CN115616642A - Correction processing method, device, equipment and storage medium for position data - Google Patents
Correction processing method, device, equipment and storage medium for position data Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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Abstract
The invention discloses a correction processing method, a device, equipment and a storage medium of position data, wherein the method comprises the steps of obtaining position sequence information of at least one track point to be detected in a target area, carrying out multi-dimensional abnormity detection on the at least one track point to be detected based on the position sequence information to obtain an abnormity detection result of the at least one track point to be detected, determining a target abnormity track point based on the abnormity detection result, and carrying out position correction processing on the target abnormity track point based on adjacent track points of the target abnormity track point and a target abnormity type corresponding to the target abnormity track point to obtain target position sequence information. By utilizing the embodiment of the invention, multi-dimensional abnormal detection can be carried out on the track points, and corresponding correction processing can be carried out on the abnormal track points according to different abnormal types, so that the corrected track position information has higher precision, and the accuracy of the track position information can be improved.
Description
Technical Field
The present invention relates to the field of data processing technologies, and in particular, to a method, an apparatus, a device, and a storage medium for correcting position data.
Background
Along with the rapid development of artificial intelligence technology, the demand of vehicle automatic driving on high-precision maps is more and more urgent, and the high-precision maps provide high-reliability map data for automatic driving and can ensure the safe application of automatic driving.
In the prior art, a high-precision map is mainly manufactured by using data acquired by a vehicle-mounted laser scanning measurement system, and is limited by the influences of various reasons such as vehicle mechanical characteristics, road flatness, driver driving habits, complex field environments and the like, and the vehicle-mounted laser scanning measurement system is very easy to have abnormal conditions such as jitter and the like. For example, in an open area, the positioning accuracy of a GNSS (Global Navigation Satellite System) is high but greatly influenced by signal quality, and in an outdoor complex scene such as an urban canyon, an overhead space, a tunnel and the like, the positioning accuracy is unstable because the GNSS signal is blocked by a tree or a building; in a short time range, the Measurement accuracy of an IMU (Inertial Measurement Unit) is high, but as the mileage increases, the accumulated error gradually increases, so that the obtained trajectory data often has a large deviation, and error data such as repeated trajectory points and jump trajectory points can occur, which causes the problem of unsmooth jump of the generated point cloud data such as distortion and dislocation, and greatly affects the accuracy, generation efficiency and quality of the generated map.
Disclosure of Invention
In order to solve the above problems in the prior art, the present invention discloses a correction processing method, device, equipment, and storage medium for position data, which can perform multidimensional anomaly detection on track points, and perform corresponding correction processing on the anomalous track points according to different anomaly types, so that the corrected track position information has higher relative precision, and the accuracy of the track position information can be improved. The technical scheme disclosed by the invention is as follows:
according to an aspect of the embodiments disclosed herein, there is provided a method for correcting position data, including:
acquiring position sequence information of at least one track point to be detected in a target area;
performing multi-dimensional anomaly detection on the at least one track point to be detected based on the position sequence information to obtain an anomaly detection result of the at least one track point to be detected, wherein the anomaly detection result represents the probability that the at least one track point to be detected belongs to multiple anomaly track points;
determining a target abnormal track point based on the abnormal detection result;
and based on the adjacent track points of the target abnormal track points and the target abnormal type corresponding to the target abnormal track points, carrying out position correction processing on the target abnormal track points in the position sequence information to obtain target position sequence information.
Optionally, the anomaly detection result includes at least two of a first anomaly detection result corresponding to the first anomaly type, a second anomaly detection result corresponding to the second anomaly type, and a third anomaly detection result corresponding to the third anomaly type;
the first anomaly detection result is a first included angle between a first connecting line corresponding to the at least one track point to be detected and a second connecting line corresponding to the at least one track point to be detected, the first connecting line corresponding to any track point to be detected can be a connecting line between any track point to be detected and a first adjacent track point corresponding to any track point to be detected, the first adjacent track point is a former track point in adjacent track points corresponding to any track point to be detected, the second connecting line corresponding to any track point to be detected can be a connecting line between any track point to be detected and a second adjacent track point corresponding to any track point to be detected, and the second adjacent track point is a latter track point in adjacent track points corresponding to the at least one track point to be detected;
the second anomaly detection result is a second included angle between the first connecting line and the first direction;
and the third abnormal detection result is the angle difference information between the roll angle corresponding to the at least one track point to be detected and the roll angle corresponding to the second adjacent track point.
Optionally, the position sequence information includes coordinate information and a roll angle, and the multidimensional abnormality detection is performed on the at least one track point to be detected based on the position sequence information, and the result of obtaining the abnormality detection of the at least one track point to be detected includes:
determining the first included angle based on the coordinate information of the at least one track point to be measured, the coordinate information of the first adjacent track point and the coordinate information of the second adjacent track point;
determining the second included angle based on the coordinate information of the at least one track point to be measured and the coordinate information of the first adjacent track point;
and determining the angle difference information based on the roll angle of the at least one track point to be measured and the roll angle of the second adjacent track point.
