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WO2018008627A1 - Système de positionnement satellitaire et procédé de positionnement satellitaire - Google Patents

Système de positionnement satellitaire et procédé de positionnement satellitaire Download PDF

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Publication number
WO2018008627A1
WO2018008627A1 PCT/JP2017/024469 JP2017024469W WO2018008627A1 WO 2018008627 A1 WO2018008627 A1 WO 2018008627A1 JP 2017024469 W JP2017024469 W JP 2017024469W WO 2018008627 A1 WO2018008627 A1 WO 2018008627A1
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WIPO (PCT)
Prior art keywords
marker
satellite positioning
orientation
moving body
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2017/024469
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English (en)
Japanese (ja)
Inventor
恵佑 渡邊
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Japan Aerospace Exploration Agency JAXA
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Japan Aerospace Exploration Agency JAXA
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Publication date
Priority claimed from JP2017040914A external-priority patent/JP6708328B2/ja
Application filed by Japan Aerospace Exploration Agency JAXA filed Critical Japan Aerospace Exploration Agency JAXA
Publication of WO2018008627A1 publication Critical patent/WO2018008627A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • 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
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • 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
    • G01S19/26—Acquisition or tracking or demodulation of signals transmitted by the system involving a sensor measurement for aiding acquisition or tracking

Definitions

  • the present invention relates to positioning using a GNSS (Global Navigation Satellite System), and more particularly to a satellite positioning system and a satellite positioning method using a single carrier phase positioning (PPP) method.
  • GNSS Global Navigation Satellite System
  • PPP single carrier phase positioning
  • RTK Real-Time Kinematic
  • PPP single carrier phase positioning
  • PPP-AR PPP Ambiguity Resolution
  • the PPP method and the PPP-AR method are referred to as the PPP method, except when both are compared and contrasted).
  • the PPP system has the advantage that it can achieve the same level of accuracy as the RTK system while not requiring a reference station.
  • the PPP method requires initialization processing for estimating a number of parameters such as errors in satellite orbits and satellite clocks, signal delay due to passing through the ionosphere and troposphere, and carrier phase bias.
  • Non-Patent Documents 1 to 3 See Non-Patent Documents 1 to 3)
  • the present invention has been made based on such circumstances, and a system and method that can reduce the time required for initialization processing in satellite positioning using a marker installed on the earth, It is an object of the present invention to provide a method capable of accurately measuring or evaluating a position and / or posture. Also provided is a system or method for determining marker posture error.
  • the satellite positioning system is A mobile unit having a satellite positioning unit, a marker detection unit, and a calculation unit; A marker whose position and orientation in the earth fixed coordinate system are measured in advance, The calculation unit calculates the position of the moving body in the fixed earth coordinate system based on the position and orientation of the marker detected by the marker detection unit, The satellite positioning unit receives information on the position of the moving object calculated by the calculation unit, and executes a satellite positioning process.
  • the marker detection unit may include an imaging device that captures an image of the marker.
  • a mobile unit having a satellite positioning unit, a marker detection unit, and a calculation unit; A plurality of markers whose positions in the earth fixed coordinate system are measured in advance, The calculation unit calculates the position of the moving body in the fixed earth coordinate system based on the positions of the plurality of markers detected by the marker detection unit, The satellite positioning unit receives information on the position of the moving object calculated by the calculation unit, and executes a satellite positioning process.
  • the satellite positioning method includes: Measuring in advance the position of the marker in the fixed earth coordinate system, or the posture of the marker; Detecting the marker by a marker detection unit mounted on the moving body, and calculating a position of the moving body in the earth fixed coordinate system based on the marker; Supplying information on the position of the mobile body in the fixed earth coordinate system to a satellite positioning unit mounted on the mobile body, and executing satellite positioning processing; Is provided.
  • the method for measuring the position and orientation of the marker includes: A method of measuring the position and orientation of a marker fixed on the ground by a mobile body having a satellite positioning unit, a marker detection unit, and a calculation unit, Obtaining a position of the mobile body in a fixed earth coordinate system; Moving the moving body along an arbitrary route; During the movement of the moving body, the marker detection unit observes the marker at each of a plurality of points, measures the relative position and relative orientation of the marker with respect to the marker detection unit, and based on the measurement result, Calculating a relative position of the moving body at the observation point with respect to the marker; Estimating the position and orientation of the marker in the fixed earth coordinate system using the position of the moving object in the earth fixed coordinate system and the calculated relative position of the moving object with respect to the marker at each observation point.
