CN109405821A - Method, apparatus used for positioning and target device - Google Patents
Method, apparatus used for positioning and target device Download PDFInfo
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- CN109405821A CN109405821A CN201811109300.8A CN201811109300A CN109405821A CN 109405821 A CN109405821 A CN 109405821A CN 201811109300 A CN201811109300 A CN 201811109300A CN 109405821 A CN109405821 A CN 109405821A
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- 238000013519 translation Methods 0.000 claims description 9
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
The application provides a kind of method, apparatus used for positioning and target device, a specific embodiment of the method include: based between the references object that image data determines target device and is set in positioning device relative attitude and relative position；Determine reference posture of the target device relative to ground, the inertia measurement data with reference to posture based on the target device and obtain；According to described with reference to posture, the relative attitude and the relative position, targeted attitude and target location coordinate of the target device under the corresponding coordinate system of the positioning device are determined.The embodiment can effectively reduce position error, improve the accuracy of positioning.
Description
Technical field
This application involves technical field of navigation and positioning, in particular to a kind of method, apparatus used for positioning and target device.
Background technique
It is extensive with unmanned equipment (e.g., unmanned vehicle, nolo flight equipment, unmanned boat etc.) at present
It promotes, navigator fix technology becomes more and more important.Unmanned equipment is generally required to be filled with reference to the positioning with image identification
It sets and is positioned, to precisely be stopped/precisely be launched.By taking the unmanned equipment with flight function as an example, carrying out
When precisely stopping/precisely launching, it usually needs acquire image data for the positioning device with image identification, and be based on the figure
As data are positioned.But in general, biggish position error can be generated by carrying out positioning using aforesaid way.
Summary of the invention
In order to solve the above-mentioned technical problem one of, the application provides a kind of method, apparatus used for positioning and target device.
According to the embodiment of the present application in a first aspect, providing a kind of method used for positioning, comprising:
Based on the relative attitude that image data determines target device and is set between the references object in positioning device and
Relative position；
Determine reference posture of the target device relative to ground, it is described to be used to reference to posture based on the target device
Property measurement data and obtain；
According to described with reference to posture, the relative attitude and the relative position, determine the target device described fixed
Targeted attitude and target location coordinate under the corresponding coordinate system of position device.
Optionally, described according to the reference posture, the relative attitude and the relative position, determine that the target is set
Standby targeted attitude and target location coordinate under the corresponding coordinate system of the positioning device, comprising:
Posture and the relative attitude are referred to according to described, determines the targeted attitude；
Based on the targeted attitude and the relative position, the target location coordinate is determined.
Optionally, described to refer to posture and the relative attitude according to described, determine the targeted attitude, comprising:
Take the roll angle with reference to corresponding to posture and pitch angle；
Target yaw angle is determined based on the relative attitude；
In conjunction with the roll angle, the pitch angle and the target yaw angle, the targeted attitude is determined.
Optionally, the references object is the one or more image identifications identified from described image data；It is described
Relative attitude includes that each described image identifies the posture under the corresponding coordinate system of the target device；The relative position packet
It includes each described image and identifies the position coordinates under the corresponding coordinate system of the target device.
Optionally, described that target device is determined based on image data and is set between the references object in positioning device
Relative attitude and relative position, comprising:
Determine that target collection, the target collection include that the reference point of each described image mark is corresponding in the image identification
Coordinate system under position coordinates and each described image mark position of the reference point in described image data；
The target collection is based on using preset algorithm, resolving obtains the relative position and relative attitude.
It is optionally, described that target yaw angle is determined based on the relative attitude, comprising:
Determine that each described image identifies the phase under the corresponding coordinate system of the target device based on the relative attitude
To yaw angle；
Opposite yaw angle under the corresponding coordinate system of the target device is identified based on each described image, described in determination
Target yaw angle of the target device under the corresponding coordinate system of the positioning device.
Optionally, described to be based on the targeted attitude and the relative position, determine the target location coordinate, comprising:
Spin matrix is constructed using the targeted attitude；
Using the spin matrix, the position under the corresponding coordinate system of the target device is identified to each described image
Coordinate is coordinately transformed, and is obtained the target device in each described image and is identified the position coordinates under corresponding coordinate system；
The position coordinates under corresponding coordinate system are identified in each described image according to the target device, determine the mesh
Cursor position coordinate.
Optionally, described that the seat of position under corresponding coordinate system is identified in each described image according to the target device
Mark, determines the target location coordinate, comprising:
It is identified for each described image, according to offset of the image identification under the corresponding coordinate system of the positioning device
Vector carries out coordinate translation to position coordinates of the target device under the corresponding coordinate system of the image identification, obtains the figure
As identifying corresponding reference coordinate；
Each described image is identified corresponding reference coordinate to be weighted and averaged, obtains the target device described fixed
Target location coordinate under the corresponding coordinate system of position device.
According to the second aspect of the embodiment of the present application, a kind of device used for positioning is provided, comprising:
First determining module, for based on the references object that image data determines target device and is set in positioning device
Between relative attitude and relative position；
Second determining module, it is described to refer to posture base for determining reference posture of the target device relative to ground
In the target device inertia measurement data and obtain；
Locating module, for, with reference to posture, the relative attitude and the relative position, determining the target according to described
Targeted attitude and target location coordinate of the equipment under the corresponding coordinate system of the positioning device.