Optionally, the position correction processing is performed on the target abnormal track point in the position sequence information based on the adjacent track point of the target abnormal track point and the target abnormal type corresponding to the target abnormal track point, and obtaining the target position sequence information includes:
under the condition that the target abnormity type is the first abnormity type, correcting the position information of the target abnormity track point to a midpoint position corresponding to a third connecting line in the first direction based on the position information of a first adjacent track point and the position information of a second adjacent track point to obtain target position sequence information;
the third connecting line is a connecting line between the first adjacent track point and the second adjacent track point, the first adjacent track point is a former track point in the adjacent track points corresponding to the target abnormal track point, and the second adjacent track point is a latter track point in the adjacent track points corresponding to the target abnormal track point.
Optionally, the position correction processing is performed on the target abnormal track point in the position sequence information based on the adjacent track point of the target abnormal track point and the target abnormal type corresponding to the target abnormal track point, and obtaining the target position sequence information includes:
under the condition that the target abnormity type is a second abnormity type, correcting the position information of the target abnormity track point to a midpoint position of a fourth connecting line in a second direction based on the position information of a first adjacent track point and the position information of a second adjacent track point to obtain target position sequence information;
the fourth connecting line is a connecting line between the first adjacent track point and the second adjacent track point, the first adjacent track point is a previous track point in the adjacent track points corresponding to the target abnormal track point, and the second adjacent track point is a next track point in the adjacent track points corresponding to the target abnormal track point.
Optionally, the position correction processing is performed on the target abnormal track point in the position sequence information based on the adjacent track point of the target abnormal track point and the target abnormal type corresponding to the target abnormal track point, and obtaining the target position sequence information includes:
under the condition that the target abnormal type is a third abnormal type, correcting a rolling angle corresponding to the target abnormal track point based on the position information of a second adjacent track point to obtain target position sequence information;
and the second adjacent track point is the next track point in the adjacent track points corresponding to the target abnormal track point.
Optionally, when the target abnormal track point includes a plurality of abnormal track points, the position correction processing is performed on the target abnormal track point in the position sequence information based on the adjacent track point of the target abnormal track point and the target abnormal type corresponding to the target abnormal track point, and obtaining the target position sequence information includes:
traversing the plurality of abnormal track points based on the time sequence corresponding to the plurality of abnormal track points, and executing the following process under the condition of traversing any abnormal track point:
based on adjacent track points of the current traversal track point and a target abnormal type corresponding to the current traversal track point, carrying out position correction processing on the current traversal track point to obtain current position sequence information;
and under the condition that the plurality of abnormal track points are traversed, taking the current position sequence information as the target position sequence information.
Optionally, after performing position correction processing on the target abnormal track point in the position sequence information based on the adjacent track point of the target abnormal track point and the target abnormal type corresponding to the target abnormal track point, and obtaining target position sequence information, the method further includes:
generating target point cloud data based on the target position sequence information;
and generating a map of the target area based on the target point cloud data.
According to another aspect of the disclosed embodiments of the present invention, there is provided a correction processing apparatus for position data, including:
the position sequence information acquisition module is used for acquiring the position sequence information of at least one track point to be detected in the target area;
the anomaly detection result generation module is used for carrying out multi-dimensional anomaly detection on the at least one track point to be detected based on the position sequence information to obtain an anomaly detection result of the at least one track point to be detected, and the anomaly detection result represents the probability that the at least one track point to be detected belongs to multiple anomaly track points;
the target abnormal track point determining module is used for determining a target abnormal track point based on the abnormal detection result;
and the correction processing module is used for carrying out position correction processing on the target abnormal track points in the position sequence information based on the adjacent track points of the target abnormal track points and the target abnormal type corresponding to the target abnormal track points to obtain the target position sequence information.
According to another aspect of the disclosed embodiments of the present invention, there is provided an apparatus, comprising: a processor; a memory for storing the processor-executable instructions; wherein the processor is configured to execute the instructions to implement the method of correction processing of position data as described in any one of the above.
According to another aspect of the disclosed embodiments, there is provided a computer-readable storage medium, wherein instructions, when executed by a processor of an electronic device, enable the electronic device to perform the method for correcting location data according to any one of the disclosed embodiments.
According to another aspect of the disclosed embodiments, there is provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the method of correction processing of position data according to any one of the disclosed embodiments.
The technical scheme provided by the embodiment of the invention at least has the following beneficial effects:
according to the correction processing method of the position data, the position sequence information of the track points is obtained, multi-dimensional abnormity detection is carried out on the track points based on the position sequence information, the abnormal track points and the abnormal types of the abnormal track points can be accurately and efficiently determined, corresponding correction processing is carried out on the abnormal track points based on the corresponding abnormal types and the adjacent track points, the abnormal track points can be accurately corrected, the corrected track position information has higher relative precision, and the accuracy of the track position information can be improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and, together with the description, serve to explain the principles of the disclosure and are not to be construed as unduly limiting the disclosure.