  • the distance between the position of the moving body in the earth fixed coordinate system at each observation point and the calculated relative position of the moving body with respect to the marker is calculated, and
  • the position and orientation of the marker in the earth fixed coordinate system that minimizes the evaluation function based on the sum of the distances can be used as the estimated value.
  • the method for measuring the position and orientation of the marker includes: A method of measuring the position and orientation of a marker fixed on the ground by a mobile body having a satellite positioning unit, a marker detection unit, and a calculation unit, Obtaining a position of the mobile body in a fixed earth coordinate system; Setting a plurality of virtual markers at arbitrary positions relative to the marker; Moving the moving body along an arbitrary route; During the movement of the moving body, at each of a plurality of points, the marker detection unit observes the marker and measures the position and orientation of the marker, and based on the result, the plurality of virtual markers at each point Calculating a relative position with respect to the moving body, and estimating positions of the plurality of virtual markers in the fixed earth coordinate system from the calculated relative positions of the plurality of virtual markers calculated at each observation point; Estimating the position and orientation of the marker from the estimated positions of the plurality of virtual markers; Is provided.
  • the arbitrary path is a straight line connecting a distal point and a proximal point viewed from the marker, and the plurality of virtual markers are on the straight line connecting the marker and each virtual marker. It can be located at the intersection of the perpendicular drawn down to the straight line and the straight line.
  • the method for evaluating the position and orientation of the marker according to the present invention is as follows.
  • the satellite positioning system is A mobile unit having a satellite positioning unit, a marker detection unit, and a calculation unit; A marker whose position and orientation in the earth fixed coordinate system are measured in advance, The calculation unit estimates the position of the moving body from the marker detected by the marker detection unit, The satellite positioning unit receives and initializes information on the estimated position of the mobile object, and the calculation unit includes: After the initialization, the marker detection unit estimates the position of the marker by observing the marker, and compares the estimated position of the marker with information on the position of the marker held in advance by the moving body. Then, it is determined whether or not there is an error in the posture of the marker held in advance by the moving body.
  • a method of determining the posture error of a marker according to the present invention is as follows.
  • the marker detection unit observing the marker, and from the result, the calculation unit estimates the position of the moving body;
  • the satellite positioning unit receives and initializes information on the estimated position of the mobile; Observing the marker after the initialization and estimating the position of the marker based on the result;
  • the arithmetic unit comparing the estimated position of the marker with the marker position held by the arithmetic unit, and determining whether or not there is an error in the posture of the marker based on the comparison result; Is provided.
  • the satellite positioning unit may execute satellite positioning processing by a single carrier phase positioning (PPP) method.
  • PPP single carrier phase positioning
  • the position and orientation information of the measured and / or evaluated marker in the earth fixed coordinate system can be shared between the moving body and a moving body different from the moving body.
  • the position and orientation of a marker whose position and orientation in the earth fixed coordinate system are measured in advance or the position of a plurality of markers whose positions in the earth fixed coordinate system are measured in advance are detected, and based on this, the moving object is detected.
  • the time required for initialization processing in satellite positioning can be shortened.
  • the position and / or orientation of the marker fixed on the ground is stored in advance, the position and / or orientation of the marker is measured by the above-described method, and the two are compared, thereby comparing the current position and / or orientation of the marker. Or the accuracy of the posture can be evaluated.
  • initialization in this specification includes re-initialization after positioning is interrupted. In other words, if a signal from the satellite cannot be received due to the presence of an obstacle between the GNSS antenna and the satellite, even if the signal can be received again after that, the interruption time is required to resume positioning. Depending on the situation, processing similar to initialization (re-initialization) may be required, and re-initialization after such positioning interruption is included.
  • FIG. 1 is a diagram comparing and contrasting main causes of errors and processing methods for reducing these errors in the RTK method and the PPP method.
  • FIG. 1 shows a vehicle used at a construction site as a mobile body that receives a signal from a positioning satellite, and a GNSS antenna that receives a signal from the positioning satellite is mounted on the vehicle.
