Vision measurement location and correction system based on dynamic routing mechanism

Abstract

The invention discloses a vision measurement location and correction system based on a dynamic routing mechanism, which comprises a location algorithm module, a scheduling algorithm module and a correction and fault-tolerant algorithm module, wherein the location algorithm module is in charge of realizing the basic location of the whole system, and is the core of the whole system; and the scheduling algorithm module realizes the non-interference scheduling of internodal sensors, collects and integrates the information of a plurality of sensors; and the correction and fault-tolerant algorithm module realizes the correction of node locations, searches and is fault-tolerant to the lost nodes. The vision measurement location and correction system has the characteristics of higher precision, very strong adaptivity, large measurement location scope and the like, the location precision is further improved, a vision fault-tolerant mechanism is built by utilizing an extraction algorithm of a characteristic area in the environment, the safety and stability of the system are increased, and the vision measurement location and correction system is particularly suitable to indoor location and unknown environmental survey.

Description

technical field [0001] The invention relates to a method in the field of visual positioning, in particular to a visual measurement positioning and correction system based on a dynamic routing mechanism. Background technique [0002] At present, there are many positioning solutions based on various positioning technologies, such as: ZigBee positioning, WI-FI positioning, GPRS positioning, GPS positioning, ultrasonic positioning, but there are deficiencies and defects in positioning accuracy and environmental adaptability: ZigBee Positioning uses energy indication to achieve positioning, its own accuracy is not high, and its adaptability to the environment is poor, and when used indoors, there are large errors in the positioning results due to the reflection and blocking effect of the wall; the WI-FI positioning principle is similar to ZigBee , so it also has similar shortcomings; GPRS positioning accuracy is low, suitable for rough positioning in a large range, and is greatly...

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Problems solved by technology

[0002] At present, there are many positioning solutions based on various positioning technologies, such as: ZigBee positioning, WI-FI positioning, GPRS positioning, GPS positioning, ultrasonic positioning, but there are deficiencies and defects in positioning accuracy and environmental adaptability: ZigBee Positioning uses energy indication to achieve positioning, its own accuracy is not high, and its adaptability to the environment is poor, and when used indoors, there are large errors in the positioning results due to the reflection and blocking effect of the wall; the WI-FI positioning principle is similar to ZigBee , so it also has similar shortcomings; GPRS positioning accuracy is low, suitable for rough positioning in a large range, and is greatly affected by the environment; GPS positioning accuracy is relatively high, but it cannot be used indoors, and due to the use of high-precision GPS, resulting in The cost is high; ultrasonic positioning requires a large number of sensors in the environment, and the adaptability is poor; it is difficult to model the environment through vision, and the positioning range is greatly affected by the layout of the previous equipment

The positioning methods of the above two technical solutions both use multi-camera positioning. Although the accuracy is high, the disadvantages are: it is necessary to arrange camera acquisition equipment in advance, the implementation cost is high, and the positioning range is relatively fixed, and the adaptability is poor.

[0004] China Patent Authorization Announcement No. CN 101509781 B, the authorized announcement date was September 14, 2011, and the name of the invention is "Pedestrian Robot Positioning System Based on Monocular Camera". Rod, but cannot guarantee high accuracy, and the implementation is difficult and the positioning range is small

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