FIG. 1 is a flow diagram illustrating a method for correction processing of location data in accordance with an exemplary embodiment;
FIG. 2 is a schematic illustration of a first included angle shown in accordance with an exemplary embodiment;
FIG. 3 is a schematic diagram illustrating a second included angle in accordance with an exemplary embodiment;
FIG. 4 is a block diagram illustrating a correction processing apparatus for position data in accordance with an exemplary embodiment;
FIG. 5 is a block diagram illustrating a terminal device for correction processing of location data in accordance with an exemplary embodiment;
fig. 6 is a block diagram illustrating a server device for correction processing of location data according to an example embodiment.
Detailed Description
In order to make the technical solutions disclosed in the present invention better understood, the technical solutions in the embodiments disclosed in the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent 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 any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings 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 disclosure described herein are capable of operation in sequences other than those illustrated or 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 server 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.
The method for correcting the position data can be applied to correction of the track position data.
Fig. 1 is a flowchart illustrating a correction processing method of position data according to an exemplary embodiment, which includes the following steps, as shown in fig. 1.
S101: and acquiring the position sequence information of at least one track point to be detected in the target area.
In one embodiment, the target area may be an area in which a map needs to be generated; the position sequence information may be position information of at least one trace point to be measured arranged according to a time sequence of the at least one trace point to be measured. In practical application, the position sequence information may be acquired by a mobile measurement System, the mobile measurement System may include an inertial Navigation System, a GNSS (Global Navigation Satellite System), a wheel speed meter, and the like, and specifically, the position sequence information may reflect pose information of the inertial Navigation System. Specifically, the position sequence information may include Coordinate information, a roll angle, and the like, and specifically, the Coordinate information may be a Coordinate P (x, y, z) of at least one track point P to be measured in a WGS-84 Coordinate System (World geographic System-1984 Coordinate System), where x may be a north Coordinate or a latitude of the track point to be measured, y may be an east Coordinate or a longitude of the track point to be measured, z is an elevation Coordinate of the track point to be measured, and specifically, the elevation direction may be a direction along a normal line of the WGS-84 ellipsoid; and the Roll angle (Roll) of any track point to be detected is the Roll angle of the track acquisition vehicle at the track point to be detected.
S103: and performing multi-dimensional anomaly detection on the at least one track point to be detected based on the position sequence information to obtain an anomaly detection result of the at least one track point to be detected.
In a specific embodiment, the anomaly detection result represents an anomaly type to which the at least one trace point to be detected belongs, specifically, the anomaly type may be an anomaly type of the trace point, and the anomaly type may include a first anomaly type, a second anomaly type, and a third anomaly type.
In an optional embodiment, the anomaly detection results may include at least two of a first anomaly detection result corresponding to a first anomaly type, a second anomaly detection result corresponding to a second anomaly type, and a third anomaly detection result corresponding to a third anomaly type;
the first anomaly detection result is a first included angle between a first connecting line corresponding to the at least one track point to be detected and a second connecting line corresponding to the at least one track point to be detected, the first connecting line corresponding to any track point to be detected can be a connecting line between any track point to be detected and a first adjacent track point corresponding to any track point to be detected, the first adjacent track point is a former track point in adjacent track points corresponding to any track point to be detected, the second connecting line corresponding to any track point to be detected can be a connecting line between any track point to be detected and a second adjacent track point corresponding to any track point to be detected, and the second adjacent track point is a latter track point in adjacent track points corresponding to the at least one track point to be detected;
the second anomaly detection result is a second included angle between the first connecting line and the first direction;
and the third anomaly detection result is the angle difference information between the roll angle corresponding to the at least one track point to be detected and the roll angle corresponding to the second adjacent track point.
Specifically, the first anomaly type is an anomaly type corresponding to a first anomaly detection dimension, the second anomaly type is an anomaly type corresponding to a second anomaly detection dimension, and the third anomaly type is an anomaly type corresponding to a third anomaly detection dimension. The first direction may be a horizontal direction.
In a specific embodiment, the anomaly types may include elevation jump, horizontal jump, and attitude jump, and specifically, the first anomaly type may be horizontal jump, the second anomaly type may be elevation jump, and the third anomaly type may be attitude jump.
In a specific embodiment, the elevation jump is embodied in that the coordinate of the track point in the elevation direction is suddenly increased or reduced, so that the point cloud has a waterfall fault or is twisted up and down in the range, and the track point needs to be corrected in the elevation direction, so that the change of the track point is moderate and is consistent with the plane or gentle slope of a real road; the horizontal jump is embodied in that the position of the track point in the horizontal direction suddenly jumps out of the real track line, so that the point cloud has left-right distortion and deformation in the range, and the plane position of the track point needs to be corrected in the horizontal direction, so that the change is mild and is matched with the straight line or mild curve of the real road; the posture jump body is that the rolling angle of the track point is suddenly increased or reduced, so that a scissor-type included angle exists between the point cloud data and the actual point cloud data, the posture of the track point needs to be corrected, the change of the track point is mild, and the track point does not deviate from the horizontal plane of the actual road.