  • GNSS antennas that receive signals from positioning satellites are mounted on mobile equipment such as agricultural machinery used in agriculture, surveying equipment used on surveying sites, and construction equipment used on construction sites. Satellite positioning can be executed.
  • a high precision clock is mounted on the satellite, but an error also occurs in the clock, and an error also occurs in the orbit of the satellite.
  • the signal emitted from the positioning satellite propagates through the ionosphere and the troposphere before reaching the GNSS antenna of the mobile body, but at that time, it receives a delay and an error due to this delay also occurs.
  • a reference station whose precise position is known is installed for such an error, both the mobile unit and the reference station receive radio waves from at least five positioning satellites, and between the mobile unit and the reference station. By exchanging signals, such errors can be canceled and an accuracy of several centimeters can be achieved.
  • radio waves are received from four or more positioning satellites, observation results and models are used, errors in satellite orbits and satellite clocks, signal delay due to passing through the ionosphere and troposphere, carrier phase bias, etc.
  • An initialization process for estimating a large number of parameters is performed.
  • the initialization process can be performed by an arithmetic device mounted on a mobile object that is to perform satellite positioning.
  • the position on the coordinate system fixed to the earth (referred to as the earth fixed coordinate system) can be estimated with the same accuracy as the RTK.
  • the initialization process takes a time from several tens of minutes to about one hour.
  • a visual marker as indicated by reference numeral 211 in FIG.
  • the visual marker 211 is fixed to the support base 212 as necessary. Then, the position and orientation of the installed visual marker 211 are accurately measured in advance.
  • the “position” of the visual marker indicates a position on the earth fixed coordinate system.
  • the “posture” of the visual marker is defined as the posture of a coordinate system (hereinafter referred to as “marker coordinate system” if necessary) fixed to the visual marker with respect to the fixed earth coordinate system.
  • the position and orientation of the visual marker 211 measured in advance are stored in association with the ID number of the visual marker 211 in a storage device related to the arithmetic device mounted on the moving body 201 shown in FIG.
  • the moving body 201 further includes a camera 202 as a marker detection unit and a GNSS antenna 203 as a part of a satellite positioning unit that receives a signal from a positioning satellite.
  • the relative positional relationship between the camera 202 and the GNSS antenna 203 is measured in advance.
  • the moving body 201 is moved so that the visual marker 211 enters the field of view of the camera 202, and the visual marker 211 is photographed by the camera 202. To do.
  • the visual marker 211 will be described.
  • the visual marker 211 used in the present embodiment includes a lens array including a large number of lenses arranged on a two-dimensional plane on a dot pattern arranged at a predetermined interval on the two-dimensional plane. The distance between the dots in the dot pattern is slightly different from the distance between the lenses in the lens array.
  • a visual marker is described in Japanese Patent No. 5842248, and the specific structure of such a visual marker is shown in FIGS.
  • the visual marker having the structure shown in FIG. 37 of the above patent publication is generally planar, but the position of the shading pattern changes sensitively to changes in the angle between the direction of the line of sight and the normal of the visual marker. To do. For this reason, depth information can be virtually added to a planar visual marker. When this planar visual marker is used, a change in angle can be detected with high accuracy, particularly near the front of the visual marker. The relationship between the angle between the direction of the line of sight and the normal of the visual marker and the position of the shading pattern is measured and stored in advance.
  • the visual marker is photographed by the camera 202 mounted on the moving body 201, and the image is input to an arithmetic unit mounted on the moving body.
  • the position and orientation of the visual marker 211 relative to the camera 202 can be calculated by the program. From this result, the position and orientation data of the visual marker 211 that has been measured and stored in advance in advance, and the relative positional relationship between the camera 202 and the GNSS antenna 203, the position of the GNSS antenna 203 in the fixed earth coordinate system. And the posture can be obtained.
  • the information on the accurate position and orientation of the GNSS antenna 203 obtained in this way is used for estimating the positioning parameter of the PPP method. As described above, it takes about several tens of minutes to about one hour for the PPP-type arithmetic unit to be able to estimate the position with high accuracy after being activated. This is the initial position of the GNSS antenna 203. This is because, when the estimation accuracy is not high, it is necessary to observe a large amount of satellite signals in order to obtain an estimated value with sufficient accuracy when estimating the positioning parameters including the position.
