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WO2021223107A1 - Procédé de traitement de signal, dispositif électronique et support de stockage lisible par ordinateur - Google Patents

Procédé de traitement de signal, dispositif électronique et support de stockage lisible par ordinateur Download PDF

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Publication number
WO2021223107A1
WO2021223107A1 PCT/CN2020/088798 CN2020088798W WO2021223107A1 WO 2021223107 A1 WO2021223107 A1 WO 2021223107A1 CN 2020088798 W CN2020088798 W CN 2020088798W WO 2021223107 A1 WO2021223107 A1 WO 2021223107A1
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Prior art keywords
electronic device
image
satellite
satellite signal
target
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PCT/CN2020/088798
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English (en)
Chinese (zh)
Inventor
解德鹏
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to PCT/CN2020/088798 priority Critical patent/WO2021223107A1/fr
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Anticipated expiration legal-status Critical
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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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith

Definitions

  • This application relates to the field of signal processing technology, and in particular to a signal processing method, an electronic device, and a computer-readable storage medium.
  • the satellite positioning system is a technology that accurately locates something through satellites. This technology is widely used in mobile devices that require positioning, such as drones and mobile phones. However, when the mobile device moves to an environment with obstructions, due to the multipath effect, part of the satellite signal received by the mobile device will be distorted. If the distorted satellite signal is used for positioning, the result will be inaccurate. s position.
  • this application provides a signal processing method, electronic device, and computer-readable storage medium to solve the technology that when mobile devices use satellite signals for positioning, some satellite signals are distorted due to multipath effects and the positioning results are inaccurate. problem.
  • the first aspect of the present application provides a signal processing method applied to an electronic device, including:
  • the processing module of the electronic device determines whether there is at least one target satellite signal from the acquired multiple satellite signals, wherein the at least one target satellite signal is transmitted by one of the multiple satellites and passes through a single path The satellite signal propagated to the receiving module;
  • a positioning method for the electronic device is determined.
  • a second aspect of the present application provides an electronic device, including:
  • the receiving module is used to obtain multiple satellite signals transmitted by multiple satellites
  • the processing module is configured to determine whether there is at least one target satellite signal from the plurality of satellite signals acquired by the receiving module, wherein the at least one target satellite signal is transmitted by one of the plurality of satellites and passed through a single Satellite signals propagated to the receiving module through the path; and determining the positioning mode of the electronic device according to the number of the at least one target satellite signal.
  • a third aspect of the present application provides a computer-readable storage medium having a computer program stored on the computer-readable storage medium, and when the computer program is executed by a processor, any one of the signal processing methods provided in the above-mentioned first aspect is implemented .
  • the signal processing method provided by the embodiments of the application can determine the target satellite signal among the acquired multiple satellite signals.
  • the target satellite signal is the satellite signal that travels from the satellite to the electronic device through a single path, that is, it is not subject to multipath. Interfering satellite signals, therefore, the specific positioning method can be determined according to the number of target satellite signals, instead of directly using all received satellite signals (including satellite signals distorted due to multipath interference) for positioning without distinction. Can improve the accuracy of positioning.
  • Fig. 1 is a schematic diagram of a drone flying scene provided by an embodiment of the present application.
  • Fig. 2 is a flowchart of a signal processing method provided by an embodiment of the present application.
  • Fig. 3 is a schematic diagram of a principle of determining a target satellite provided by an embodiment of the present application.
  • Fig. 4 is a schematic diagram of a principle of determining a field of view provided by an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • Satellite positioning technology has applications in a variety of devices and devices. For example, various vehicles, mobile phones, drones, tablets, and even smart TVs and cameras can be equipped with corresponding satellite positioning modules to achieve satellite positioning functions.
  • satellite positioning technology has its limitations. The following is an example of an unmanned aerial vehicle.
  • the UAV can directly receive satellite signals transmitted by at least four satellites. These satellite signals are not reflected by obstructions when they are transmitted from the satellite to the UAV. , Scattering or refraction, so there is no delay in reaching the UAV. Using these satellite signals for positioning can accurately locate the absolute position of the UAV.
  • FIG. 1 is a schematic diagram of a drone flying scene provided by an embodiment of the present application.
  • the drone 105 flies between two buildings from an open environment. In an open environment, the drone 105 can receive the first satellite 101 and the second satellite directly and unobstructed. 102.
  • an embodiment of the present application provides a signal processing method, which is applied to an electronic device.
  • FIG. 2 is a flowchart of a signal processing method provided by an embodiment of the present application. The method includes:
  • S202 Determine whether there is at least one target satellite signal from the acquired multiple satellite signals.