According to the embodiment, the track point with one or more abnormal types in elevation jump, horizontal jump and attitude jump can be detected, and the track position information after correction and smoothing has higher relative precision, so that the point cloud after calculation is ensured to be free of deformation and mutation, the result precision and accuracy of the vehicle-mounted laser scanning measurement system are improved, and the vectorization efficiency and quality of the high-precision map are further improved.
In an optional embodiment, the position sequence information includes coordinate information and a roll angle, and performing multi-dimensional anomaly detection on the at least one track point to be detected based on the position sequence information, and obtaining an anomaly detection result of the at least one track point to be detected may include:
determining the first included angle based on the coordinate information of the at least one track point to be measured, the coordinate information of the first adjacent track point and the coordinate information of the second adjacent track point;
determining the second included angle based on the coordinate information of the at least one track point to be measured and the coordinate information of the first adjacent track point;
and determining the angle difference information based on the roll angle of the at least one track point to be detected and the roll angle of the second adjacent track point.
In one embodiment, the formula for calculating the first included angle may be
Wherein the content of the first and second substances,
wherein, P n Representing the nth trace point to be measured, P n+1 Represents the n +1 th track point to be measured, P n+2 Represents the n +2 th track point to be measured and the angle P n P n+1 P n+2 Represents the first angle, P, corresponding to the (n + 1) th track point to be measured n (X n ,Y n ,Z n ) Coordinate information, P, representing the nth point of the track to be measured n+1 (X n+1 ,Y n+1 ,Z n+1 ) Coordinate information representing the (n + 1) th track point to be measured, P n+2 (X n+2 ,Y n+2 ,Z n+2 ) And (3) representing the coordinate information of the (n + 2) th track point to be detected, specifically, as shown in fig. 2.
In one embodiment, the second angle may be calculated by the following formula
Wherein, P n The nth track point to be measured is shown,P n+1 represents the n +1 th track point to be measured, P n+2 Represents the n +2 th track point to be measured and the angle P n P n+1 Represents a second angle, P, corresponding to the (n + 1) th track point to be measured n (X n ,Y n ,Z n ) Coordinate information, P, representing the nth point of the track to be measured n+1 (X n+1 ,Y n+1 ,Z n+1 ) And (3) coordinate information of the (n + 1) th track point to be measured is shown, specifically, as shown in fig. 3.
In one embodiment, the above-mentioned calculation formula of the angle difference information may be
ΔRoll＝|Roll n+1 -Roll n |
Wherein Δ Roll represents the angle difference information, roll n Roll angle, roll, representing the nth point of the track to be measured n+1 And (4) representing the roll angle of the (n + 1) th track point to be detected.
In the above embodiment, through the position sequence information who obtains the track point to based on position sequence information, carry out multidimension degree anomaly detection to the track point, have corresponding anomaly detection method to different abnormal type, promote the accuracy and the comprehensiveness of anomaly detection process, in addition, can go on simultaneously to the multiple anomaly detection of track point, each other does not influence, and, multiple anomaly detection method calculates simply convenient, can promote efficiency and rationality.
S105: and determining the target abnormal track points based on the abnormal detection result.
In a specific embodiment, the target abnormal track point may indicate, for the abnormal detection result, that at least one abnormal type of track point to be detected exists in at least one track point to be detected, specifically, when a first abnormal detection result of a certain track point to be detected does not satisfy a first preset condition, the track point to be detected is taken as the target abnormal track point, and the track point to be detected is the target abnormal track point with the first abnormal type;
under the condition that a second abnormal detection result of a certain track point to be detected does not meet a second preset condition, taking the track point to be detected as a target abnormal track point, wherein the track point to be detected is the target abnormal track point with a second abnormal type;
and under the condition that a third abnormal detection result of a certain track point to be detected does not meet a third preset condition, taking the track point to be detected as a target abnormal track point, wherein the track point to be detected is the target abnormal track point with the third abnormal type.
The first preset condition, the second preset condition and the third preset condition may be set according to actual application conditions, and specifically, the first preset condition, the second preset condition and the third preset condition may be set according to consideration of road relevant standard specifications, actual road current situations and vehicle mechanical characteristics. For example, the first preset condition is that the angle of the first angle is in the range of [130 °,180 ° ], the second preset condition is that the angle of the second angle is in the range of [0 °,30 ° ], and the third preset condition is that the angle difference information is in the range of [0 °,20 ° ].
S107: and based on the adjacent track points of the target abnormal track points and the target abnormal type corresponding to the target abnormal track points, carrying out position correction processing on the target abnormal track points in the position sequence information to obtain target position sequence information.