According to the third aspect of the embodiment of the present application, a kind of computer readable storage medium is provided, the storage medium is deposited
Computer program is contained, the computer program realizes side described in any one of above-mentioned first aspect when being executed by processor
Method.
According to the fourth aspect of the embodiment of the present application, a kind of target device is provided, including memory, processor and be stored in
On memory and the computer program that can run on a processor, the processor realize above-mentioned first party when executing described program
Method described in any one of face.
The technical solution that embodiments herein provides can include the following benefits:
The method and apparatus used for positioning that embodiments herein provides, by determining target device based on image data
Relative attitude and relative position with being set between the references object in positioning device, determine target device relative to ground
With reference to posture, this is obtained with reference to inertia measurement data of the posture based on target device.And posture, above-mentioned phase are referred to according to above-mentioned
To posture and above-mentioned relative position, targeted attitude and target position of the target device under the corresponding coordinate system of positioning device are determined
Coordinate.Reference posture of the present embodiment due to use based on the determining target device of inertia measurement data relative to ground, in conjunction with
Relative attitude and relative position between the target device determined based on image data and references object determine target device fixed
Targeted attitude and target location coordinate under the corresponding coordinate system of position device.So as to effectively reduce position error, improve
The accuracy of positioning.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The application can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the application
Example, and together with specification it is used to explain the principle of the application.
Figure 1A is a kind of the application flow chart of method used for positioning shown according to an exemplary embodiment；
Figure 1B is a kind of the application image on positioning device surface used for positioning shown according to an exemplary embodiment
Identify schematic diagram；
Fig. 1 C is the figure on the application another kind shown according to an exemplary embodiment positioning device surface used for positioning
As mark schematic diagram；
Fig. 1 D is the figure on the application another kind shown according to an exemplary embodiment positioning device surface used for positioning
As mark schematic diagram；
Fig. 2 is the flow chart of the application another kind method used for positioning shown according to an exemplary embodiment；
Fig. 3 is the flow chart of the application another kind method used for positioning shown according to an exemplary embodiment；
Fig. 4 is the flow chart of the application another kind method used for positioning shown according to an exemplary embodiment；
Fig. 5 is the flow chart of the application another kind method used for positioning shown according to an exemplary embodiment；
Fig. 6 is a kind of the application block diagram of device used for positioning shown according to an exemplary embodiment；
Fig. 7 is the block diagram of the application another kind device used for positioning shown according to an exemplary embodiment；
Fig. 8 is the block diagram of the application another kind device used for positioning shown according to an exemplary embodiment；
Fig. 9 is the block diagram of the application another kind device used for positioning shown according to an exemplary embodiment；
Figure 10 is a kind of the application structural schematic diagram of target device shown according to an exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the application.
It is only to be not intended to be limiting the application merely for for the purpose of describing particular embodiments in term used in this application.
It is also intended in the application and the "an" of singular used in the attached claims, " described " and "the" including majority
Form, unless the context clearly indicates other meaning.It is also understood that term "and/or" used herein refers to and wraps
It may be combined containing one or more associated any or all of project listed.
It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the application
A little information should not necessarily be limited by these terms.These terms are only used to for same type of information being distinguished from each other out.For example, not departing from
In the case where the application range, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as
One information.Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination ".
As shown in Figure 1A, Figure 1A is a kind of flow chart of method used for positioning shown according to an exemplary embodiment,
This method can be applied to have in the unmanned equipment of flight function.Method includes the following steps:
In a step 101, target device is determined based on image data and be set between the references object in positioning device
Relative attitude and relative position.
In the present embodiment, target device can be the unmanned equipment with flight function, for example, this is unmanned
Equipment can be unmanned plane only with flight function, be also possible to other than having the function of flight, moreover it is possible to transport in land
Capable and/or unmanned equipment run in water etc..It is appreciated that the application is unlimited to the concrete type aspect of target device
It is fixed.
In the present embodiment, positioning device can be the device for being used as positioning reference, and positioning device can be placed in target
Equipment needs stop/dispensing position, so that target device is referred in stop/dispensing.Positioning device surface is provided with
One or more image identifications, as shown in Figure 1B-Fig. 1 D, Figure 1B-Fig. 1 D is the image identification on positioning device surface, Ke Yili
Solution, positioning device surface can also have the image identification of other forms, and the application to not limiting in this respect.
In the present embodiment, which is acquired by target device for the positioning device, specifically, when target is set
When around received shipment row to positioning device in preset range, target device can acquire the figure for being directed to positioning device by camera unit
As data.It include being set to some or all of positioning device surface image identification in the image data.
In the present embodiment, if positioning device surface is provided with an image identification, can using the image identification as
References object.If positioning device surface is provided with multiple images mark, can will identify from above-mentioned image data
The multiple images being arranged by positioning device surface can also be identified the Target Aerial Array constituted and made by image identification as references object
For references object.It is appreciated that the application does not limit the concrete form aspect of references object.
In the present embodiment, can be based on above-mentioned image data, using preset pose computation (for example,
SolvePnP algorithm or solvePnPRansac algorithm etc.) pose resolving is carried out, to obtain target device and references object
Between relative attitude and relative position.