  • S203 Determine the positioning mode of the electronic device according to the number of target satellite signals.
  • the electronic device can be a variety of electronic items with satellite positioning functions, such as drones, mobile phones, smart watches and other electronic equipment, or cars, airplanes and other vehicles used for satellite positioning.
  • Device, module or system, etc. The electronic device may include a receiving module and a processing module.
  • the receiving module can be used to perform S201, that is, multiple satellite signals transmitted by multiple satellites can be acquired through the receiving module.
  • the processing module can be used to execute S202 and S203.
  • the target satellite signal is a satellite signal transmitted by one of a plurality of satellites and propagated to the receiving module of the electronic device through a single path.
  • the target satellite signal is a satellite signal that is not subject to multipath interference.
  • the so-called multipath interference satellite signal is the satellite signal that is transmitted from the satellite and does not directly reach the receiving end. Instead, it is received by the receiving end after reflection, scattering, and refraction by objects such as walls and water surfaces. It can be seen that these After the satellite signal is transmitted from the satellite, it travels through multiple paths before reaching the receiving end.
  • the target satellite signal is a satellite signal that can be directly received by the receiving end through a single path after being transmitted from the satellite.
  • the actual arrival time of the received satellite signal can be analyzed to determine whether it is subject to multipath interference. Since the actual position of the satellite can be determined by querying the ephemeris of the satellite, and the position of the receiving end can also be determined by prediction or directly using the historical position closest to the current moment, the predicted arrival time of the satellite signal corresponding to the satellite can be calculated. If the difference between the actual arrival time and the predicted arrival time exceeds the preset time range, it can be considered that the satellite signal is subjected to multipath interference.
  • the fading degree of the satellite signal can also be detected. If the fading degree is greater than the preset fading degree, it can be determined that the satellite signal is subject to multipath interference.
  • the embodiment of the present application also provides another optional implementation manner.
  • the satellite signal itself may not be analyzed, but the target satellite signal may be determined from the satellite corresponding to the satellite signal. Specifically, it can include the following steps:
  • the satellite signal corresponding to the determined target satellite is determined as the target satellite signal.
  • the target satellite is a satellite that has no obstructions in a straight line distance from the electronic device.
  • the target satellite is specifically determined, the satellite cannot be directly observed on the surface of the earth through vision. Therefore, it is possible to indirectly determine whether the satellite is the target satellite by observing the sky.
  • Figure 3 is a schematic diagram of the principle of determining the target satellite provided by the embodiment of the present application.
  • the electronic device can be equipped with a radar, and the electronic device transmits radio to the surroundings through the radar and receives the returned echoes, so that the information of the surrounding environment can be obtained and the field of view corresponding to the sky can be detected.
  • the electronic device may be equipped with a camera, through which the sky can be photographed.
  • the captured image may be referred to as a first image, in which the image area corresponding to the sky is determined. According to the image area corresponding to the sky, the actual field of view corresponding to the sky area can be determined.
  • the electronic device may use a camera to photograph the sky in various directions to obtain multiple first images. After that, the sky area may be determined separately for each first image, or the sky area of the spliced image may be determined after a plurality of first images are spliced.
  • the first image may be an image corresponding to the upper viewing angle.
  • the lens direction of the camera of the electronic device may also correspond to the upper viewing angle, for example, it may face the sky vertically and horizontally.
  • the electronic device is an electronic device that may tilt the body like a drone, when a camera for shooting the sky is configured on it, a corresponding pan/tilt can be matched. Under the control of the PTZ, the camera can maintain its lens direction to the sky in various postures of the electronic device.
  • the camera in order to be able to capture more of the sky, the camera can be a fisheye camera, and in order to be able to capture the sky at night, the camera can also be an infrared camera. Of course, there can also be multiple cameras for shooting the sky, such as a combination of a fisheye camera and an infrared camera.
  • the sky area may also be multiple implementation manners. For example, in an implementation, based on the fact that the brightness of the pixels in the sky area is usually higher than that of other pixels, and the sky area is usually smoother, perform an image gradient scan on the first image. By continuously adjusting the gradient threshold, the sky can be determined. Multiple possible boundaries of the area, and then the optimal boundary is determined by calculating the energy function of the boundary, thereby determining the sky area.
  • the first image can be recognized by an algorithm, so as to determine the sky area.
  • recognition algorithms such as neural network algorithms.
  • a neural network model for marking the sky area in the image can be pre-trained.