In an optional embodiment, the performing, based on adjacent track points of the target abnormal track point and a target abnormal type corresponding to the target abnormal track point, position correction processing on the target abnormal track point in the position sequence information to obtain the target position sequence information may include:
under the condition that the target abnormity type is the first abnormity type, correcting the position information of the target abnormity track point to a midpoint position corresponding to a third connecting line in the first direction based on the position information of a first adjacent track point and the position information of a second adjacent track point to obtain target position sequence information;
the third connecting line is a connecting line between the first adjacent track point and the second adjacent track point, the first adjacent track point is a former track point in the adjacent track points corresponding to the target abnormal track point, and the second adjacent track point is a latter track point in the adjacent track points corresponding to the target abnormal track point.
In a specific embodiment, P' n+1 (X′ n+1 ,Y′ n+1 ,Z n+1 ) And coordinate information of a midpoint corresponding to the third connecting line in the first direction, wherein the third connecting line is a connecting line between the nth track point and the (n + 2) th track point, and X' n+1 ＝(X n +X n+2 )/2，Y′ n+1 ＝(Y n +Y n+2 )/2。
In an optional embodiment, the performing, based on adjacent track points of the target abnormal track point and a target abnormal type corresponding to the target abnormal track point, position correction processing on the target abnormal track point in the position sequence information to obtain the target position sequence information may further include:
under the condition that the target abnormity type is a second abnormity type, correcting the position information of the target abnormity track point to a midpoint position of a fourth connecting line corresponding to the second direction based on the position information of the first adjacent track point and the position information of the second adjacent track point to obtain target position sequence information;
the fourth connecting line is a connecting line between the first adjacent track point and the second adjacent track point, the first adjacent track point is a former track point in the adjacent track points corresponding to the target abnormal track point, and the second adjacent track point is a latter track point in the adjacent track points corresponding to the target abnormal track point.
In a particular embodiment, P' n+1 (X n+1 ,X n+1 ,Z′ n+1 ) And coordinate information of a midpoint corresponding to the fourth connecting line in the second direction, wherein the fourth connecting line is a connecting line between the nth track point and the (n + 2) th track point, and Z' n+1 ＝(Z n +Z n+2 ) Specifically, the second direction is an elevation direction.
In an optional embodiment, the performing, based on adjacent track points of the target abnormal track point and a target abnormal type corresponding to the target abnormal track point, position correction processing on the target abnormal track point in the position sequence information to obtain the target position sequence information may further include:
under the condition that the target abnormal type is a third abnormal type, correcting the roll angle corresponding to the target abnormal track point based on the position information of a second adjacent track point to obtain target position sequence information;
and the second adjacent track point is the next track point in the adjacent track points corresponding to the target abnormal track point.
In a specific embodiment, under the condition that the roll angle of above-mentioned second adjacent tracing point is greater than the roll angle of the unusual tracing point of target, increase first predetermined angle to the roll angle of the unusual tracing point of target, under the condition that the roll angle of second adjacent tracing point is less than the roll angle of the unusual tracing point of target, reduce the second to the roll angle of the unusual tracing point of target and predetermine the angle, above-mentioned first predetermined angle and second predetermine the angle and can set up according to the practical application condition.
In the above embodiment, under the condition of different abnormal types, the abnormal trace points are corrected correspondingly, so that the accuracy of correction processing can be improved.
In an optional embodiment, when the target abnormal track point includes a plurality of abnormal track points, the performing, based on adjacent track points of the target abnormal track point and a target abnormal type corresponding to the target abnormal track point, position correction processing on the target abnormal track point in the position sequence information to obtain the target position sequence information may include:
traversing the plurality of abnormal track points based on the time sequence corresponding to the plurality of abnormal track points, and executing the following process under the condition of traversing any abnormal track point:
based on adjacent track points of the current traversal track point and a target abnormal type corresponding to the current traversal track point, carrying out position correction processing on the current traversal track point to obtain current position sequence information;
and under the condition that the plurality of abnormal track points are traversed, taking the current position sequence information as the target position sequence information.
In an optional embodiment, after performing position correction processing on the target abnormal track point in the position sequence information based on the adjacent track point of the target abnormal track point and the target abnormal type corresponding to the target abnormal track point to obtain target position sequence information, the method may further include:
generating target point cloud data based on the target position sequence information;
and generating a map of the target area based on the target point cloud data.
In an alternative embodiment, generating the target point cloud data based on the target location sequence information may include: determining target pose information of the target laser radar based on the target position sequence information and preset mapping information; and generating target point cloud data based on the target pose information and the time information.
In a specific embodiment, the target position sequence information may be target position and orientation information of the inertial navigation system, the target position and orientation information of the target lidar may include position information and rotation angle information of the target lidar, the time information may be a period from when the target lidar emits laser light to when the target lidar receives laser light, the target point cloud data may be point cloud data of an object in a target area collected by the target lidar, and the preset mapping information may represent a corresponding relationship between the position and orientation information of the inertial navigation system and the position and orientation information of the lidar.
In an optional embodiment, before generating the target point cloud data based on the target position sequence information, the method may further include:
fitting at least one track point based on the target position sequence information to obtain a fitting curve; smoothing the fitting curve to obtain updated position sequence information;
accordingly, the generating the target point cloud data based on the target position sequence information may include:
and generating target point cloud data based on the updated position sequence information.