Specifically, in one implementation, positioning device surface is provided with multiple images mark, firstly, from above-mentioned
One or more image identifications are identified in image data, can using the image identification identified from above-mentioned image data as
References object.Then, it is determined that target collection, which includes the reference point of each image identification identified (for example, figure
Vertex or central point of image identification etc. as mark) position coordinates under the image identification coordinate system, and identify
Each image identification position of the reference point in above-mentioned image data.Finally, being based on using preset pose computation
Target collection, resolving obtain the relative attitude and relative position between target device and references object.Wherein, target device and ginseng
Examining the relative attitude between object includes each image identification for identifying from above-mentioned image data in target device coordinate system
Under posture, the relative position between target device and references object includes each image identified from above-mentioned image data
Identify the position coordinates under target device coordinate system.
In another implementation, positioning device surface is provided with multiple images mark, can also will be determined by being set to
The Target Aerial Array that the multiple images mark of position apparatus surface is constituted is as references object.It is possible, firstly, to from above-mentioned image data
Identify one or more image identifications.Then, it is determined that reference set, which includes each image identification identified
Position of the reference point (for example, vertex of image identification or the central point of image identification etc.) under Target Aerial Array coordinate system
Coordinate, and the position of the reference point of each image identification that identifies in above-mentioned image data.Then, using preset position
Appearance computation obtains relative attitude and opposite position between target device and references object based on the reference set directly calculation
It sets.Wherein, the relative attitude between target device and references object includes above-mentioned Target Aerial Array under target device coordinate system
Posture, the relative position between target device and references object include position of the above-mentioned Target Aerial Array under target device coordinate system
Coordinate.
In a step 102, reference posture of the target device relative to ground is determined, this is with reference to posture based on target device
Inertia measurement data and obtain.
In the present embodiment, target device can pass through IMU (Inertial measurement unit, inertia measurement list
Member) inertia measurement data are acquired in real time, and reference of the target device relative to ground is obtained based on the inertia measurement data calculation
Posture.
In step 103, target device is determined with reference to posture, above-mentioned relative attitude and above-mentioned relative position according to above-mentioned
Targeted attitude and target location coordinate under the corresponding coordinate system of positioning device.
In the present embodiment, it is possible, firstly, to refer to posture and above-mentioned relative attitude according to above-mentioned, determine target device fixed
Targeted attitude under the corresponding coordinate system of position device.
In the present embodiment, on the one hand, need to lay flat positioning device on the ground, image mark is provided in positioning device
The surface of knowledge needs parallel to the ground.Therefore, target device is relative to the roll angle and target device of references object relative to ground
The roll angle in face theoretically should be identical, meanwhile, target device relative to references object pitch angle and target device relative to
The pitch angle on ground theoretically also should be identical.
On the other hand, in actual operation, after positioning device being placed in ground, image identification is provided in positioning device
Surface be difficult with ground keep it is accurately parallel, it will usually there are certain tilt angles.Therefore, it is based on above-mentioned image data
Determining roll angle and pitch angle (i.e. roll angle and pitch angle of the target device relative to references object), it is fixed to will receive
The influence that position device is put, generates certain error.And based on the inertia measurement data of target device determine roll angle and
Pitch angle (i.e. roll angle and pitch angle of the target device relative to ground), not will receive the influence that positioning device is put, institute
With more accurate.
In summary it is found that roll angle (the i.e. target device that can will be determined based on the inertia measurement data of target device
Roll angle relative to ground), the roll angle as target device relative to references object.In conjunction with what is determined based on image data
Pitch angle and yaw angle (i.e. pitch angle and yaw angle of the target device relative to references object) obtain target device fixed
Targeted attitude under the device coordinate system of position, so as to improve the accuracy of positioning.
Alternatively, can also by based on the inertia measurement data of target device determine pitch angle (i.e. target device relative to
The pitch angle on ground), the pitch angle as target device relative to references object.In conjunction with the roll angle determined based on image data
And yaw angle (i.e. roll angle and yaw angle of the target device relative to references object), target device is obtained in positioning device
Targeted attitude under coordinate system, so as to improve the accuracy of positioning.
Optionally, the roll angle and pitch angle that will can also be determined simultaneously based on the inertia measurement data of target device
(i.e. roll angle and pitch angle of the target device relative to ground), as target device relative to references object roll angle with
And pitch angle.In conjunction with the yaw angle (i.e. yaw angle of the target device relative to references object) determined based on image data, obtain
Targeted attitude of the target device under positioning device coordinate system.Specifically, target device can be taken relative to the reference on ground
Roll angle corresponding to posture and pitch angle determine target yaw angle based on relative attitude, and combine the roll angle, the pitch angle
And target yaw angle, targeted attitude is determined, to improve the accuracy of positioning.
Wherein, in one implementation, references object is the image identification identified from above-mentioned image data, relatively
Posture includes posture of each image identification under target device coordinate system.Therefore, target yaw angle can be based on each image
Identify determining under the corresponding coordinate system of target device with respect to yaw angle.In another implementation, references object is
Target Aerial Array, relative attitude include posture of the Target Aerial Array under target device coordinate system.Therefore, target yaw angle can be mesh
Mark yaw angle of the array under target device coordinate system.
It then, can be based on targeted attitude of the target device under the corresponding coordinate system of positioning device and above-mentioned opposite position
It sets, determines target location coordinate of the target device under the corresponding coordinate system of positioning device.
In one implementation, references object is the image identification identified from above-mentioned image data, target device
Relative position between references object includes that each image identification for identifying from image data is corresponding in target device
Position coordinates under coordinate system.Specifically, spin matrix can be constructed first with targeted attitude, and uses the spin matrix,
Position coordinates of each image identification identified under the corresponding coordinate system of target device are coordinately transformed, target is obtained
Position coordinates of the equipment under the corresponding coordinate system of each image identification identified.Then, it is being identified according to target device
The corresponding coordinate system of each image identification under position coordinates, determine target device under the corresponding coordinate system of positioning device
Target location coordinate.
