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WO2019085526A1 - Procédé de correction de positionnement orienté espace tridimensionnel, procédé de positionnement combiné et dispositif - Google Patents

Procédé de correction de positionnement orienté espace tridimensionnel, procédé de positionnement combiné et dispositif Download PDF

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Publication number
WO2019085526A1
WO2019085526A1 PCT/CN2018/093087 CN2018093087W WO2019085526A1 WO 2019085526 A1 WO2019085526 A1 WO 2019085526A1 CN 2018093087 W CN2018093087 W CN 2018093087W WO 2019085526 A1 WO2019085526 A1 WO 2019085526A1
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Prior art keywords
positioning
coordinate system
base station
dimensional
calibration plate
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PCT/CN2018/093087
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English (en)
Chinese (zh)
Inventor
张道宁
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Nolo Co Ltd
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Nolo Co Ltd
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Priority claimed from CN201711068414.8A external-priority patent/CN109751992B/zh
Priority claimed from CN201810339917.2A external-priority patent/CN110388916B/zh
Application filed by Nolo Co Ltd filed Critical Nolo Co Ltd
Publication of WO2019085526A1 publication Critical patent/WO2019085526A1/fr
Anticipated expiration legal-status Critical
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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

Definitions

  • the invention relates to a positioning correction method for a three-dimensional space, and relates to a three-dimensional spatial positioning method and a combined positioning method, and to a corresponding three-dimensional spatial positioning correction device, which belongs to the technical field of wireless positioning.
  • the prior art provides a method for three-dimensional spatial positioning using two mutually perpendicular laser planes.
  • the three-dimensional space coordinate system is established based on the rotation axis of the motor. If the motor installation deviations are not completely perpendicular to each other, the coordinate axes (X, Y) established by the motor rotation axis are not completely orthogonal, and there is an error in the coordinate values of the device to be positioned obtained by such a coordinate system.
  • the primary technical problem to be solved by the present invention is to provide a positioning correction method for three-dimensional space.
  • Another technical problem to be solved by the present invention is to provide a three-dimensional spatial positioning method using the above-described positioning correction method.
  • Another technical problem to be solved by the present invention is to provide a three-dimensional spatial positioning correction apparatus using the above-described positioning correction method.
  • Still another technical problem to be solved by the present invention is to provide a combined positioning method for three-dimensional space.
  • a positioning correction method for a three-dimensional space comprising the following steps:
  • the coordinate system v of the three-dimensional spatial positioning device is corrected.
  • a three-dimensional spatial positioning method is provided.
  • the positioning correction method of the three-dimensional spatial positioning device is corrected by using the above-mentioned positioning correction method.
  • a three-dimensional spatial positioning correction apparatus comprising: a positioning base station, wherein the interior of the positioning base station comprises two mutually perpendicular motors, a laser emitting source and at least one ultrasonic ranging module, wherein:
  • the three-dimensional spatial positioning correction device further includes a plane calibration plate and a device capable of measuring the posture of the planar calibration plate itself;
  • the plane calibration plate is placed in a vertical state, and a three-dimensional orthogonal coordinate system is created as a reference;
  • the coordinate system v of the positioning base station is corrected.
  • a combined positioning method for three-dimensional space wherein in the process of performing position integration by an inertial measurement unit,
  • the positioning base station After the positioning base station acquires the positioning information, performing a prediction link and an update link based on the Kalman filtering algorithm;
  • the current position of the inertial measurement unit is corrected by the probability optimal model provided by the update link.
  • the invention creatively uses a level and a plane calibration plate to create a three-dimensional orthogonal coordinate system that can be independently used in three-dimensional space, and then places the plane calibration plate in each orientation, and sequentially collects the positions of the plurality of data points in the coordinate system v. Coordinate, obtain the attitude matrix of the relative base plane calibration plate of the positioning base station through the collection process of each position coordinate, obtain the deviation between the coordinate system v of the positioning base station and the ideal orthogonal coordinate system, thereby correcting the installation deviation of the motor in the positioning base station To make the three-dimensional positioning device achieve precise positioning.
  • 1 is a schematic diagram of three-dimensional spatial positioning using two laser planes and ultrasonic signals in the prior art
  • FIG. 2 is a schematic diagram of a true three-dimensional coordinate system of a positioning base station
  • FIG. 3 is a schematic diagram of a corrected non-orthogonal coordinate system
  • Figure 4 is a schematic diagram of an external reference model
  • Figure 5 is a diagram showing an example of the structure of a plane calibration plate
  • FIG. 6 is a schematic structural diagram of a three-dimensional spatial positioning correction device provided by the present invention.
