Anomaly detection method and device, storage medium and electronic equipment
An anomaly detection and equipment technology, applied in the direction of measuring devices, electromagnetic wave reradiation, radio wave measurement systems, etc., can solve the problems of low efficiency of manual detection methods, detection errors, etc., and achieve the effect of improving accuracy and detection efficiency
Inactive Publication Date: 2021-07-13
BEIJING SANKUAI ONLINE TECH CO LTD
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Problems solved by technology
[0004] However, manually detecting whether there is an abnormality in the GNSS master-slave antenna connection is prone to detection errors, and the manual detection method is inefficient, so it is not suitable for detecting the GNSS master-slave antenna of a large number of unmanned devices
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[0052] In the embodiment of this specification, the safe driving of unmanned equipment cannot be separated from the automatic driving system, and the automatic driving system includes: sensor system (perception system), decision-making system, positioning system, etc. Among them, the positioning accuracy of the positioning system depends on the accuracy of the information obtained by the sensor system.
[0053] For sensor systems, sensor systems include various sensor devices and multi-source sensor processing systems. In the embodiment of this specification, when the sensor device is a GNSS master-slave antenna, the navigation information can be obtained through the GNSS master-slave antenna of the unmanned device, and it is judged whether the GNSS master-slave antenna is connected to the unmanned device or whether the GNSS master-slave antenna is connected to the unmanned device. Reverse.
[0054] When judging whether the GNSS master-slave antenna is connected to the unmann...
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The invention discloses an anomaly detection method and device, a storage medium and electronic equipment, and according to the embodiment of the invention, obtaining navigation information of unmanned equipment through GNSS master and slave antennas of the unmanned equipment. And determining a to-be-measured pose of the unmanned equipment according to the navigation information, and determining a first pose of the unmanned equipment according to the laser point cloud acquired in real time. And then, determining a standard pose of the unmanned equipment according to the first pose. And judging whether the connection of the GNSS master and slave antennas is abnormal or not according to the difference between the to-be-detected pose and the standard pose. According to the method, manual detection is not needed, whether the GNSS master and slave antennas are reversely connected or not can be judged according to the principle that when the GNSS master and slave antennas are reversely connected, therefore the accuracy rate and the detection efficiency of anomaly detection can be improved, and the GNSS master and slave antennas of a large number of unmanned devices can be detected.
Description
technical field [0001] This specification relates to the field of automatic driving, and in particular to an abnormality detection method, device, storage medium and electronic equipment. Background technique [0002] In the field of automatic driving, the navigation information of the unmanned equipment can be obtained through the integrated navigation equipment installed on the unmanned equipment, and the unmanned equipment can be positioned according to the obtained navigation information. Wherein, the integrated navigation equipment includes: a Global Navigation Satellite System (Global Navigation Satellite System, GNSS) master-slave antenna. Navigation information may include: the number of satellites detected by the GNSS antenna, heading angle, pitch angle, roll angle, position, etc. [0003] When installing the GNSS master-slave antenna, the GNSS master antenna and the GNSS slave antenna may be missing connections or the GNSS master-slave antennas are connected in re...
Claims
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Login to View More IPC IPC(8): G01S19/45G01S19/23G01S17/86
CPCG01S19/23G01S19/45G01S17/86
Inventor 胡增科夏华夏申浩董峻峰何祎李秋成李一鸣
Owner BEIJING SANKUAI ONLINE TECH CO LTD