  • the training process can include the following steps:
  • the target neural network model can be a convolutional neural network model CNN.
  • the first image can be input to the target neural network model, and the target neural network model can output a marked first image with a marked sky area through calculations .
  • the field of view actually corresponding to the sky area can be further determined.
  • the boundary of the sky area in the first image may be determined, and the line of sight direction corresponding to the boundary of the sky area may be calculated based on the determined boundary and the image distance of the camera when the first image was taken. In this way, the field of view corresponding to the sky area is determined.
  • FIG. 4 is a schematic diagram of a principle of determining a field of view range provided by an embodiment of the present application.
  • the first image is surrounded by buildings on both sides, and the middle part is the sky area.
  • the width W of the sky area can be calculated using the boundary of the sky area, and the width W and the camera’s
  • the image distance v (the length of the dashed line in Figure 4), based on the trigonometric function, can calculate the direction of the line of sight corresponding to the boundary of the sky area.
  • v the length of the dashed line in Figure 4
  • tan ⁇ can be calculated by W/2 ⁇ v, so as to determine the line of sight direction corresponding to the boundary of the sky area.
  • the line of sight direction corresponding to each pixel position in the image can be calibrated in advance to obtain the mapping relationship between the pixel position and the line of sight direction, and then the mapping relationship can be used to determine the line of sight corresponding to each boundary of the sky area.
  • the direction of the line of sight so as to determine the field of view corresponding to the sky area.
  • the captured second image contains a building
  • a pixel in the second image needs to be calibrated, and the pixel corresponds to a window on the building
  • the position of each boundary of the sky area in the image can be known, and then according to the above-mentioned mapping relationship between the pixel position and the line of sight direction, the line of sight direction corresponding to each boundary of the sky area can be determined. Then determine the actual field of view corresponding to the sky area.
  • the space corresponding to the field of view can be determined according to the field of view and the position information of the electronic device, and the satellites falling into the space can be determined as target satellites.
  • the location information of the electronic device in one implementation, the historical location information within a preset period of time from the current time can be used.
  • the time corresponding to the historical location information can be as close as possible to the current time to make the used location The deviation from the actual position is smaller.
  • the reason why historical position information can be used is that when determining the space corresponding to the field of view, the position corresponding to the space is mainly affected by the field of view (that is, the angular range corresponding to the direction of the line of sight), and even if there is some deviation in the position of the electronic device, It also has little effect on the determination of the space, and the same target satellite can still be determined, so the position of the electronic device does not need to be too accurate.
  • the specific positioning method can be determined according to the number of target satellite signals. Since GPS positioning requires the receiving module of the electronic device to receive at least four satellite signals transmitted by different satellites, if the number of determined target satellite signals is less than four, GPS positioning cannot be used directly.
  • the satellite signal to be corrected other than the target satellite signal can be corrected, and the corrected satellite signal and target satellite signal after the correction can be used for GPS positioning.
  • the satellite signal to be corrected There are many feasible implementations for correcting the satellite signal to be corrected. For example, for the satellite corresponding to the satellite signal to be corrected, the satellite signal of the satellite received at the historical moment can be obtained. The satellite signal of the satellite at the historical moment obtained may be free of multipath interference, so it can be used as a reference signal for Guide the correction of the satellite signal to be corrected.
  • the amplitude and phase of the satellite signal to be corrected can be corrected according to the difference between the actual arrival time and the predicted arrival time of the satellite signal to be corrected. Since the satellite signal will be delayed in the arrival time after being interfered by multipath, the amount of correction for the satellite signal can be determined according to the amount of delay. The delay time can be calculated by the difference between the actual arrival time and the predicted arrival time.
  • the predicted arrival time of the satellite signal to be corrected can be calculated from the linear distance between the satellite corresponding to the satellite signal to be corrected and the electronic device.
  • the actual position of the satellite corresponding to the satellite signal to be corrected can be queried according to the ephemeris of the satellite corresponding to the satellite signal to be corrected. Then, the actual location of the electronic device can be determined.
  • the actual position of the electronic device can be calculated by means other than GPS, such as visual positioning technology, or positioning by other sensors (this part of the content will be further explained later).
  • the linear distance between the two is calculated, and the calculated linear distance is divided by the speed of light to obtain the predicted arrival time of the satellite signal to be corrected.
  • the satellite signals to be corrected other than the target satellite signals can be discarded.
  • other methods can be used for positioning, such as through sensors. position.
  • a variety of sensors can be provided on the electronic device, for example, it can include one or more of the following: a vision sensor, an inertial measurement unit IMU, an accelerometer, a compass sensor, and a time-of-flight sensor TOF.