In another implementation, references object is Target Aerial Array, the opposite position between target device and references object
Set the position coordinates including Target Aerial Array under the corresponding coordinate system of target device.Wherein, Target Aerial Array is by positioning device table
The array that the multiple images mark of face setting is constituted.Specifically, spin matrix can be constructed first with targeted attitude, and used
The spin matrix is coordinately transformed position coordinates of the Target Aerial Array under the corresponding coordinate system of target device, obtains target
Position coordinates of the equipment under the corresponding coordinate system of Target Aerial Array.It should be noted that in general, usually by Target Aerial Array pair
The coordinate system answered is as the corresponding coordinate system of positioning device, and certainly, the corresponding coordinate system of Target Aerial Array is corresponding with positioning device
There may also be certain offsets between coordinate system.Therefore, know target device under the corresponding coordinate system of Target Aerial Array
Position coordinates, you can learn that target location coordinate of the target device under the corresponding coordinate system of positioning device.
It is appreciated that target device can also be determined in the corresponding coordinate of positioning device by other any reasonable manners
Target location coordinate under system, the application to not limiting in this respect.
Although should be noted that in the embodiment of above-mentioned Figure 1A, the operation of the application method is described with particular order,
It is that this does not require that or implies must execute these operations in this particular order, or have to carry out shown in whole
Operation is just able to achieve desired result.On the contrary, the step of describing in flow chart can change and execute sequence.For example, step 101 can
It to be executed before step 102, can also execute, can also be performed simultaneously with step 102 after step 102.Additionally or
It is alternatively possible to omit certain steps, multiple steps are merged into a step and are executed, and/or a step is decomposed into more
A step executes.
The method used for positioning provided by the above embodiment of the application, by based on image data determine target device with
The relative attitude being set between the references object in positioning device and relative position determine ginseng of the target device relative to ground
Posture is examined, this is obtained with reference to inertia measurement data of the posture based on target device.And according to it is above-mentioned with reference to posture, it is above-mentioned opposite
Posture and above-mentioned relative position determine that targeted attitude and target position of the target device under the corresponding coordinate system of positioning device are sat
Mark.The present embodiment is due to the reference posture using the target device determined based on inertia measurement data relative to ground, in conjunction with base
Relative attitude and relative position between the target device and references object that image data determines, determine that target device is positioning
Targeted attitude and target location coordinate under the corresponding coordinate system of device.So as to effectively reduce position error, improve
The accuracy of positioning.
It should be noted that in the prior art, typically merely by the visual image data for being directed to positioning device, to having
The unmanned equipment of flight function is positioned.It, should be more using the resulting positioning result of aforesaid way for theoretically
Accurately, still, under actual conditions, there would generally be biggish error using the resulting positioning result of aforesaid way, the error is very
To the stability that serious can influence unmanned equipment flight.And where those skilled in the art do not find the problem, be by
In positioning device placement injustice caused by, do not find to be positioned only with visual image data, can not eliminate due to
The error that the placement of positioning device is uneven and generates.And the technical solution of the application considers this problem, and by using
Inertia measurement data position the unmanned equipment with flight function, in conjunction with visual image data to eliminate
The error generated since the placement of positioning device is uneven.Therefore, it also by the discovery of problem, solves and positions in the prior art
The larger problem of error.
As shown in Fig. 2, the flow chart of Fig. 2 another kind method used for positioning shown according to an exemplary embodiment, it should
Embodiment describes the relative position between determining target device and references object and the process of relative attitude, and this method can answer
For in the unmanned equipment with flight function, comprising the following steps:
In step 201, target collection is determined, which includes each image mark identified from image data
Position coordinates of the reference point of knowledge under the corresponding coordinate system of the image identification, and the reference of each image identification identified
Position of the point in the image data.
In the present embodiment, positioning device can be the device for being used as positioning reference, and positioning device can be placed in target
Equipment needs stop/dispensing position, so that target device is referred in stop/dispensing.Positioning device surface is provided with
Multiple images mark, when target device is run to preset range around positioning device, target device can be single by camera shooting
Member acquisition is directed to the image data of positioning device, includes being set to some or all of positioning device surface figure in the image data
As mark.
In the present embodiment, one or more image identifications can be identified from the image data first, it is then possible to
Based on the data prestored, determine the reference point of each image identification identified (for example, the vertex of image identification or image
The central point etc. of mark) position coordinates under the corresponding coordinate system of the image identification.And it is based on image data, determination identifies
Each image identification position of the reference point in the image data.
In step 202, target collection is based on using preset algorithm, resolving obtains above-mentioned each image identification and sets in target
Posture and position coordinates under standby corresponding coordinate system.
In the present embodiment, can using preset pose computation (for example, SolvePnP algorithm, or
SolvePnPRansac algorithm etc.) it is based on target collection, respectively for each image identification identified, carry out pose resolving.
Position coordinates of each image identification under the corresponding coordinate system of target device to be identified, and identify every
Posture of a image identification under the corresponding coordinate system of target device.
In step 203, reference posture of the target device relative to ground is determined, this is with reference to posture based on target device
Inertia measurement data and obtain.