  • FIG. 7 is a schematic diagram of the attitude of the inertial measurement unit relative to the positioning base station.
  • the coordinate system n is defined as a geodetic coordinate system with the gravity direction as the axis and the plane at the horizontal plane;
  • the coordinate system v is defined as the true coordinate system after the internal parameter correction and the hand-eye calibration;
  • the coordinate system b is defined as the inertia of the handle.
  • the coordinate axis of the measurement unit (IMU) is the reference coordinate system.
  • the provided three-dimensional spatial positioning device includes a positioning base station and a device to be located, and is mainly used as a VR/AR (Virtual Reality/Augmented Reality) or a UAV component.
  • the interior of the positioning base station includes at least two mutually perpendicular, continuously rotating motors, a laser emitting source (preferably a surface emitting type) and at least one ultrasonic ranging module in addition to the conventional arithmetic module.
  • the device to be positioned is preferably a handle, a head display or a head display locator, and the interior thereof includes a photosensitive module (for example, a photocell), a communication module, an ultrasonic receiver, and the like.
  • the device to be located continuously exchanges information with the positioning base station through the communication module, and solves the data transmitted by each sensor on the photosensitive module (for example, photocell) and the ultrasonic receiver, thereby providing precise positioning services required in practical applications.
  • the transverse motor and the longitudinal motor are angularly rotated around the rotating shafts O 1 O 2 and O 3 O 4 , respectively .
  • the laser beams emitted by the two laser emitting sources respectively illuminate the surface of the optical lens (for example, a word lens) to form two mutually perpendicular laser planes, or a laser beam emitted by one laser emitting source is irradiated onto the surface of the optical lens (for example, a beam splitter).
  • the motor rotates to drive the optical lens together to perform a uniform rotational motion
  • two rotating laser planes are formed in the three-dimensional space
  • the ultrasonic ranging module and the ultrasonic receiver provide distance constraint information for positioning.
  • the time synchronization synchronization is continuously performed through the communication module, so that the entire three-dimensional space positioning device has the same clock reference.
  • the device to be positioned senses the optical signal of the laser beam and calibrates the current time (called a time stamp), so the time stamp is triggered according to the event.
  • the base station/to-be-positioned device can calculate the angle of the current laser plane rotation, that is, determine the orientation information of the device to be located.
  • the ultrasonic ranging module adopts a TOF (time-of-fly) ranging method to measure the flight time of the ultrasonic wave at a linear distance between the positioning base station and the device to be positioned.
  • TOF time-of-fly
  • the distance between the positioning base station and the device to be located can be expressed as the flight time multiplied by the ultrasonic speed.
  • a plane O 1 O 2 Z 2 Z 1 and a plane O 3 O 4 Z 4 Z 3 are respectively defined as a Zero-Angle Reference Plane of a motor rotation angle, that is, when When the device to be located is just in the reference zero degree plane, the positioning base station is determined to have a zero angle of the target measurement.
  • the optimal reference zero plane position should be in the middle of the laser scanning area as much as possible.
  • the right-hand coordinate system is generally selected, and the current motor rotation axis is held, and the other motor shaft positive half-axis is pointed to the rotation direction. Therefore, according to the reference zero-degree planes O 1 O 2 Z 2 Z 1 and O 3 O 4 Z 4 Z 3 and the right-handed spiral rule, a coordinate system with the axis of ⁇ xyd ⁇ is established, and d is at the intersection of two reference zero-degree planes.
  • x, y are in the central axis of the motor rotation, and the coordinate system ⁇ xyd ⁇ is called the coordinate system v of the three-dimensional spatial positioning device (positioning base station), which provides a spatial scale for the virtual reality space (VR application).