  • a vision sensor an inertial measurement unit IMU
  • an accelerometer an accelerometer
  • a compass sensor an accelerometer
  • a time-of-flight sensor TOF a time-of-flight sensor
  • the relative position of the electronic device can be calculated, that is, the position of the electronic device relative to the initial position
  • the absolute position of the electronic device can be calculated or estimated from the relative position and the initial position of the electronic device.
  • the initial position is the absolute position of the electronic device at a historical moment.
  • the initial position may be the absolute position obtained through GPS positioning before the occurrence of occlusion or multipath interference of the satellite signal.
  • the electronic device may include a vision sensor, an inertial measurement unit IMU, an accelerometer, a compass sensor, and a time-of-flight sensor TOF.
  • the compass sensor can be used to determine the heading.
  • the first relative position of the electronic device can be calculated according to the image information collected by the vision sensor, the posture information determined by the IMU, and the flight time determined by the TOF.
  • the second relative position of the electronic device can also be calculated according to the acceleration determined by the accelerometer and the initial speed of the electronic device.
  • weighting coefficients suitable for the environment can be determined for the first relative position and the second relative position, and the determined weighting coefficients can be used to weight the first relative position and the second relative position, thereby An accurate third relative position of the electronic device can be obtained.
  • the third relative position can keep the drone in a stable attitude.
  • the absolute position of the electronic device at the current moment can be calculated based on the third relative position and the initial position. In an implementation, the absolute position of the drone at the current moment can be calculated by combining the third relative position and the accurate absolute position located before the occlusion or multipath interference occurs.
  • GPS positioning can be directly performed based on the target satellite signal, and other satellite signals other than the target satellite signal can be discarded.
  • the other satellite signals can be filtered through a band-pass finite impulse response filter and an adaptive filter.
  • the position of the electronic device determined by the visual positioning algorithm can be used as the reference position, and the position obtained by the GPS positioning can be verified by using the reference position.
  • GPS positioning described in this application includes various technologies for positioning using satellite signals, such as RTK positioning (real-time dynamic carrier phase difference technology), AGPS positioning (assisted global satellite positioning system), etc., because these technologies are all Based on the use of satellite signals, they all belong to the GPS positioning described in this application.
  • RTK positioning real-time dynamic carrier phase difference technology
  • AGPS positioning assisted global satellite positioning system
  • the signal processing method provided by the embodiments of the application can determine the target satellite signal among the acquired multiple satellite signals.
  • the target satellite signal is the satellite signal that travels from the satellite to the electronic device through a single path, that is, it is not subject to multipath. Interfering satellite signals, therefore, the specific positioning method can be determined according to the number of target satellite signals, instead of directly using all received satellite signals (including satellite signals distorted due to multipath interference) for positioning without distinction. Can improve the accuracy of positioning.
  • the embodiment of the application uses the sky recognition technology to determine the target satellite that is unobstructed in a straight line with the electronic device, so that the target satellite signal can be accurately determined, and the use of GPS positioning is avoided.
  • the satellite signal of multipath interference ensures the accuracy of GPS positioning.
  • FIG. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
  • the device includes a receiving module 501 and a processing module 502.
  • the receiving module 501 is used to obtain multiple satellite signals transmitted by multiple satellites;
  • the processing module 502 is configured to determine whether there is at least one target satellite signal from the plurality of satellite signals acquired by the receiving module 501, wherein the at least one target satellite signal is transmitted and combined by one of the plurality of satellites.
  • the satellite signal propagated to the receiving module through a single path; and the positioning mode of the electronic device is determined according to the number of the at least one target satellite signal.
  • it also includes:
  • Camera used to capture images
  • the processing module is also used to determine the field of view corresponding to the sky observable by the camera; determine a target satellite according to the position information of the electronic device and the field of view; Determined as the target satellite signal.
  • the processing module is further configured to obtain a first image taken by the camera; determine a sky area in the first image; and determine a field of view actually corresponding to the sky area.
  • the lens direction of the camera corresponds to an upper viewing angle
  • the first image is an image corresponding to the upper viewing angle
  • the sky area is identified and determined on the first image.
  • the processing module is further configured to input the first image into a pre-trained target neural network model to obtain a marked first image with a sky region output by the target neural network model;
  • the target neural network model is obtained in the following way:
  • the processing module is further configured to determine the boundary of the sky area in the first image; according to the image distance of the camera when the first image is taken and the width of the sky area, Determine the line of sight direction corresponding to the boundary of the sky area; and determine the field of view range corresponding to the sky area according to the line of sight direction.