  • the satellite signal necessary for obtaining the same positioning parameter estimation accuracy can be obtained. It has been confirmed that the amount of observation can be dramatically reduced, and as a result, the time required for highly accurate position estimation can be reduced to, for example, several minutes.
  • the visual marker 211 is installed on a support base 212 provided near the entrance of the farm, and the position and By accurately measuring the posture in advance, the work machine is started, and the visual marker 211 is photographed by the camera 202, so that the precise position of the GNSS antenna 203 can be obtained with high accuracy within a few minutes after the start of the work machine. Can be estimated. Therefore, the time from the start of the work machine to the start of work can be greatly shortened.
  • a flat visual marker As another example of the visual marker, for example, a three-point marker often used in space applications can be used.
  • the three-point marker has a rod-like member extending in the normal direction in order to obtain depth information.
  • the posture of the three-point marker can be estimated from the visual shift of the front and rear ends of the rod-shaped member and the length of the rod-shaped member.
  • a space station or the like is provided with a plurality of three-point markers in order to obtain the attitude of the space station from the outside. In a situation where the installation location is not strictly required, such a three-point marker can be used as a visual marker.
  • the PPP method is used as the satellite positioning method using GNSS.
  • this embodiment is not limited to the PPP method as long as it is a satellite positioning method that does not require a reference station and requires time for initialization processing. This is the same in the following embodiments.
  • Embodiment 2 In the first embodiment, it is assumed that the position and orientation of the visual marker 211 are accurately measured in advance. Various methods are conceivable for the measurement of the position and orientation of the visual marker 211, including a method using a surveying instrument.
  • the moving body 201 that can estimate the position with high accuracy is used. Then, the position and posture of the visual marker 211 are accurately measured. As already described, in the PPP method, it takes a certain amount of time before the position of the moving body 201 can be accurately estimated. However, if the position can be estimated with high accuracy even if it takes a long time, The precise position and orientation of the visual marker 211 can be measured using the camera 202 mounted on the moving body 201 as follows.
  • FIG. 3 to 9 are diagrams showing a method for measuring the position and posture of the visual marker 211.
  • FIG. 3 As shown in FIG. 3, the visual marker 211 is on the right side, and the moving body 201 equipped with the camera 202 and the GNSS antenna 203 is on the left side.
  • the distance between the moving body 201 and the visual marker 211 is about 10 meters.
  • the position of the GNSS antenna 203 has already been estimated with high accuracy by the PPP method.
  • an inertial measurement device IMU: Inertial Measurement Unit
  • IMU Inertial Measurement Unit
  • the posture of the moving body 201 is necessary for calculating the position of the GNSS antenna 203 with respect to the camera 202.
  • virtual markers A and B are set at two points symmetrical with respect to the straight line and separated from the straight line to some extent on the vertical bisector of the straight line connecting the distal point and the proximal point of the moving body 201, respectively.
  • the position of each virtual marker in the coordinate system is stored.
  • the moving body 201 starts moving from the distal point toward the proximal point.
  • the visual marker 211 is observed by the camera 202, and the relative position and orientation of the visual marker 211 with respect to the camera 202 are measured.
  • the positions of the virtual markers A and B in the marker coordinate system stored first, and the relative position of the visual marker 211 with respect to the camera 202 measured at the observation point From the posture, the positions of the virtual markers A and B with respect to the camera 202 are obtained, and the distances from the camera 202 to the virtual markers A and B are calculated based on the positions.
  • FIG. 6 a circle having a radius as a distance to each of the virtual markers A and B obtained in FIG. 5 around the camera position (measured by satellite positioning and IMU) in the fixed earth coordinate system, Two circles are obtained for each observation point corresponding to each of the virtual markers A and B. As shown in FIG. 7, such an observation operation is performed at a number of observation points (for example, 100 points) while the moving body 201 moves from the distal point to the proximal point. Then, as shown in FIG. 8, for each of the virtual markers A and B, a number of circles equal to the number of observation points is obtained, and the intersections of these circles (stars in FIG. 8) are the respective points in the earth fixed coordinate system. This is the estimated position of the virtual marker.
  • a number of observation points for example, 100 points
  • FIG. 8 for each of the virtual markers A and B, a number of circles equal to the number of observation points is obtained, and the intersections of these circles (stars in FIG. 8) are the respective points in the earth fixed coordinate system.