In a specific embodiment, the specific refinement for generating the target point cloud data based on the updated position sequence information may refer to the specific refinement for generating the target point cloud data based on the target position sequence information, which is not described herein again.
In a specific embodiment, the generating the map of the target area based on the target point cloud data may include performing vectorization processing based on the target point cloud data to obtain a vectorized map; and taking the vectorized map as a map of the target area.
In the embodiment, the point cloud data is generated by combining the position sequence information updated after the correction processing, so that the map is generated, and the accuracy and the generation efficiency of the generated map can be effectively improved.
According to the technical scheme, the position sequence information of the track points is obtained, multidimensional abnormity detection is carried out on the track points based on the position sequence information, the abnormal track points and the abnormal types of the abnormal track points can be accurately and efficiently determined, corresponding correction processing is carried out on the abnormal track points based on the corresponding abnormal types and the adjacent track points, the abnormal track points can be accurately corrected, and the accuracy of track data is improved. In addition, multiple anomaly detection on the track points can be carried out simultaneously, mutual influence is avoided, the computation of the multiple anomaly detection and correction processing procedures is simple and convenient, and the efficiency and the reasonability of the anomaly detection and correction processing procedures can be improved. Moreover, the point cloud data is generated by combining the position sequence information updated after correction processing, so that the map is generated, and the precision and the generation efficiency of the generated map can be effectively improved.
Fig. 4 is a block diagram illustrating a correction processing apparatus for position data according to an exemplary embodiment. Referring to fig. 4, the apparatus includes:
a position sequence information obtaining module 410, configured to obtain position sequence information of at least one to-be-detected track point in a target area;
an anomaly detection result generation module 420, configured to perform multi-dimensional anomaly detection on the at least one to-be-detected trace point based on the position sequence information, to obtain an anomaly detection result of the at least one to-be-detected trace point, where the anomaly detection result represents a probability that the at least one to-be-detected trace point belongs to multiple anomaly trace points;
a target abnormal track point determining module 430, configured to determine a target abnormal track point based on the abnormal detection result;
and the correction processing module 440 is configured to perform position correction processing on the target abnormal track points in the position sequence information based on adjacent track points of the target abnormal track points and the target abnormal type corresponding to the target abnormal track points, so as to obtain target position sequence information.
Optionally, the anomaly detection result includes at least two of a first anomaly detection result corresponding to the first anomaly type, a second anomaly type corresponding to the second anomaly detection type, and a third anomaly detection result corresponding to the third anomaly type;
the first anomaly detection result is a first included angle between a first connecting line corresponding to the at least one track point to be detected and a second connecting line corresponding to the at least one track point to be detected, the first connecting line corresponding to any track point to be detected can be a connecting line between any track point to be detected and a first adjacent track point corresponding to any track point to be detected, the first adjacent track point is a former track point in adjacent track points corresponding to any track point to be detected, the second connecting line corresponding to any track point to be detected can be a connecting line between any track point to be detected and a second adjacent track point corresponding to any track point to be detected, and the second adjacent track point is a latter track point in adjacent track points corresponding to the at least one track point to be detected; the second abnormal detection result is a second included angle between the first connecting line and the first direction; and the third anomaly detection result is the angle difference information between the roll angle corresponding to the at least one track point to be detected and the roll angle corresponding to the second adjacent track point.
Optionally, the position sequence information includes coordinate information and a roll angle, and correspondingly, the anomaly detection result generating module 420 may include:
the first included angle determining unit is used for determining the first included angle based on the coordinate information of the at least one track point to be measured, the coordinate information of the first adjacent track point and the coordinate information of the second adjacent track point;
the second included angle determining unit is used for determining the second included angle based on the coordinate information of the at least one track point to be detected and the coordinate information of the first adjacent track point;
and the angle difference information determining unit is used for determining the angle difference information based on the roll angle of the at least one track point to be detected and the roll angle of the second adjacent track point.
Optionally, the correction processing module 440 may include:
the first correction processing unit is used for correcting the position information of the target abnormal track point to a midpoint position of a third connecting line corresponding to the first direction based on the position information of a first adjacent track point and the position information of a second adjacent track point to obtain target position sequence information under the condition that the target abnormal type is the first abnormal type;
the third connecting line is a connecting line between the first adjacent track point and the second adjacent track point, the first adjacent track point is a former track point in the adjacent track points corresponding to the target abnormal track point, and the second adjacent track point is a latter track point in the adjacent track points corresponding to the target abnormal track point.
Optionally, the correction processing module 440 may further include:
the second correction processing unit is used for correcting the position information of the target abnormal track point to a midpoint position corresponding to a fourth connecting line in the second direction based on the position information of the first adjacent track point and the position information of the second adjacent track point to obtain target position sequence information under the condition that the target abnormal type is the second abnormal type;
the fourth connecting line is a connecting line between the first adjacent track point and the second adjacent track point, the first adjacent track point is a former track point in the adjacent track points corresponding to the target abnormal track point, and the second adjacent track point is a latter track point in the adjacent track points corresponding to the target abnormal track point.