In step 204, according to above-mentioned reference posture, above-mentioned each image identification under the corresponding coordinate system of target device
Posture and position coordinates, determine that targeted attitude of the target device under the corresponding coordinate system of positioning device and target position are sat
Mark.
It should be noted that no longer going to live in the household of one's in-laws on getting married in above-mentioned Fig. 2 embodiment for the step identical with Figure 1A embodiment
It states, related content can be found in Figure 1A embodiment.
The method used for positioning provided by the above embodiment of the application is based on by using preset algorithm from picture number
Position coordinates of the reference point of each image identification identified under the corresponding coordinate system of the image identification, and identification
Position of the reference point of each image identification out in the image data, resolving obtain each image identification in target device pair
Posture and position coordinates under the coordinate system answered, to further determine that target device under the corresponding coordinate system of positioning device
Targeted attitude and target location coordinate.It is corresponded to since the present embodiment resolves each image identification identified respectively in target device
Coordinate system under posture and position coordinates, it therefore reduces the expense of calculation amount, to improve the efficiency of positioning.
As shown in figure 3, the flow chart of Fig. 3 another kind method used for positioning shown according to an exemplary embodiment, it should
The process of determining targeted attitude is described in detail in embodiment, and this method can be applied to the unmanned equipment with flight function
In, comprising the following steps:
In step 301, determine each image identification identified from the image data in target based on image data
Posture and position coordinates under the corresponding coordinate system of equipment.
In step 302, reference posture of the target device relative to ground is determined, this is with reference to posture based on target device
Inertia measurement data and obtain.
In step 303, roll angle and the pitch angle with reference to corresponding to posture is taken.
In the present embodiment, it needs to lay flat positioning device on the ground, the table of image identification is provided in positioning device
Face needs parallel to the ground.Therefore, target device relative to references object roll angle and pitch angle and target device relative to
The roll angle and pitch angle on ground theoretically should be identical.However, in actual operation, after positioning device is placed in ground,
The surface that image identification is provided in positioning device is difficult to keep accurately parallel with ground, it will usually which there are certain inclinations angle
Degree.Therefore, it based on the determining roll angle of above-mentioned image data and pitch angle, will receive the influence that positioning device is put, generate
Certain error.And based on the determining roll angle of the inertia measurement data of target device and pitch angle, it not will receive positioning device
The influence put, so more accurate.
In the present embodiment, the roll angle with reference to corresponding to posture and pitch angle can be directly taken, is existed as target device
Roll angle and pitch angle under the corresponding coordinate system of positioning device.In conjunction with the yaw angle determined based on image data, target is obtained
Targeted attitude of the equipment under positioning device coordinate system, to improve the accuracy of positioning.
In step 304, the posture based on above-mentioned each image identification under the corresponding coordinate system of target device, in determination
State opposite yaw angle of each image identification under the corresponding coordinate system of target device.
In the present embodiment, for above-mentioned each image identification, the image identification is under the corresponding coordinate system of target device
Posture may include opposite roll angle, opposite pitch angle and opposite yaw angle.Therefore, above-mentioned each image identification can be based on
It is relatively inclined under target device coordinate system to obtain above-mentioned each image identification for posture under the corresponding coordinate system of target device
Boat angle.
In step 305, the opposite yaw angle based on above-mentioned each image identification under the corresponding coordinate system of target device,
Determine target yaw angle of the target device under the corresponding coordinate system of positioning device.
It in the present embodiment, can be corresponding in target device based on the image identification for any one image identification
The posture of opposite yaw angle and the image identification under the corresponding coordinate system of positioning device under coordinate system, determines that target is set
The standby yaw angle under the corresponding coordinate system of positioning device, as the corresponding initial results of the image identification.It can traverse above-mentioned
Each image identification, obtains the corresponding initial results of each image identification, and by the corresponding initial results of each image identification into
Row weighted average, obtains target yaw angle of the target device under the corresponding coordinate system of positioning device.It is appreciated that can also lead to
It crosses other any reasonable manners and determines target yaw angle of the target device under the corresponding coordinate system of positioning device, the application couple
It does not limit in this respect.
Within step 306, in conjunction with roll angle, pitch angle and the target device with reference to corresponding to posture in positioning device pair
Target yaw angle under the coordinate system answered determines targeted attitude of the target device under the corresponding coordinate system of positioning device.
It in the present embodiment, can be using roll angle and the pitch angle with reference to corresponding to posture, combining target yaw angle
Generate targeted attitude of the target device under the corresponding coordinate system of positioning device.For example, the roll angle with reference to corresponding to posture
It is respectively a and b with pitch angle, target yaw angle is c, then targeted attitude can be generated using a, b and c, so that targeted attitude institute
Corresponding roll angle, pitch angle and yaw angle are respectively a, b and c.
In step 307, the position based on targeted attitude and each image identification under the corresponding coordinate system of target device
Coordinate determines target location coordinate of the target device under the corresponding coordinate system of positioning device.
It should be noted that for the step identical with Figure 1A and Fig. 2 embodiment, in above-mentioned Fig. 3 embodiment no longer
It is repeated, related content can be found in Figure 1A and Fig. 2 embodiment.