  • the distance measuring center of the ultrasonic distance measuring module is located at the origin of the coordinate system v, that is, the coordinate of the ultrasonic wave is v [0 0 0] T , and the laser plane of the horizontal and vertical motors coincides with the phototube of the device to be positioned at time t,
  • the rotation angle of the relative reference zero plane is At this time, the ranging of the ultrasonic ranging module is R, that is, a set of sensing data is provided at the current time. If the coordinates of the target under the coordinate system v are v [x, y, z], it is easy to obtain according to the geometric relationship:
  • the three-dimensional coordinate system is established based on the rotation axis of the motor. If the motor has installation deviations that are not completely perpendicular to each other, the coordinate axes (X, Y) established by the motor rotation axis are not completely orthogonal, and the coordinate values of the device to be positioned obtained by such a coordinate system have significant errors. Under the limitations of the current manufacturing process, there are always large or small deviations in the mounting position of the motor, and it is difficult for the two laser plane sources to be completely vertical. Therefore, the positioning system using the above three-dimensional spatial positioning model will inevitably have errors in actual use.
  • the present invention first provides a positioning correction method for three-dimensional space.
  • the core technical idea of the positioning correction method is to create a three-dimensional orthogonal coordinate system (ie, an ideal orthogonal coordinate system) that can be independently used in three-dimensional space by using a specially-made test device, and then the three-dimensional orthogonal coordinate system and three-dimensional
  • the three-dimensional coordinate system that is, the coordinate system v of the positioning base station
  • the three-dimensional coordinate system that is, the coordinate system v of the positioning base station
  • the ideal orthogonal coordinate system that has been established by the spatial positioning device is compared to obtain a deviation between the coordinate system v of the positioning base station and the ideal orthogonal coordinate system, thereby correcting the installation deviation of the motor in the positioning base station.
  • the angle ⁇ represents the angle between the two line lasers (theoretical ⁇ is equal to 90°)
  • ⁇ 0 represents the absolute rotation angle corresponding to the reference zero degree plane in the lateral laser beam rotation. It represents the absolute rotation angle corresponding to the reference zero degree plane in the longitudinal laser beam rotation, and [x 0 , y 0 , z 0 ] is used to indicate the installation error of the ultrasonic measurement center relative to the coordinate origin. Therefore, the internal parameter model can be expressed as:
  • the true three-dimensional coordinate system of the positioning base station is as shown in FIG. 2. Since the reference zero planes O 1 O 2 Z 2 Z 1 and O 3 O 4 Z 4 Z 3 also require precise planar alignment. In order to ensure the orthogonality of the coordinate system ⁇ xyd ⁇ , the alignment of the reference zero-degree plane does not require the absolute position alignment of the plane, but ensures that the two reference zero-degree planes maintain a vertical geometric relationship, that is, the intersection line d must be perpendicular to the xy plane.
  • the x-axis and the y-axis are not 90 degrees.
  • R represents the attitude of the coordinate system v with respect to the coordinate system n
  • t represents the displacement of the coordinate system v with respect to the coordinate system n.
  • the parameters of the internal parameter model are calculated and calculated by a specially made test device.
  • the test apparatus includes a planar calibration plate and a device capable of measuring the attitude of the planar calibration plate itself, such as a level or an inertial measurement unit (IMU).
  • the plane calibration plate includes a plurality of data points (also referred to as photoelectric nodes), each of which includes a photosensitive module (ie, a photocell) and an ultrasonic receiver.
  • the photoelectric node can sense the optical signals of the two rotating laser surfaces of the positioning base station and the ultrasonic signals emitted by the ultrasonic ranging module, and mark the current corner.
  • the plane calibration plate 2 is vertically placed on the platform 3, and a level 4 is placed around the platform 3 to coincide with the ground level, and the level calibration plate 2 can be adjusted to the vertical using the level 4.
  • the corresponding optimal solution is a matrix A feature vector corresponding to the maximum value of the feature values. among them,
  • ⁇ Laser is an internal parameter model
  • [R, t] is an external parameter model
  • ⁇ Laser has 6 degrees of freedom
  • R has 3 degrees of freedom
  • t has 3 degrees of freedom, so at least 12 reference points are needed to make the above equation solvable.
  • 12 ⁇ 3 36 reference points should be established.
  • the three-dimensional orthogonal coordinate system created by the plane calibration plate is Ref coordinate system, then the kth row and the p column in the Ref coordinate system (k, p are positive integers)
  • the coordinates of the data points are:
  • T v->Ref [R t; 0 1]
  • the coordinate between the Ref coordinate system and the coordinate system v is transformed into:
  • the PnP algorithm (ie, the perspective n-point localization algorithm refers to a method of solving internal parameters or external parameters by multi-pairing 3D and 2D matching points, minimizing re-projection errors) is described as: when the relative positioning plane of the base station is known When the pose T v->Ref and the internal reference ⁇ c of the base station are located, the imaging of all data points in the visible region can be uniquely determined according to the projection relationship, and is expressed by the following formula:
  • the re-projection error of the spot imaging is expressed by the internal reference ⁇ c and the pose T v->Ref.