  • the description is based on the geometrical interpretation that the intersection of the circles is the estimated position of the virtual marker, but in the actual calculation, from each observation point described with reference to FIG. 5 to each virtual marker.
  • the estimated position of the virtual marker is calculated using an optimization method based on the residual of the distance between the distance and the distance obtained from the position of each observation point and the estimated position of the virtual marker.
  • the estimated positions (stars in FIG. 9) of the virtual markers A and B in the fixed earth coordinate system thus obtained and the marker coordinates of the preset virtual markers A and B described in relation to FIG. From the position in the system, as shown in FIG. 9, the position and orientation of the visual marker 211 in the fixed earth coordinate system (the position and orientation of the marker coordinate system with respect to the fixed earth coordinate system) are calculated.
  • the setting position of the virtual marker can be variously set in addition to the vertical bisector of the straight line connecting the distal point and the proximal point as described above.
  • the traveling path of the moving body that moves while observing the visual marker is not limited to the straight line connecting the distal point and the proximal point as described above.
  • FIG. 10 to 16 are diagrams showing a method for measuring the position and orientation of the visual marker 211.
  • FIG. 10 the visual marker 211 is in front of the moving body 201 on which the camera 202 and the GNSS antenna 203 are mounted.
  • the distance between the moving body 201 and the visual marker 211 is about 10 meters.
  • the position of the GNSS antenna 203 has already been estimated with high accuracy by the PPP method.
  • the exact position and orientation of the visual marker 211 in the fixed earth coordinate system are unknown, but a temporary value is set for each in order to use for the calculation shown below. The temporary value does not need to be set as close as possible to the true value.
  • an error from the true value may be about 10 m in position or about 10 degrees in posture.
  • the moving body 201 starts moving in a direction approaching the visual marker 211.
  • the visual marker 211 is observed by the camera 202, and the relative position and orientation of the visual marker 211 with respect to the camera 202 are measured.
  • the relative position and orientation of the visual marker 211 with respect to the camera 202 measured at the observation point, and the position of the temporarily set visual marker 211 in the earth fixed coordinate system and From the attitude, the estimated position of the GNSS antenna 203 in the fixed earth coordinate system is calculated.
  • the measurement position of the GNSS antenna 203 in the fixed earth coordinate system is measured by satellite positioning.
  • the time when the camera 202 captures the visual marker 211 and the time when the position of the GNSS antenna 203 is measured by satellite positioning need to be synchronized.
  • the synchronization between the shooting time and the measurement time is, for example, by inputting a pulse signal output from the GNSS receiver in synchronization with the GPS time to a camera having an external trigger input function and synchronizing the GPS time with the camera. This can be achieved by releasing the shutter.
  • the position of the GNSS antenna 203 in the earth fixed coordinate system obtained by using the camera 202 and the visual marker 211 for one observation point during the movement of the moving body 201 (“+ (plus sign) in FIG. 13)”.
  • the position measurement result of the GNSS antenna 203 obtained by using satellite positioning in the fixed earth coordinate system (indicated by “ ⁇ (white circle)” in FIG. 13). be able to.
  • such an observation operation is performed at a large number of observation points (for example, 100 points) while the moving body 201 moves from the distal point to the proximal point with respect to the visual marker 211.
  • the position measurement result in the fixed earth coordinate system of the set of GNSS antennas 203 equal to the number of observation points is obtained.
  • the position in the earth fixed coordinate system at each observation point of the GNSS antenna 203 obtained by using the camera 202 and the visual marker 211 indicated by + in FIG. It changes in accordance with the position and orientation values of the previously set visual marker 211 in the earth fixed coordinate system.
  • the difference between the center of the position indicated by the + mark and the center of the position measured by the satellite positioning indicated by the ⁇ mark is as small as possible for all observation points.
  • the position and orientation values of the visual marker 211 in the earth fixed coordinate system are obtained. This makes it possible to estimate the position and orientation of the visual marker 211 in the fixed earth coordinate system that most closely matches the satellite positioning result at each observation point.
  • the precise measurement result of the position and orientation of the visual marker 211 thus obtained can be used as information on the position and orientation of the visual marker in the first embodiment.