The method used for positioning provided by the above embodiment of the application, by being determined based on image data from the picture number
Posture and position coordinates of each image identification identified under the corresponding coordinate system of target device, determine that target is set
The standby reference posture relative to ground, this is obtained with reference to posture based on the inertia measurement data calculation of target device, and the reference is taken
Roll angle corresponding to posture and pitch angle, the appearance based on above-mentioned each image identification under the corresponding coordinate system of target device
State determines opposite yaw angle of each image identification under target device coordinate system, based on above-mentioned each image identification in target
Opposite yaw angle under the corresponding coordinate system of equipment determines target yaw of the target device under the corresponding coordinate system of positioning device
Angle, using roll angle and the pitch angle with reference to corresponding to posture, combining target yaw angle generates targeted attitude, and is based on target
The position coordinates of posture and each image identification under the corresponding coordinate system of target device, determine target device in positioning device pair
Target location coordinate under the coordinate system answered.To effectively further reduce position error, the accuracy of positioning is improved.
As shown in figure 4, the flow chart of Fig. 4 another kind method used for positioning shown according to an exemplary embodiment, it should
The process of determining target location coordinate is described in detail in embodiment, and this method can be applied to have the unmanned of flight function
In equipment, comprising the following steps:
In step 401, determine each image identification identified from the image data in target based on image data
Posture and position coordinates under the corresponding coordinate system of equipment.
In step 402, reference posture of the target device relative to ground is determined, this is with reference to posture based on target device
Inertia measurement data and obtain.
In step 403, posture and above-mentioned each image identification are referred under the corresponding coordinate system of target device according to this
Posture, determine targeted attitude of the target device under the corresponding coordinate system of positioning device.
In step 404, spin matrix is constructed using the targeted attitude.
In step 405, using the spin matrix to above-mentioned each image identification under the corresponding coordinate system of target device
Position coordinates be coordinately transformed, obtain position of the target device under the corresponding coordinate system of above-mentioned each image identification and sit
Mark.
In a step 406, the position coordinates according to target device under the corresponding coordinate system of each image identification, determine mesh
Target location coordinate of the marking device under the corresponding coordinate system of positioning device.
In the present embodiment, it can use targeted attitude building spin matrix, and using the spin matrix to above-mentioned each
Position coordinates of the image identification under the corresponding coordinate system of target device are coordinately transformed, and obtain target device in each image
Identify the position coordinates under corresponding coordinate system.Then, according to target device under the corresponding coordinate system of each image identification
Position coordinates determine target location coordinate of the target device under the corresponding coordinate system of positioning device.
Specifically, it for the image identification that any one is identified, can be sat according to the image identification in positioning device
Offset vector under mark system carries out coordinate translation to position coordinates of the target device under the image identification coordinate system, is somebody's turn to do
The corresponding coordinate translation result of image identification.Above-mentioned each image identification can be traversed, the corresponding seat of each image identification is obtained
Mark translation as a result, and the corresponding coordinate translation result of each image identification is weighted and averaged, obtain target device and positioning
Target location coordinate under the corresponding coordinate system of device.
It should be noted that for the step identical with Figure 1A-Fig. 3 embodiment, in above-mentioned Fig. 4 embodiment no longer into
Row repeats, and related content can be found in Figure 1A-Fig. 3 embodiment.
The method used for positioning provided by the above embodiment of the application, by being determined based on image data from the picture number
Position coordinates of each image identification identified under the corresponding coordinate system of target device, and from the image data
Posture of each image identification identified under the corresponding coordinate system of target device.Determine ginseng of the target device relative to ground
Posture is examined, this is obtained with reference to posture based on the inertia measurement data calculation of target device.According to this with reference to posture and above-mentioned each
Posture of the image identification under the corresponding coordinate system of target device determines target device under the corresponding coordinate system of positioning device
Targeted attitude.Spin matrix is constructed based on the targeted attitude.Above-mentioned each image identification is set in target using the spin matrix
Position coordinates under standby corresponding coordinate system are coordinately transformed, and obtain target device in the corresponding coordinate system of each image identification
Under position coordinates.According to position coordinates of the target device under the corresponding coordinate system of each image identification, target device is determined
Target location coordinate under the corresponding coordinate system of positioning device.Since the present embodiment determines target device in each image respectively
The position coordinates under corresponding coordinate system are identified, then determine target position of the target device under the corresponding coordinate system of positioning device
Coordinate further improves the accuracy of positioning to help to reduce position error.
As shown in figure 5, the flow chart of Fig. 5 another kind method used for positioning shown according to an exemplary embodiment, it should
Embodiment is described in detail targeted attitude of the determining target device under the corresponding coordinate system of positioning device and target position
The process of coordinate, this method can be applied to have in the unmanned equipment of flight function, comprising the following steps:
In step 501, target collection is determined, which includes each image mark identified from image data
Position coordinates of the reference point of knowledge under the corresponding coordinate system of the image identification, and the reference of each image identification identified
Position of the point in the image data.
In step 502, target collection is based on using preset algorithm, resolving obtains above-mentioned each image identification and sets in target
Position coordinates and posture under standby corresponding coordinate system.
In step 503, reference posture of the target device relative to ground is determined, this is with reference to posture based on target device
Inertia measurement data and obtain.
In step 504, roll angle and the pitch angle with reference to corresponding to posture is taken.
In step 505, the posture based on above-mentioned each image identification under the corresponding coordinate system of target device, in determination
State opposite yaw angle of each image identification under the corresponding coordinate system of target device.
In step 506, the opposite yaw angle based on above-mentioned each image identification under the corresponding coordinate system of target device,
Determine target yaw angle of the target device under the corresponding coordinate system of positioning device.