  • Representing the re-projection error vector of the k-th row p-column data point in the positioning base station, abbreviated as h kp , ref represents the coordinate matrix of the data point in the Ref coordinate system and ref kp Ref x kp , Representing the rotation angle of the laser rotation plane when the positioning base station detects the occurrence of the data point and If all the data points in the plane calibration plate are imaged, the reprojection error of all data points after projection transformation is
  • the positioning base station should project the imaging of the planar calibration plate from multiple viewing angles and acquire the perceptual measurement in multiple directions. If the j-th view angle is measured on the plane calibration plate, the re-projection error under the inner parameter ⁇ c and the outer parameter T j is known as h j . For a plane calibration plate measured N times (N is a positive integer) at different viewing angles, the sum of the squares of the reprojection errors of the data points in all poses is:
  • h 1,.,N represents the reprojection error vector of all the spots in all bit poses, namely:
  • the above optimization is essentially a nonlinear least squares problem, which can be solved using the conventional Gauss-Newton method or the Levenberg-Marquart method.
  • the step of variable update in the optimization iteration process is as follows: determine:
  • J represents the data point reprojection error vector h 1,.,N in all poses
  • the gradient function of the current estimate ⁇
  • ⁇ is the damping coefficient
  • h ⁇ is h 1,.,N ( ⁇ c ,R 1. .M , t 1..M ) Shorthand for vector.
  • the external parameter is obtained.
  • the internal reference coefficient and the external reference coefficient are brought into the positioning calculation of the device to be located, and the accurate three-dimensional spatial position data of the device to be positioned in the indoor environment can be obtained.
  • the positioning correction method provided by the present invention has been described in detail above. Based on the above positioning correction method, the present invention further provides a three-dimensional spatial positioning method using the positioning correction method.
  • the three-dimensional spatial positioning method is not limited to use in the three-dimensional spatial positioning model shown in FIG. 1, as long as the three-dimensional coordinates that have been established by using an ideal orthogonal coordinate system and a three-dimensional spatial positioning device are used in determining the orientation of the device to be positioned.
  • the system compares and obtains the deviation between the coordinate system v of the positioning base station and the ideal orthogonal coordinate system, and then corrects the three-dimensional spatial positioning result by using the deviation, which is a three-dimensional spatial positioning method defined by the present invention.
  • the existing three-dimensional spatial positioning device can provide precise location service in three-dimensional space, but there are limitations on the refresh rate for high-speed motion application scenarios.
  • the inertial measurement unit (IMU) can provide accurate position integration in a short time, and the refresh rate is high, without relying on external facilities, but it is easy to accumulate integral errors, and the position error in a long period of time is extremely large. Therefore, the technical characteristics of the two aspects can be combined with each other to realize combined positioning and navigation, and the refresh rate of the combined positioning system is further improved. A detailed description will be given below.
  • the target is in low-speed motion (less than 100m/s) and the positioning area is a small range such as several meters, the influence of the earth's rotation and the curvature of the earth is ignored, assuming that the coordinate system n does not change during the motion. Therefore, the combined positioning navigation in the indoor positioning scene can be simplified.
  • the coordinate system of the combined positioning navigation output is referenced by the coordinate system v
  • the system equation of the rigid body motion is established by using the 15th-order state quantity to realize the combined positioning navigation, that is, the state quantity selection target is in the coordinate system v.
  • Position, velocity, attitude, accelerometer drift, and gyroscope drift, ie state x [ v p k v v k ⁇ f, k ⁇ ⁇ , k q k ] T .
  • the equation of motion of its inertial navigation is:
  • the target motion acceleration under the coordinate system v Indicates the attitude of the coordinate system n relative to the coordinate system v, which is obtained by hand-eye calibration calculation.
  • the attitude transformation matrix from coordinate system b to coordinate system v the angular velocity of rotation is compensated by error.
  • ⁇ t is the sampling period
  • q ⁇ k ⁇ t ⁇ represents the quaternion corresponding to the gyroscope rotation angle ⁇ k ⁇ t
  • process noise It is accelerometer white noise, first-order Markov noise and gyroscope white noise, first-order Markov noise.
