Joint calibration method of radar and integrated navigation system, device, equipment and medium

Abstract

The embodiment of the application provides a joint calibration method of a radar and an integrated navigation system, a device, equipment and a medium. The joint calibration method of the radar and the integrated navigation system comprises the following steps: obtaining point cloud data collected by the lidar on an automatic driving vehicle at a first moment and a second moment, and position andattitude data collected by the integrated navigation system at the first moment and the second moment; performing registration processing on the point cloud data obtained by the lidar to obtain a first homogeneous transformation matrix; calculating a second homogeneous transformation matrix according to the position and attitude data obtained by the integrated navigation system; and completing thejoint calibration between the lidar and the integrated navigation system according to the first homogeneous transformation matrix and the second homogeneous transformation matrix. For the joint calibration of the radar and the integrated navigation system, the scheme provided by the embodiment of the application has lower requirements on environmental conditions, which weakens the impact of the environmental conditions on the accuracy of the calibration and improves the accuracy of the calibration.

Description

technical field [0001] The embodiments of the present application relate to the technical field of automatic driving, and in particular to a joint calibration method, device, equipment and medium of a radar and an integrated navigation system. Background technique [0002] In self-driving vehicles, lidar and INS / GPS integrated navigation system are important components of the vehicle, where lidar can be used to detect obstacles around the vehicle, and INS / GPS integrated navigation system can be used to determine the position of the vehicle And attitude detection, in actual use, it is necessary to jointly calibrate the lidar and INS / GPS integrated navigation system, so that the coordinates of the obstacles detected by the lidar can be converted from the lidar coordinate system to the INS / GPS integrated navigation system Coordinate System. [0003] At present, there are mainly two related technologies for joint calibration between the lidar coordinate system and the INS / GPS i...

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Problems solved by technology

[0003] At present, there are mainly two related technologies for joint calibration between the lidar coordinate system and the INS / GPS integrated navigation system coordinate system: one is the manual calibration method, which has large errors and low accuracy, and at the same time The rotation angle information between the lidar coordinate system and the INS / GPS integrated navigation system coordinate system cannot be well estimated. The other is a 3D lidar external parameter calibration method based on the hand-eye calibration model. This method requires both uphill and The data collected in the turning environment has high requirements on environmental conditions, and the calibration model is sensitive to environmental noise and is easily affected by noise. There is also the problem of low calibration accuracy.

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