In step 507, using roll angle and the pitch angle with reference to corresponding to posture, combining target yaw angle generates mesh
Targeted attitude of the marking device under the corresponding coordinate system of positioning device.
In step 508, spin matrix is constructed using the targeted attitude.
In step 509, using the spin matrix to above-mentioned each image identification under the corresponding coordinate system of target device
Position coordinates be coordinately transformed, obtain position of the target device under the corresponding coordinate system of above-mentioned each image identification and sit
Mark.
In step 510, the position coordinates according to target device under the corresponding coordinate system of each image identification, determine mesh
Target location coordinate of the marking device under the corresponding coordinate system of positioning device.
It should be noted that for the step identical with Figure 1A-Fig. 4 embodiment, in above-mentioned Fig. 5 embodiment no longer into
Row repeats, and related content can be found in Figure 1A-Fig. 4 embodiment.
The method used for positioning provided by the above embodiment of the application, can not only reduce the expense of calculation amount, improve
The efficiency of positioning, additionally it is possible to effectively reduce position error, improve the accuracy of positioning.
Corresponding with the embodiment of the method for being previously used for positioning, present invention also provides the implementations of device used for positioning
Example.
As shown in fig. 6, Fig. 6 is a kind of the application device block diagram used for positioning shown according to an exemplary embodiment,
The apparatus may include: the first determining module 601, the second determining module 602 and locating module 603.
Wherein, the first determining module 601, for determining target device based on image data and being set in positioning device
Relative attitude and relative position between references object.
Second determining module 602, for determining reference posture of the target device relative to ground, this is based on mesh with reference to posture
The inertia measurement data of marking device and obtain.
Locating module 603, for, with reference to posture, above-mentioned relative attitude and above-mentioned relative position, determining target according to above-mentioned
Targeted attitude and target location coordinate of the equipment under the corresponding coordinate system of positioning device.
As shown in fig. 7, Fig. 7 is the application another kind device frame used for positioning shown according to an exemplary embodiment
Figure, for the embodiment on the basis of aforementioned embodiment illustrated in fig. 6, locating module 603 may include: that posture determines submodule 701
With position determination submodule 702.
Wherein, posture determines submodule 701, for referring to posture and above-mentioned relative attitude according to above-mentioned, determines target appearance
State.
Position determination submodule 702 determines target location coordinate for being based on targeted attitude and above-mentioned relative position.
As shown in figure 8, Fig. 8 is the application another kind device frame used for positioning shown according to an exemplary embodiment
Figure, for the embodiment on the basis of aforementioned embodiment illustrated in fig. 7, posture determines that submodule 701 may include: acquisition submodule
801, it determines submodule 802 and generates submodule 803.
Wherein, acquisition submodule 801, for taking the above-mentioned roll angle with reference to corresponding to posture and pitch angle.
Submodule 802 is determined, for determining target yaw angle based on above-mentioned relative attitude.
Submodule 803 is generated, for combining the roll angle, the pitch angle and the target yaw angle, determines targeted attitude.
In some optional embodiments, references object is the one or more images identified from above-mentioned image data
Mark.Above-mentioned relative attitude includes posture of the above-mentioned each image identification under the corresponding coordinate system of target device.It is above-mentioned opposite
Position includes position coordinates of the above-mentioned each image identification under the corresponding coordinate system of target device.
As shown in figure 9, Fig. 9 is the application another kind device frame used for positioning shown according to an exemplary embodiment
Figure, for the embodiment on the basis of aforementioned embodiment illustrated in fig. 6, the first determining module 601 may include: to gather to determine submodule
901 reconciliation operator modules 902.
Wherein, gather and determine submodule 901, for determining target collection, which includes above-mentioned each image mark
The reference point of position coordinates and above-mentioned each image identification of the reference point of knowledge under the corresponding coordinate system of the image identification exists
Position in image data.
Submodule 902 is resolved, for being based on the target collection using preset algorithm, resolving obtains above-mentioned relative position and phase
To posture.
In other optional embodiments, determine that submodule 802 is configured for:
Opposite yaw angle of each image identification under the corresponding coordinate system of target device is determined based on above-mentioned relative attitude,
Opposite yaw angle based on each image identification under the corresponding coordinate system of target device, determines target device in positioning device pair
Target yaw angle under the coordinate system answered.
In other optional embodiments, position determination submodule 702 is configured for:
Spin matrix is constructed using targeted attitude, it is corresponding in target device to each image identification using the spin matrix
Coordinate system under position coordinates be coordinately transformed, obtain position of the target device under the corresponding coordinate system of each image identification
Coordinate is set, according to position coordinates of the target device under the corresponding coordinate system of each image identification, determines target location coordinate.
In other optional embodiments, position determination submodule 702 is determined as follows target location coordinate:
It is right according to offset vector of the image identification under the corresponding coordinate system of positioning device for each image identification
Position coordinates of the target device under the corresponding coordinate system of the image identification carry out coordinate translation, and it is corresponding to obtain the image identification
Reference coordinate, and the corresponding reference coordinate of each image identification is weighted and averaged, target device is obtained in positioning device pair
Target location coordinate under the coordinate system answered.
It should be appreciated that above-mentioned apparatus can be set in advance in unmanned equipment, the modes such as downloading can also be passed through
It is loaded into unmanned equipment.Corresponding module in above-mentioned apparatus can cooperate with the module in unmanned equipment with
Realize locating scheme.
