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Locating method and device of electronic equipment, electronic equipment and electronic locating system

A technology of electronic equipment and positioning method, which is applied in the direction of navigation calculation tools, etc., and can solve the problem of low positioning accuracy of electronic equipment

Active Publication Date: 2017-09-19
WILLAND (BEIJING) TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Embodiments of the present invention provide a positioning method and device for electronic equipment, electronic equipment, and an electronic positioning system, so as to at least solve the technical problem of low positioning accuracy of electronic equipment in the prior art

Method used

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  • Locating method and device of electronic equipment, electronic equipment and electronic locating system
  • Locating method and device of electronic equipment, electronic equipment and electronic locating system
  • Locating method and device of electronic equipment, electronic equipment and electronic locating system

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Embodiment 1

[0031] According to an embodiment of the present invention, an embodiment of a positioning method for an electronic device is provided. It should be noted that the steps shown in the flow charts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and , although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.

[0032] figure 1 is a flow chart of a positioning method for an electronic device according to an embodiment of the present invention, such as figure 1 As shown, the method includes the following steps:

[0033] Step S102, calculate the estimated pose of the target electronic device at the second moment according to the pose information of the target electronic device at the first moment and the state increment of the target electronic device at the second moment relative to the first moment, whe...

Embodiment 2

[0072] Selectively equipped with state estimation and environment perception sensors on the robot side: at time t, the robot can obtain the state change from time t-1 to time t through state estimation sensors, such as inertial measurement unit, encoder odometer, etc. u t ; It is also possible to obtain environmental observation information z at time t through sensors outside the environmental perception category, such as monocular cameras, stereo cameras, laser radars, millimeter-wave radars, and ultrasonic radars t .

[0073] Configure UWB communication equipment in the SLAM system: In the space environment, place a UWB transmitter beacon (Tag) at a certain distance to ensure that the robot can observe at least one beacon during walking. Install the UWB anchor node (Anchor) on the robot side. The Anchor is equipped with two antennas (or more than two). These two antennas meet the vertical linear polarization conditions. At the same time, the distance between the feed point...

Embodiment 3

[0079] A SLAM system that fuses robot state estimation data (eg, encoder odometry, inertial measurement unit, visual odometry, visual-inertial odometry) and UWB beacon observations. The system estimates robot trajectory and UWB beacon map online.

[0080] Specific steps are as follows:

[0081] 1. Robot pose x 0 Initialization: If the UWB map has not been constructed, the pose of the robot can be initialized with any value; if the UWB map has been constructed, according to the map m y and UWB observation information y 0 Compute the initial pose.

[0082] 2. During the movement of the robot, obtain the state estimation sensor data u t (For example: encoder odometer, visual inertial odometer, etc., from time t-1 to time t), update the robot pose assumption according to the robot motion model

[0083] 3. Obtain UWB observation data For example: get the distance d of the UWB beacon relative to the robot through TWR; get the distance d and the included angle θ of the UWB b...

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Abstract

The invention discloses a locating method and device of electronic equipment, the electronic equipment and an electronic locating system. The method comprises the steps: calculating out a prospected pose position of target electronic equipment at a second moment according to pose position information of the target electronic equipment at a first moment and state increment of target electronic equipment at the second moment relative to the first moment, wherein the first moment is ahead of the second moment; obtaining first detection data by detecting a beacon, wherein the first detection data carry relative position information of the beacon and the target electronic equipment; screening out the first detection data which can meet a first preset condition to obtain first target detection data; correcting a beacon map and the prospected pose position of the target electronic equipment at the second moment according to the first target detection data; utilizing the corrected pose position as the pose position of the target electronic equipment at the second moment. The method disclosed by the invention solves the technical problem that electronic equipment location accuracy is low in the prior art.

Description

technical field [0001] The present invention relates to the field of electronic equipment, in particular to a positioning method and device for electronic equipment, electronic equipment, and an electronic positioning system. Background technique [0002] Simultaneous localization and mapping (SLAM) is one of the core technologies for autonomous localization and navigation of mobile robots (such as ground robots and aerial drones). In an unknown environment, the robot obtains its own state and surrounding environment information through its own sensors (such as encoder odometer, inertial measurement unit, monocular or stereo camera, laser or ultrasonic ranging sensor, etc.), and estimates its position online in real time. Attitude and incremental construction of the environment map. Traditional sensors have many deficiencies in environmental perception, such as limited detection range, lack of local feature information, and difficulty in matching feature information, result...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 刘越江任冠佼陈子冲蒲立
Owner WILLAND (BEIJING) TECH CO LTD
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