Optionally, the correction processing module 440 may further include:
a third correction processing unit, configured to, when the target exception type is a third exception type, correct a roll angle corresponding to the target exception track point based on position information of a second adjacent track point, to obtain the target position sequence information;
and the second adjacent track point is the next track point in the adjacent track points corresponding to the target abnormal track point.
Optionally, in a case that the target abnormal trajectory point includes a plurality of abnormal trajectory points, the correction processing module 440 may further include:
and the traversing unit is used for traversing the plurality of abnormal track points based on the time sequence corresponding to the plurality of abnormal track points, and executing the following process under the condition of traversing any abnormal track point:
the fourth correction processing unit is used for carrying out position correction processing on the current traversal track point based on the adjacent track points of the current traversal track point and the target abnormal type corresponding to the current traversal track point to obtain current position sequence information;
and the position sequence information updating unit is used for taking the current position sequence information as the target position sequence information under the condition that the plurality of abnormal track points are traversed.
Optionally, after the correcting module 440, the apparatus may further include:
the target point cloud data generation module is used for generating target point cloud data based on the target position sequence information;
and the map generation module is used for generating a map of the target area based on the target point cloud data.
With regard to the apparatus in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be described in detail here.
Fig. 5 is a block diagram illustrating an apparatus for correction processing of location data, which may be a terminal, according to an exemplary embodiment, and an internal configuration diagram thereof may be as illustrated in fig. 5. The apparatus includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the device is configured to provide computing and control capabilities. The memory of the electronic equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a correction processing method of position data. The display screen of the equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the equipment, an external keyboard, a touch pad or a mouse and the like.
Fig. 6 is a block diagram illustrating an apparatus for correction processing of location data, which may be a server, according to an exemplary embodiment, and an internal structure thereof may be as illustrated in fig. 6. The device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the device is configured to provide computing and control capabilities. The memory of the device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of correction processing of position data.
It will be appreciated by those skilled in the art that the configurations shown in fig. 5 or 6 are merely block diagrams of some of the configurations associated with the present disclosure, and do not constitute a limitation on the devices to which the present disclosure may be applied, and that a particular device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In an exemplary embodiment, there is also provided an apparatus comprising: a processor; a memory for storing the processor-executable instructions; wherein the processor is configured to execute the instructions to implement a method of correction processing of position data as in the disclosed embodiments of the invention.
In an exemplary embodiment, there is also provided a computer-readable storage medium in which instructions, when executed by a processor of an electronic device, enable the electronic device to perform a correction processing method of position data in the disclosed embodiments of the present invention.
In an exemplary embodiment, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform a correction processing method of position data in the disclosed embodiments of the invention.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, databases, or other media used in embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
Other embodiments of the present disclosure 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 disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure 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 present disclosure is to be limited only by the terms of the appended claims.
Claims (11)
1. A method for correcting position data, comprising:
acquiring position sequence information of at least one track point to be detected in a target area;
performing multi-dimensional anomaly detection on the at least one track point to be detected based on the position sequence information to obtain an anomaly detection result of the at least one track point to be detected, wherein the anomaly detection result represents an anomaly type to which the at least one track point to be detected belongs;
determining a target abnormal track point based on the abnormal detection result;
and based on the adjacent track points of the target abnormal track points and the target abnormal type corresponding to the target abnormal track points, carrying out position correction processing on the target abnormal track points in the position sequence information to obtain target position sequence information.
2. The method according to claim 1, wherein the anomaly detection results include at least two of a first anomaly detection result corresponding to a first anomaly type, a second anomaly detection result corresponding to a second anomaly type, and a third anomaly detection result corresponding to a third anomaly type;
the first anomaly detection result is a first included angle between a first connecting line corresponding to the at least one track point to be detected and a second connecting line corresponding to the at least one track point to be detected, the first connecting line corresponding to any track point to be detected can be a connecting line between any track point to be detected and a first adjacent track point corresponding to any track point to be detected, the first adjacent track point is a former track point in adjacent track points corresponding to any track point to be detected, the second connecting line corresponding to any track point to be detected can be a connecting line between any track point to be detected and a second adjacent track point corresponding to any track point to be detected, and the second adjacent track point is a latter track point in adjacent track points corresponding to the at least one track point to be detected;
the second anomaly detection result is a second included angle between the first connecting line and the first direction;
and the third anomaly detection result is the angle difference information between the roll angle corresponding to the at least one track point to be detected and the roll angle corresponding to the second adjacent track point.
