a straight line in the process of executing the external reference calibration movement operation.
Optionally, the calibration module is specifically configured to:
adopting the external parameter calibration parameter variable to be optimized and the speed variation of the target sensors corresponding to the two target sensors in the same target time interval to construct a speed residual error between the target sensors; the speed residual error is used for describing the difference between the speed variable quantities of different sensors converted into the same coordinate system through external parameters;
and optimizing the speed residual errors among the target sensors at different target time intervals, and determining the optimized value of the external reference calibration parameter to be optimized.
Optionally, the calibration module includes an optimization unit, specifically configured to:
summing multiplication results of speed residual errors between target sensors corresponding to different target time intervals and speed residual error transposing between the target sensors to serve as a target function;
and solving the objective function, and determining the value of the external reference calibration parameter variable to be optimized when the objective function takes the minimum value.
The sensor external parameter calibration device provided by the embodiment of the invention can execute the sensor external parameter calibration method provided by any embodiment of the invention, has corresponding functions and beneficial effects of executing the sensor external parameter calibration method, and the detailed process refers to the related operations of the sensor external parameter calibration method in the previous embodiment.
Example four
Fig. 4 is a schematic structural diagram of an electronic device that can be used to implement the sensor external reference calibration method according to the embodiment of the present invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 may also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to the bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
In some embodiments, the sensor external reference calibration method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When loaded into RAM 13 and executed by processor 11, may perform one or more of the steps of the sensor external reference calibration method described above. Alternatively, in other embodiments, the processor 11 may be configured to perform the sensor external reference calibration method in any other suitable manner (e.g., by way of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired result of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A sensor external reference calibration method is characterized by comprising the following steps:
controlling the target equipment to execute external reference calibration movement operation;
determining the speed variation of target sensors corresponding to different target sensors on the target equipment when external parameter calibration movement operation is executed; wherein different sensors are mounted on the target device by rigid connections;
and carrying out external reference calibration on different target sensors according to the speed variation of the target sensors corresponding to the different target sensors.
2. The method according to claim 1, wherein the control-target device performs an externally referenced kinematic operation, comprising:
controlling the target equipment to perform acceleration and deceleration movement along an external reference calibration movement route with a preset shape, and enabling the speed adjustment frequency of the target equipment to be larger than a preset frequency threshold;
wherein the speed adjustment comprises a speed magnitude and/or a speed direction; the acceleration and deceleration movement comprises fixed acceleration, fixed deceleration, variable acceleration and variable deceleration.
3. The method of claim 2, wherein the controlling target device moves with acceleration and deceleration along the external reference calibration movement path with a preset shape, and the method comprises the following steps:
and adjusting the load capacity of the target equipment, and controlling the target equipment with the adjusted load capacity to move in an acceleration and deceleration manner along the external reference calibration movement route with the preset shape.
4. The method of claim 1, wherein determining a change in speed of a target sensor for different target sensors on the target device when performing the externally referenced movement operation comprises:
for each target sensor, determining target sensor data corresponding to the acquired target sensor when the target equipment executes the external reference calibration movement operation at each acquisition moment;
determining the speed variation of the target sensor at a target time interval according to the data of the target sensor at each acquisition moment;
each target time interval is determined by the time interval between any two adjacent acquisition moments selected from the respective acquisition moments, and the different target time intervals are not overlapping in time.
5. The method of claim 4, wherein determining a target sensor speed change for the target sensor over the target time interval based on the target sensor data for the target sensor at each acquisition time comprises:
if the target sensor is suitable for speed measurement, determining the acceleration of the target sensor at each acquisition time from the target sensor data of the target sensor at each acquisition time;
and calculating the speed variation of the target sensor at different target time intervals according to the acceleration of the target sensor at each acquisition moment and the target time interval duration.
6. The method of claim 4, wherein determining a target sensor speed change for the target sensor over the target time interval based on the target sensor data for the target sensor at each acquisition time comprises:
if the target sensor is suitable for position measurement, determining the sensor position of the target sensor at each acquisition moment from the target sensor data of the target sensor at each acquisition moment;
and calculating the speed variation of the target sensor at different target time intervals according to the sensor position of the target sensor at each acquisition moment and the target time interval duration.
7. The method of claim 1, wherein the externally referencing for different target sensors according to their corresponding target sensor speed variations comprises:
adopting the external reference calibration parameter variable to be optimized and the target sensor speed variation quantity corresponding to two target sensors in the same target time interval to construct the speed residual error between the target sensors; the speed residual error is used for describing the difference between the speed variable quantities of different sensors converted into the same coordinate system through external parameters;
and optimizing the speed residual errors among the target sensors at different target time intervals, and determining the optimized value of the external reference calibration parameter to be optimized.
8. The method of claim 7, wherein optimizing a velocity residual function between target sensors for different target time intervals comprises:
summing multiplication results of speed residual errors between target sensors corresponding to different target time intervals and speed residual error transposing between the target sensors to serve as a target function;
and solving the objective function, and determining the value of the external reference calibration parameter variable to be optimized when the objective function takes the minimum value.
9. A sensor external parameter calibration device is characterized by comprising:
the control module is used for controlling the target equipment to execute external reference calibration movement operation;
the speed variation determining module is used for determining the speed variations of the target sensors corresponding to different target sensors on the target equipment when the external parameter calibration movement operation is executed; wherein different sensors are mounted on the target device by rigid connections;
and the calibration module is used for performing external reference calibration on different target sensors according to the speed variation of the target sensors corresponding to the different target sensors.
10. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the sensor external reference calibration method of any one of claims 1-8.
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| CN202210861100.8A CN115235527B (en) | 2022-07-20 | 2022-07-20 | Sensor external parameter calibration method and device and electronic equipment |
| PCT/CN2023/099581 WO2024016892A1 (en) | 2022-07-20 | 2023-06-12 | Method and apparatus for external-parameter calibration of sensors, and electronic device |
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