For device embodiment, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
The purpose for needing to select some or all of the modules therein to realize application scheme.Those of ordinary skill in the art are not paying
Out in the case where creative work, it can understand and implement.
The embodiment of the present application also provides a kind of computer readable storage medium, which is stored with computer journey
Sequence, computer program can be used for executing the method used for positioning that above-mentioned Figure 1A is provided to Fig. 5 any embodiment.
Corresponding to above-mentioned method used for positioning, the embodiment of the present application also proposed shown in Fig. 10 according to the application's
The schematic configuration diagram of the target device of one exemplary embodiment.Referring to FIG. 10, the target device includes processing in hardware view
Device, internal bus, network interface, memory and nonvolatile memory are also possible that required for other business hard certainly
Part.Processor from read in nonvolatile memory corresponding computer program into memory then run, on logic level
Form device used for positioning.Certainly, other than software realization mode, other implementations are not precluded in the application, such as
Logical device or the mode of software and hardware combining etc., that is to say, that the executing subject of following process flow is not limited to each
Logic unit is also possible to hardware or logical device.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the application
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the application, these modifications, purposes or
Person's adaptive change follows the general principle of the application and including the undocumented common knowledge in the art of the application
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the application are by following
Claim is pointed out.
It should be understood that the application is not limited to the precise structure that has been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.Scope of the present application is only limited by the accompanying claims.
Claims (11)
1. a kind of method used for positioning, which is characterized in that the described method includes:
Based on the relative attitude that image data determines target device and is set between the references object in positioning device and relatively
Position；
Determine reference posture of the target device relative to ground, it is described to be surveyed with reference to posture based on the inertia of the target device
It measures data and obtains；
According to described with reference to posture, the relative attitude and the relative position, determine that the target device is filled in the positioning
Set the targeted attitude and target location coordinate under corresponding coordinate system.
2. the method according to claim 1, wherein it is described according to it is described with reference to posture, the relative attitude and
The relative position determines targeted attitude and target position of the target device under the corresponding coordinate system of the positioning device
Coordinate, comprising:
Posture and the relative attitude are referred to according to described, determines the targeted attitude；
Based on the targeted attitude and the relative position, the target location coordinate is determined.
3. according to the method described in claim 2, it is characterized in that, it is described according to it is described refer to posture and the relative attitude,
Determine the targeted attitude, comprising:
Take the roll angle with reference to corresponding to posture and pitch angle；
Target yaw angle is determined based on the relative attitude；
In conjunction with the roll angle, the pitch angle and the target yaw angle, the targeted attitude is determined.
4. according to the method described in claim 3, it is characterized in that, the references object is to identify from described image data
One or more image identifications；The relative attitude includes each described image mark in the corresponding coordinate of the target device
Posture under system；The relative position includes that each described image identifies the position under the corresponding coordinate system of the target device
Coordinate.
5. according to the method described in claim 4, it is characterized in that, described determined target device and be set to based on image data
Relative attitude between references object and relative position in positioning device, comprising:
Determine that target collection, the target collection include the reference point of each described image mark in the corresponding seat of the image identification
Position of the reference point of position coordinates and each described image mark under mark system in described image data；
The target collection is based on using preset algorithm, resolving obtains the relative position and relative attitude.
6. according to the method described in claim 4, it is characterized in that, described determine target yaw angle based on the relative attitude,
Include:
Determine that each described image mark is relatively inclined under the corresponding coordinate system of the target device based on the relative attitude
Boat angle；
The opposite yaw angle under the corresponding coordinate system of the target device is identified based on each described image, determines the target
Target yaw angle of the equipment under the corresponding coordinate system of the positioning device.
7. the method according to any one of claim 4-6, which is characterized in that described based on the targeted attitude and described
Relative position determines the target location coordinate, comprising:
Spin matrix is constructed using the targeted attitude；
Using the spin matrix, the position coordinates under the corresponding coordinate system of the target device are identified to each described image
It is coordinately transformed, obtains the target device in each described image and identify the position coordinates under corresponding coordinate system；
The position coordinates under corresponding coordinate system are identified in each described image according to the target device, determine the target position
Set coordinate.
8. the method according to the description of claim 7 is characterized in that it is described according to the target device in each described image mark
Know the position coordinates under corresponding coordinate system, determine the target location coordinate, comprising:
It is identified for each described image, according to the image identification offseting under the corresponding coordinate system of the positioning device
Amount carries out coordinate translation to position coordinates of the target device under the corresponding coordinate system of the image identification, obtains the image
Identify corresponding coordinate translation result；
Each described image is identified corresponding coordinate translation result to be weighted and averaged, obtains the target device described fixed
Target location coordinate under the corresponding coordinate system of position device.
9. a kind of device used for positioning, which is characterized in that described device includes:
First determining module, for determining target device based on image data and being set between the references object in positioning device
Relative attitude and relative position；
Second determining module, it is described to be based on institute with reference to posture for determining reference posture of the target device relative to ground
It states the inertia measurement data of target device and obtains；
Locating module, for, with reference to posture, the relative attitude and the relative position, determining the target device according to described
Targeted attitude and target location coordinate under the corresponding coordinate system of the positioning device.
10. a kind of computer readable storage medium, which is characterized in that the storage medium is stored with computer program, the meter
Method described in any one of the claims 1-8 is realized when calculation machine program is executed by processor.
11. a kind of target device including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that the processor realizes side described in any one of the claims 1-8 when executing described program
Method.
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