3. The method for correcting and processing the position data according to claim 2, wherein the position sequence information includes coordinate information and a roll angle, the multi-dimensional anomaly detection is performed on the at least one track point to be detected based on the position sequence information, and obtaining an anomaly detection result of the at least one track point to be detected includes:
determining the first included angle based on the coordinate information of the at least one track point to be measured, the coordinate information of the first adjacent track point and the coordinate information of the second adjacent track point;
determining the second included angle based on the coordinate information of the at least one track point to be measured and the coordinate information of the first adjacent track point;
and determining the angle difference information based on the roll angle of the at least one track point to be detected and the roll angle of the second adjacent track point.
4. The method according to claim 1, wherein the performing the position correction processing on the target abnormal track point in the position sequence information based on the adjacent track point of the target abnormal track point and the target abnormal type corresponding to the target abnormal track point to obtain the target position sequence information comprises:
under the condition that the target abnormity type is the first abnormity type, correcting the position information of the target abnormity track point to a midpoint position corresponding to a third connecting line in the first direction based on the position information of a first adjacent track point and the position information of a second adjacent track point to obtain target position sequence information;
the third connecting line is a connecting line between the first adjacent track point and the second adjacent track point, the first adjacent track point is a former track point in the adjacent track points corresponding to the target abnormal track point, and the second adjacent track point is a latter track point in the adjacent track points corresponding to the target abnormal track point.
5. The method for correcting the position data according to claim 1, wherein the step of performing the position correction processing on the target abnormal track point in the position sequence information based on the adjacent track points of the target abnormal track point and the target abnormal type corresponding to the target abnormal track point includes:
under the condition that the target abnormity type is a second abnormity type, correcting the position information of the target abnormity track point to a midpoint position of a fourth connecting line corresponding to the second direction based on the position information of the first adjacent track point and the position information of the second adjacent track point to obtain target position sequence information;
the fourth connecting line is a connecting line between the first adjacent track point and the second adjacent track point, the first adjacent track point is a former track point in the adjacent track points corresponding to the target abnormal track point, and the second adjacent track point is a latter track point in the adjacent track points corresponding to the target abnormal track point.
6. The method according to claim 1, wherein the performing the position correction processing on the target abnormal track point in the position sequence information based on the adjacent track point of the target abnormal track point and the target abnormal type corresponding to the target abnormal track point to obtain the target position sequence information comprises:
under the condition that the target abnormal type is a third abnormal type, correcting the roll angle corresponding to the target abnormal track point based on the position information of a second adjacent track point to obtain target position sequence information;
and the second adjacent track point is the next track point in the adjacent track points corresponding to the target abnormal track point.
7. The method according to claim 1, wherein when the target abnormal trace point includes a plurality of abnormal trace points, the performing of the position correction on the target abnormal trace point in the position sequence information based on the adjacent trace points of the target abnormal trace point and the target abnormal type corresponding to the target abnormal trace point to obtain the target position sequence information includes:
traversing the plurality of abnormal track points based on the time sequence corresponding to the plurality of abnormal track points, and executing the following process under the condition of traversing any abnormal track point:
based on adjacent track points of the current traversal track point and a target abnormal type corresponding to the current traversal track point, carrying out position correction processing on the current traversal track point to obtain current position sequence information;
and under the condition that the plurality of abnormal track points are traversed, taking the current position sequence information as the target position sequence information.
8. The method according to claim 1, wherein after the position correction processing is performed on the target abnormal track point in the position sequence information based on the adjacent track point of the target abnormal track point and the target abnormal type corresponding to the target abnormal track point, and target position sequence information is obtained, the method further includes:
generating target point cloud data based on the target position sequence information;
and generating a map of the target area based on the target point cloud data.
9. A correction processing apparatus for position data, comprising:
the position sequence information acquisition module is used for acquiring the position sequence information of at least one track point to be detected in the target area;
the anomaly detection result generation module is used for carrying out multi-dimensional anomaly detection on the at least one track point to be detected based on the position sequence information to obtain an anomaly detection result of the at least one track point to be detected, and the anomaly detection result represents the probability that the at least one track point to be detected belongs to multiple anomaly track points;
the target abnormal track point determining module is used for determining a target abnormal track point based on the abnormal detection result;
and the correction processing module is used for carrying out position correction processing on the target abnormal track points in the position sequence information based on the adjacent track points of the target abnormal track points and the target abnormal type corresponding to the target abnormal track points to obtain the target position sequence information.
10. An apparatus, comprising:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute the instructions to implement a method of corrective processing of location data as claimed in any one of claims 1 to 8.
11. A computer-readable storage medium, wherein instructions in the storage medium, when executed by a processor of an electronic device, enable the electronic device to perform a correction processing method of position data according to any one of claims 1 to 8.
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| CN116414817A (en) * | 2023-06-08 | 2023-07-11 | 荣耀终端有限公司 | Track point processing method, electronic equipment and storage medium |
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| CN116414817A (en) * | 2023-06-08 | 2023-07-11 | 荣耀终端有限公司 | Track point processing method, electronic equipment and storage medium |
| CN116414817B (en) * | 2023-06-08 | 2024-06-07 | 荣耀终端有限公司 | Track point processing method, electronic equipment and storage medium |
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