  • the PPP method is used. It is possible to greatly reduce the time required for highly accurate position estimation at.
  • the positioning parameters are estimated by a method similar to the method described in the first embodiment (hereinafter referred to as “method 1”).
  • method 1 the method described in the first embodiment
  • the visual marker 211 does not know whether or not its position and posture are the exact position and posture that should originally be.
  • method 2 the position of the visual marker 211 in the fixed earth coordinate system is estimated by the method shown in the second embodiment (hereinafter referred to as “method 2”) using the estimated positioning parameter.
  • FIG. 19 schematically shows this.
  • the positioning error is obtained from the difference between the position P and the position Q, and the initial position is corrected using this as a correction amount as shown in FIG. 20, and the positioning parameter is estimated again by the method 1, the positioning error is remarkably reduced. can do. Furthermore, if the position and orientation of the visual marker are estimated by the method 2 in a state where the positioning error is reduced, the installation position and orientation of the visual marker described in the fifth embodiment will be described even when sufficient time has not elapsed since the start of positioning. Can be evaluated.
  • the position and orientation of the visual marker 211 are required to be accurate and accurate.
  • the position and orientation of the visual marker 211 change due to an earthquake or the like, and the position and direction of the ground change. It is possible that posture changes.
  • the accurate position and orientation of the GNSS antenna 203 cannot be estimated with high accuracy within a few minutes after the start-up of the work machine described in the first embodiment. Therefore, in the fifth embodiment, the accuracy of the position and orientation of the visual marker 211 whose position and orientation has already been measured is evaluated.
  • the accuracy of position estimation of the GNSS antenna 203 is about several centimeters if the estimation operation is continued for a certain time or more. For example, it is considered that this degree of estimation accuracy is obtained when the moving body 201 finishes the work of the day.
  • the visual marker 211 is photographed, and as described in the first embodiment, the image is input to the camera 202 by the program on the arithmetic unit mounted on the moving body as an input.
  • the position and orientation of the visual marker 211 is calculated, and the position and orientation data of the visual marker 211 that has been precisely measured and stored in advance and the relative positional relationship between the camera 202 and the GNSS antenna 203 are used to determine fixed coordinates on the earth.
  • the position and orientation of the GNSS antenna 203 in the system are obtained.
  • the position and orientation of the visual marker 211 can be corrected, or here
  • the position and orientation of the visual marker 211 obtained in the above can be newly stored in the storage device and used at the start of the next work.
  • two cylinders having a known radius are used as markers, and these are placed vertically by separating them to some extent (for example, 5 m apart), and the center position of the cylinder in the fixed earth coordinate system is measured in advance. Keep it.
  • the moving body is equipped with a laser scanner and an IMU as a marker detection unit.
  • the laser scanner emits a laser beam, and scans the laser beam radially from a laser rangefinder that can measure the distance from the time it takes to reflect the target object and return to the target object with high accuracy. Use what you can.
  • the position of the laser scanner in the fixed earth coordinate system can be calculated from the position of the laser scanner in the fixed earth coordinate system and the azimuth obtained by the IMU. It is possible to calculate, and using this, satellite positioning processing can be executed as in the first embodiment.
  • FIG. 21 shows the detection principle.
  • the left side of FIG. 21 shows a case where there is no error in the marker installation posture, that is, a case where the marker installation posture measured in advance and held by the system matches the actual marker installation posture.
  • the ⁇ mark connected by the line in the upper frame is the estimated position of the moving body obtained by observing the marker, and the ⁇ mark connected by the line in the lower frame was obtained by satellite positioning This is the estimated position of the moving object.
  • the right side of FIG. 21 shows a case where there is an error in the marker installation posture.
  • the estimated position of the moving object obtained by observing the marker at the first observation point is due to the effect of the marker installation posture error, as long as there is no error in the installation posture, as indicated by the ⁇ mark at the left end in the upper frame. Compare (offset).
  • offset When satellite positioning is initialized using this estimated position information, an error corresponding to the previous offset remains in the satellite positioning result after the initialization is completed. Although this error gradually decreases with the passage of time, it may be considered constant within the time range considered here.
  • the estimated position where the marker is installed is obtained by the same fitting as described above using these measurement results, it does not coincide with the installation position measured in advance and held by the system, and a difference occurs. This is because the error amount of the estimated position of the moving object obtained by the marker observation changes according to the distance from the marker, whereas the error amount of the estimated position of the moving object obtained by the satellite positioning is almost constant. to cause.
