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Radar and RTK external parameter calibration method and device

A calibration method and technology of a calibration device, which are applied in the field of positioning, can solve the problems of long calculation time, low calibration efficiency, and high requirements on the synchronization of positioning sensor measurement, and achieve the effects of high calibration efficiency and simple and fast calculation.

Pending Publication Date: 2020-12-04
NEOLIX TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, it has been found in practice that the existing calibration method needs to obtain the measurement data of the positioning sensor while driving, and the measurement synchronization of the positioning sensor is relatively high. The scene is not fixed, resulting in complicated measurement data, long solution time, and low calibration efficiency
It can be seen that the existing calibration methods have high requirements on the measurement synchronization of positioning sensors, and the calculation time is too long, and the calibration efficiency is low

Method used

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  • Radar and RTK external parameter calibration method and device
  • Radar and RTK external parameter calibration method and device
  • Radar and RTK external parameter calibration method and device

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Experimental program
Comparison scheme
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Embodiment 1

[0052] Please see figure 1 , figure 1 A schematic flowchart of a method for calibrating external parameters of radar and RTK is provided for the embodiment of the present application. Among them, the external parameter calibration methods of the radar and RTK include:

[0053] S101. When the vehicle to be calibrated is located in the calibration site, acquire radar measurement data and RTK measurement data of multiple targets set in the calibration site.

[0054] In the embodiment of the present application, the vehicle to be calibrated is provided with a radar sensor and an RTK sensor, the radar measurement data of multiple targets set in the calibration site can be obtained through the radar sensor, and the multiple targets set in the calibration site can be obtained through the RTK sensor RTK assay data for the target.

[0055] In the embodiment of the present application, the RTK (Real-time kinematic, real-time dynamic) sensor is a positioning sensor based on carrier ph...

Embodiment 2

[0077] Please see figure 2 , figure 2 It is a schematic flowchart of a radar and RTK external parameter calibration method provided in the embodiment of the present application. Such as figure 2 As shown, wherein, the external parameter calibration method of the radar and RTK includes:

[0078] S201. When the vehicle to be calibrated is located in the calibration site, acquire radar measurement data and RTK measurement data of multiple targets set in the calibration site.

[0079] S202. Obtain the standard position coordinates of each target and the head direction information of the vehicle to be calibrated.

[0080] In the embodiment of the present application, the shape of the target may be a right-angled triangular prism.

[0081] In the embodiment of the present application, each target has the same shape and size.

[0082] In the embodiment of the present application, for the measurement of the standard position coordinates of the target target, the RTK sensor is ...

Embodiment 3

[0129] Please see image 3 , image 3 A schematic structural diagram of a radar and RTK external parameter calibration device provided in the embodiment of the present application. Such as image 3 As shown, the external parameter calibration device of the radar and RTK includes:

[0130] The obtaining module 310 is configured to obtain radar measurement data and RTK measurement data of multiple targets set in the calibration field when the vehicle to be calibrated is located in the calibration field.

[0131] The first calculation module 320 is configured to calculate the first position coordinates of each target in the vehicle body coordinate system of the vehicle to be calibrated according to the RTK measurement data.

[0132] The second calculation module 330 is configured to calculate the second position coordinates of each target in the radar coordinate system of the vehicle to be calibrated according to the radar measurement data.

[0133] The third calculation modu...

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PUM

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Abstract

The embodiment of the application provides a radar and RTK external parameter calibration method and device, and relates to the technical field of positioning. The method comprises the steps: obtaining radar measurement data and RTK measurement data of a plurality of target targets arranged in a calibration site when a to-be-calibrated vehicle is located in a calibration site; calculating a firstposition coordinate of each target in a vehicle body coordinate system of the to-be-calibrated vehicle according to the RTK measurement data, and calculating a second position coordinate of each target in a radar coordinate system of the to-be-calibrated vehicle according to the radar measurement data; finally, according to the first position coordinate and the second position coordinate, calculating external parameter data of the radar coordinate system and the vehicle body coordinate system to realize the effect of rapidly calibrating the positioning coordinates of the to-be-calibrated vehicle. The method has the advantages of being simple and rapid in calculation and high in calibration efficiency.

Description

technical field [0001] The present application relates to the field of positioning technology, in particular, to a method and device for calibrating external parameters of radar and RTK. Background technique [0002] At present, with the rapid development of sensor technology, various positioning sensors are widely used in autonomous vehicles, providing more reliable and stable measurement information. Through the fusion positioning of multiple positioning sensors, more stable and reliable environmental information and vehicle status information can be provided. In order to improve the positioning accuracy of the multi-fusion positioning sensor, it is necessary to calibrate the positioning sensor. Existing external parameter calibration methods for radar and RTK usually first determine the driving trajectory used for coordinate calibration, then control the vehicle to be calibrated to drive according to the driving trajectory, and obtain the measurement data of the position...

Claims

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Application Information

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IPC IPC(8): G01S7/40G01C25/00
CPCG01S7/4004G01C25/00
Inventor 哔伟
Owner NEOLIX TECH CO LTD