  • the processing module is further configured to determine the boundary of the sky area in the first image; according to the position of the pixel corresponding to the boundary of the sky area in the first image and the pixel position
  • the mapping relationship with the line of sight direction determines the line of sight direction corresponding to the boundary of the sky area; and according to the line of sight direction, the field of view corresponding to the sky area is determined.
  • mapping relationship is determined in the following manner:
  • the location information of the electronic device is historical location information within a preset time period from the current moment.
  • the field of view is an altitude range.
  • the camera includes one or more of the following: a fisheye camera and an infrared camera.
  • the processing module is further configured to: if the number of the target satellite signals is less than a preset value, correct the satellite signals to be corrected other than the target satellite signals to obtain the corrected satellite signals; Correct the satellite signal and the target satellite signal for GPS positioning.
  • the processing module is further configured to, for each satellite signal to be corrected, determine the amplitude of the satellite signal to be corrected according to the difference between the actual arrival time of the satellite signal to be corrected and the predicted arrival time. Value and phase are corrected.
  • the predicted arrival time is determined in the following manner:
  • the processing module is further configured to, if the number of the target satellite signals is less than a preset value, discard satellite signals other than the target satellite signals, and perform positioning through sensors.
  • the senor includes one or more of the following: a vision sensor, an inertial measurement unit IMU, an accelerometer, a compass sensor, and a time-of-flight sensor TOF.
  • the processing module is further configured to calculate the first relative position of the electronic device according to the image information collected by the vision sensor, the posture information determined by the IMU, and the flight time determined by the TOF;
  • the acceleration determined by the accelerometer and the initial speed of the electronic device are calculated to calculate the second relative position of the electronic device; the first relative position and the second relative position are weighted to obtain the A third relative position; the absolute position of the electronic device at the current moment is calculated according to the third relative position and the initial position of the electronic device; wherein the initial position includes the absolute position determined by GPS positioning at historical moments.
  • the processing module is further configured to, if the number of the target satellite signals is greater than or equal to a preset value, discard satellite signals other than the target satellite signals, and perform GPS positioning based on the target satellite signals.
  • the processing module is further configured to determine the reference position of the electronic device according to a visual positioning algorithm; and verify the position obtained through GPS positioning according to the reference position.
  • the electronic device is a mobile device.
  • the electronic device is a drone.
  • the embodiments of the present application provide electronic devices in various implementation manners.
  • the electronic devices in various implementation manners reference may be made to the corresponding descriptions of the signal processing methods provided in the embodiments of the present application, which are not repeated here.
  • the embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements any of the various implementations provided in the embodiments of the present application. Signal processing method in mode.
  • the embodiments of the present application may adopt the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program codes.
  • Computer usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology.
  • the information can be computer-readable instructions, data structures, program modules, or other data.
  • Examples of computer storage media include, but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices.
  • PRAM phase change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • ROM read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • flash memory or other memory technology
  • CD-ROM compact disc
  • DVD digital versatile disc
  • Magnetic cassettes magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices.
  • the relevant part can refer to the part of the description of the method embodiment.
  • the device embodiments described above are merely illustrative.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units.
  • Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement without creative work.

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

Abstract

Sont divulgués dans la présente divulgation un procédé de traitement de signal, un dispositif électronique et un support de stockage lisible par ordinateur. Le procédé de traitement de signal est appliqué à un dispositif électronique et comprend les étapes suivantes consistant à : acquérir, au moyen d'un module de réception du dispositif électronique, une pluralité de signaux de satellite transmis par une pluralité de satellites; déterminer s'il existe au moins un signal de satellite cible au sein de la pluralité de signaux de satellite acquis au moyen d'un module de traitement du dispositif électronique, le ou les signaux de satellite cibles correspondant à un signal de satellite transmis par un satellite de la pluralité de satellites et diffusé jusqu'au module de réception par l'intermédiaire d'un trajet unique; et déterminer un mode de positionnement par rapport au dispositif électronique en fonction du nombre du ou des signaux de satellite cibles. Le procédé de traitement de signal, le dispositif électronique et le support de stockage lisible par ordinateur divulgués dans la présente demande peuvent améliorer la précision de positionnement lorsqu'un dispositif mobile utilise des signaux de satellite pour le positionnement.
PCT/CN2020/088798 2020-05-06 2020-05-06 Procédé de traitement de signal, dispositif électronique et support de stockage lisible par ordinateur Ceased WO2021223107A1 (fr)

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