  • the marker observation result and the marker installation position / posture estimation result can be shared among a plurality of moving bodies using communication.
  • a moving body B has been described in the third embodiment by sharing information on the marker installation position and posture estimated by the method described in the third embodiment with another moving body B. Even if the estimation by the method is not performed by itself, the accurate information on the installation position and orientation of the marker can be used.
  • information on the position and orientation of the marker is shared with the ID assigned to the marker by means such as a two-dimensional code. Based on the ID and the rough position information of the moving body, it is possible to uniquely determine where the marker is installed.
  • FIG. 22 shows the contents of some embodiments described so far, and in each embodiment, what is known information and what is an estimation target.
  • (A), (B), and (C) correspond to each other, and (A), (B), and (C) correspond to the above-described Embodiment 1, Embodiment 3, and Embodiment 2, respectively.
  • FIG. 23 shows a coordinate system used in the following description
  • FIG. 24 shows a configuration of a system manufactured for an experiment
  • FIG. 25 shows a method of an experiment performed by mounting the manufactured system on a moving body. ing. The meaning of each symbol shown in FIG. 23 is shown in FIG.
  • FIG. 22A the initialization experiment shown in FIG. 22A will be described.
  • a marker was placed beside the road, and the position and orientation relative to the fixed earth coordinate system were accurately measured in advance.
  • the following is an example of a position and orientation measurement method.
  • point A the position in the fixed earth coordinate system of the point where the marker is installed
  • point B the point 10 meters away from the marker
  • a marker is set at point A so that the y-axis of the marker coordinate system matches the vertical direction, and a camera is set at point B so that the optical center is directly above point B. did. And the marker was image
  • the optical axis of the camera is parallel to the line segment connecting the points A and B.
  • the posture of the marker with respect to the camera By measuring the posture of the marker with respect to the camera, the posture of the marker with respect to the line segment connecting point A and point B can be obtained.
  • the attitude of the marker in the earth fixed coordinate system is calculated from this and the positions of the points A and B measured previously in the earth fixed coordinate system. Further, the height from the point A to the center of the marker is measured.
  • the position of the marker in the fixed earth coordinate system is calculated from this and the previously measured position of the point A in the fixed earth coordinate system.
  • a base station for post-processing RTK was set up on the side of the road for reference and collected positioning data.
  • the moving body was moved forward from the front of the marker toward the marker, and the moving body was stopped at a point about 10 m away from the marker where the marker entered the field of view of the camera. Note that the location of this point is unknown.
  • satellite positioning by PPP was started, and at the same time, marker measurement was started and the calendar (orbit / time information) of the satellite was acquired.
  • the satellite calendar can usually be obtained within 30 seconds.
  • the following formula is used using the marker measurement results: The positioning calculation is started with the position of the GNSS antenna calculated by the above as an initial value. Refer to FIG. 23 and FIG. 27 for the meaning of each symbol in this equation.
  • positioning data was acquired while advancing the moving body to a point about 20 m away from the starting point after 60 seconds had elapsed from the start of positioning.
  • the data thus obtained was compared and evaluated using post-processing RTK as a reference.
  • FIG. 26 is a diagram showing the result of this comparison.
  • the left side of FIG. 26 is a case where initialization using a marker is not performed. It can be seen that the error does not sufficiently converge at 60 seconds, and an error exceeding 1 m appears.
  • initialization is performed using the marker shown on the right side of FIG. 26, it can be seen that convergence is achieved instantaneously and accuracy within 3 cm of horizontal error is achieved.
  • Table 1 shows the horizontal positioning accuracy in each trial in five trial experiments. As can be seen from Table 1, very high accuracy was obtained.
  • a measurement experiment of the marker installation position and orientation shown in FIG. Similar to the experiment of (A) above, the moving body is advanced to the start point, satellite positioning and marker measurement by PPP are started, and initialization is performed. Unlike the case of the initialization in (A), the moving body starts moving forward while continuing the marker measurement. While making sure that the marker does not deviate from the field of view of the camera, it moves forward to a point about 1 m before the marker. Thereby, the marker measurement data synchronized with the positioning data and the positioning data can be acquired during movement.
