Method and device for determining position information of auxiliary subsystem in distributed cooperative system

Abstract

The invention discloses a method and device for determining position information of an auxiliary subsystem in a distributed cooperative system. The method comprises the following steps: positions of subsystems and calibration devices are fixed; first position information and second position information of a main calibration system device and an auxiliary calibration system device are obtained, and third position information of the auxiliary calibration system device in a coordinate system corresponding to the main calibration system device is determined; fourth position information of an auxiliary subsystem device in a coordinate system corresponding to the auxiliary calibration system device is determined; fifth position information of the auxiliary subsystem device in the coordinate system corresponding to the main calibration system device is determined; sixth position information of a main subsystem device in the coordinate system corresponding to the main calibration system device is determined; position information of an auxiliary subsystem in a coordinate system corresponding to a main subsystem is determined. The method and device for determining position information of the auxiliary subsystem in the distributed cooperative system can help solve a problem that error of obtained position information of the auxiliary subsystem relevant to the main subsystem is large because subsystem position centers and corresponding position centers of the calibration devices are superposed by default in technologies of the prior art.

Description

technical field [0001] The invention relates to the field of electronic technology, in particular to a method and a device for determining the location information of a sub-subsystem in a distributed collaborative system. Background technique [0002] At present, in many application scenarios, such as distributed collaborative systems such as navigation of vehicles, observation of atmospheric physics, and movement of celestial bodies, it is necessary to perform positioning processing on each subsystem in the system. The location information of a system (main subsystem) determines the location information of another subsystem (secondary subsystem) relative to the main subsystem. [0003] In the prior art, when obtaining the location information of the sub-system relative to the main sub-system, the main sub-system and the sub-system are respectively provided with main sub-system equipment and sub-subsystem equipment, and the main sub-system equipment and sub-subsystem The eq...

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Problems solved by technology

However, in actual situations, the position center of the main subsystem does not coincide with the position center of the main calibration system equipment, and the position center of the sub-subsystem does not coincide with the position center of the sub-calibration system equipment, such as figure 1 As shown, the coordinate system is established with the position center O of the main calibration system equipment as the coordinate origin, but the position center C of the main subsystem does not coincide with the position center O of the main calibration system equipment. Therefore, the prior art uses the calibration equipment to obtain The error of the position information of the auxiliary subsystem relative to the main subsystem is relatively large

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