  • measuring noise The noise of the lateral corner, the longitudinal corner and the ultrasonic ranging, respectively Indicates the ultrasonic ranging value between the handle and the positioning base station.
  • the mechanism and model characteristics of the target motion in the combined positioning method can be obtained. Further, the Kalman filter algorithm is used to perform filter correction and fusion.
  • a first order approximation of the state quantities is required in view of its motion state equation and the nonlinearity of the measurement equation, i.e., using an expandable Kalman filter algorithm.
  • the specific instructions are as follows:
  • the error amount is used as the state quantity of the filter, and the error amount is position error, speed error, attitude error, accelerometer zero value drift and gyro zero value drift, which are expressed as:
  • K, H, P, Q, F, etc. in the above equation are all conventional parameters used in the Kalman filter algorithm.
  • K is the Kalman gain
  • V is the measurement noise
  • P is the covariance of the measurement noise
  • H is the parameter of the measurement system
  • Q is the covariance of the system noise
  • F is the state transition matrix.
  • the unprefixed quantity represents the actual amount
  • the "k” or "t” in the suffix represents the actual amount at the kth or tth time
  • the quantity with the prefix " ⁇ " represents the predicted amount
  • with the prefix " ⁇ The amount represents the deviation value corresponding to the predicted amount.
  • the inertial measurement unit is position integrated at a higher rate to refresh the position data in real time.
  • the position information output by the inertial measurement unit and the position information provided by the positioning base station are merged, and the current position of the inertial measurement unit is performed by using the probability optimal model provided by the update link. Correction.
  • the above calculation process has been cycled. That is, each time the positioning base station acquires the positioning information, the combined positioning system performs the following combined positioning method:
  • the present invention creatively uses a level and a plane calibration plate to create a three-dimensional orthogonal coordinate system that can be independently used in three-dimensional space, and then places the planar calibration plate in various orientations and sequentially collects multiple data points.
  • the plane tilt angle is obtained by acquiring the attitude matrix of the relative planar calibration plate of the base station by each laser signal and the ultrasonic signal collecting process, thereby obtaining the deviation between the coordinate system v of the positioning base station and the ideal orthogonal coordinate system, thereby correcting the positioning of the base station.
  • the installation deviation of the motor enables the three-dimensional positioning device to achieve precise positioning.
  • the present invention uses at least two different positioning techniques to perform mutual correction by means of information fusion, so that combined positioning and navigation can be realized.
  • the combined positioning method on the one hand, the accumulated integral error of the inertial measurement unit can be eliminated, and the three-dimensional space can be accurately positioned; on the other hand, the refresh rate of the three-dimensional spatial positioning device can be further improved, and the user experience is improved.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un procédé de correction de positionnement orienté espace tridimensionnel, un procédé de positionnement en espace tridimensionnel et un procédé de positionnement combiné, ainsi qu'un dispositif de correction de positionnement en espace tridimensionnel correspondant. Le procédé de correction de positionnement comprend les étapes suivantes : premièrement, créer un système de coordonnées orthogonales tridimensionnel utilisé indépendamment dans un espace tridimensionnel; puis, comparer le système de coordonnées orthogonales tridimensionnel à un système de coordonnées v qui a été établi par un dispositif de positionnement en espace tridimensionnel, de façon à obtenir un écart entre le système de coordonnées v du dispositif de positionnement en espace tridimensionnel et le système de coordonnées orthogonales tridimensionnelles; et enfin, corriger un calcul de positionnement du dispositif de positionnement en espace tridimensionnel sur la base de l'écart. Au moyen du procédé de correction de positionnement, un dispositif de positionnement en espace tridimensionnel peut être positionné avec précision.
PCT/CN2018/093087 2017-11-03 2018-06-27 Procédé de correction de positionnement orienté espace tridimensionnel, procédé de positionnement combiné et dispositif Ceased WO2019085526A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201711068414.8 2017-11-03
CN201711068414.8A CN109751992B (zh) 2017-11-03 2017-11-03 面向室内三维空间的定位校正方法、定位方法及其设备
CN201810339917.2A CN110388916B (zh) 2018-04-16 2018-04-16 面向三维空间的组合定位方法及其系统
CN201810339917.2 2018-04-16

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