  • the marker position and orientation are estimated based on the acquired data and Equation 1 by the above-described marker installation position and orientation estimation method, and a horizontal position error of 7.2 mm and an azimuth angle error of 0.081 degrees are obtained. It was.
  • the estimation of positioning parameters is usually performed by sequential processing (filter).
  • a filter extended Kalman filter
  • initialization is performed by inputting an estimated value of the position of the GNSS antenna obtained by marker observation as an initial value of the filter.
  • the positioning parameter can be estimated by a method other than the filter.
  • a specific example of such an estimation method is given below. In the following, as shown in the second embodiment, it is assumed that the satellite positioning and the marker observation are executed in synchronization while the moving body is moving, and both observation data can be obtained.
  • the first example is when a filter is used.
  • estimation accuracy can be improved by incorporating information such as the relative position / velocity and relative attitude / angular velocity of the moving body obtained by the marker observation into the dynamics of the system.
  • the second example is based on batch processing.
  • the satellite positioning data and marker observation data for a certain period can be handled collectively, and the parameters can be estimated by a technique such as nonlinear least squares.
  • the third example is a hybrid technique.
  • it is a technique having both filter and batch processing aspects. This corresponds to a technique called smoothing “and mapping” in the field of robotics. It is possible to improve the accuracy and reduce the calculation load by performing estimation in batches using data of a certain period and sliding the target period over time.
  • Error detection calculation is performed. This is because the positioning data and the observation data of the marker are acquired in synchronization, and calculation by post-processing is possible. It can be expected that the difference in the estimated amount of the marker position thus obtained is smaller than the value obtained for the first time. By repeating such a process, it is possible to finally suppress an error in the marker installation posture within an allowable range required for estimation of the antenna position.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention réduit le temps nécessaire pour le traitement d'initialisation dans le positionnement satellitaire. Un emplacement et une orientation pré-mesurés d'un marqueur visuel 211 dans un système de coordonnées terrestre sont stockés en association avec un numéro d'identification du marqueur visuel 211 dans un dispositif de stockage associé à un dispositif de calcul monté sur un objet mobile 201. L'objet mobile 201 comporte, monté sur celui-ci, une caméra 202 servant de dispositif d'imagerie et une antenne GNSS 203 pour recevoir des signaux provenant de satellites de positionnement. Une pré-mesure précise de l'emplacement et l'orientation précis du marqueur visuel 211 permet que l'emplacement et l'orientation du marqueur visuel 211 par rapport à la caméra 202 soient calculés par un programme sur le dispositif de calcul monté sur l'objet mobile, au moyen d'une image capturée au niveau de la caméra 202 en tant qu'entrée. À partir du résultat de celle-ci, l'emplacement de l'antenne GNSS 203 dans le système de coordonnées terrestre peut être trouvé, et les informations sur l'emplacement précis de l'antenne GNSS 203 obtenues ainsi sont utilisées pour estimer un paramètre de positionnement du schéma PPP.
PCT/JP2017/024469 2016-07-05 2017-07-04 Système de positionnement satellitaire et procédé de positionnement satellitaire Ceased WO2018008627A1 (fr)

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JP2019211448A (ja) * 2018-06-08 2019-12-12 清水建設株式会社 相互位置取得システム
EP3828499A1 (fr) * 2019-11-27 2021-06-02 Novatron Oy Procédé de détermination de l'emplacement et de l'orientation d'une machine
JP2022502722A (ja) * 2019-11-07 2022-01-11 広東工業大学Guangdong University Of Technology 自律運転車両の屋外運転システム
CN115267862A (zh) * 2022-07-26 2022-11-01 北京理工大学 基于多传感器输入融合的室内/室外切换定位方法和系统
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JP2019211448A (ja) * 2018-06-08 2019-12-12 清水建設株式会社 相互位置取得システム
JP7061933B2 (ja) 2018-06-08 2022-05-02 清水建設株式会社 相互位置取得システム
JP2022502722A (ja) * 2019-11-07 2022-01-11 広東工業大学Guangdong University Of Technology 自律運転車両の屋外運転システム
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CN115390117A (zh) * 2022-10-27 2022-11-25 湖南山和勘测设计有限公司 一种精密单点定位变形监测方法及装置

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