Laser ranging method and device based on attitude sensor

Abstract

The invention relates to a laser ranging method and device based on an attitude sensor, and the method comprises the steps: S1, carrying out the measurement of a first distance value at a first transmitting point when the linear distance between a first to-be-measured point and a second to-be-measured point is measured; s2, obtaining first space coordinate information and first angle information through an attitude sensor; s3, after moving from the first transmitting point to a second transmitting point, measuring at the second transmitting point to obtain a second distance value; s4, obtaining second space coordinate information and second angle information through an attitude sensor; s5, according to the first space coordinate information, the first angle information and the first distance value, space coordinate information of the first to-be-measured point is obtained through calculation by means of a space pose angle conversion algorithm, and space coordinate information of the second to-be-measured point is obtained through calculation; s6, the linear distance value between the first to-be-measured point and the second to-be-measured point is obtained through calculation, laser ranging does not need to be conducted on one of the two to-be-measured points, and the efficiency and convenience of the laser ranging process are improved.

Description

Technical Field

[0001] The present invention relates to the field of laser technology, and in particular to a laser ranging method and device based on a gesture sensor. Background Art

[0002] Laser rangefinder is an instrument that uses a certain parameter of modulated laser to measure the distance to the target. The measurement range of laser rangefinder is usually 3.5 to 5000 meters. According to the laser ranging method, it is divided into phase method rangefinder and pulse method rangefinder. The pulse laser rangefinder emits a beam or a series of short pulse laser beams to the target when working. The laser beam reflected by the target is received by the photoelectric element. The timer measures the time from the emission to the reception of the laser beam, and calculates the distance from the observer to the target. The phase method laser rangefinder detects the distance by detecting the phase difference between the emitted light and the reflected light when propagating in space.

[0003] At present, all laser distance meters on the market can only measure the straight-line distance from the laser transmitter to the measured point. If you want to measure the distance between two target points, you can only place the laser transmitter on one of the points for measurement. This is very inconvenient for users who cannot reach the two target points, and the laser distance meters on the market cannot measure the length of curves. Summary of the invention

[0004] The present invention provides a laser ranging method and device based on a posture sensor, wherein laser ranging is performed at two transmitting points other than two points to be measured, and the coordinate information of the two points to be measured is calculated using the spatial coordinate information and angle information of the transmitting points obtained by the posture sensor, thereby obtaining the straight-line distance between the two points to be measured. There is no need to transmit laser at one of the two points to be measured for laser ranging, thereby improving the efficiency and convenience of the laser ranging process.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] In a first aspect, a laser ranging method based on a posture sensor is provided, which is applied to a laser ranging device based on a posture sensor. The laser ranging device includes a laser transmitter, a receiving component, a posture sensor and a processor. The laser ranging method includes:

[0007] S1, when measuring the straight-line distance between a first point to be measured and a second point to be measured, controlling a laser transmitter at a first emission point to emit a laser to the first point to be measured to obtain a first distance value;

[0008] S2, obtaining first spatial coordinate information and first angle information of the first emission point through a posture sensor;

[0009] S3, after moving from the first emission point to the second emission point, controlling the laser emitter at the second emission point to emit laser to the second point to be measured to obtain a second distance value;

[0010] S4, obtaining second spatial coordinate information and second angle information of the second transmitting point through the attitude sensor;

[0011] S5, according to the first spatial coordinate information, the first angle information and the first distance value, the spatial coordinate information of the first point to be measured is calculated by using a spatial posture angle conversion algorithm, and according to the second spatial coordinate information, the second angle information and the second distance value, the spatial coordinate information of the second point to be measured is calculated by using a spatial posture angle conversion algorithm;

[0012] S6, calculating the straight-line distance between the first point to be measured and the second point to be measured according to the spatial coordinate information of the first point to be measured and the second point to be measured.

[0013] Furthermore, before step S1, the following steps are also included:

[0014] According to the surface of the object to be measured at the first point to be measured and the second point to be measured marked by the user, determining whether the line segment to be measured between the first point to be measured and the second point to be measured is a straight line or a curve;

[0015] When a straight line is formed between the first point to be measured and the second point to be measured, step S1 is executed;

[0016] When there is a curve between the first point to be measured and the second point to be measured, the curve is divided into a plurality of straight line segments connected end to end, and steps S1 to S6 are executed to calculate the straight line distance value between the starting point and the end point of each straight line segment, and the straight line distance values ​​of all the straight line segments are added together to obtain the curve length value of the curve.

[0017] Further, after executing steps S1 to S6 to calculate the straight-line distance between the starting point and the end point of each straight line segment, the method further includes:

[0018] The posture change information in each straight line segment is calculated based on the spatial coordinate information and angle information of the starting point emission point corresponding to the starting point of each straight line segment, and the spatial coordinate information and angle information of the ending point emission point corresponding to the ending point;

[0019] Compare the straight line distance values ​​of all straight line segments, and select the target straight line segment that exceeds the preset distance value range;

[0020] According to the posture change information corresponding to the target straight line segment, it is determined whether the posture change size in the target straight line segment exceeds the posture change size in the adjacent straight line segment;

[0021] If it exceeds, it is determined that the straight-line distance value of the target straight line segment is calculated normally;

[0022] If it does not exceed, it is determined that the straight-line distance value calculation of the target straight-line segment is abnormal, and the average of the straight-line distance values ​​of the adjacent straight-line segments before and after the target straight-line segment is used as the new straight-line distance value of the target straight-line segment.

[0023] Furthermore, the attitude sensor is a nine-axis sensor, which includes a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer.

[0024] Step S2, obtaining first spatial coordinate information and first angle information of the first emission point through a posture sensor, includes:

[0025] At the first transmitting point, gyroscope data, acceleration data and magnetometer data are obtained through a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer of the attitude sensor;

[0026] Calculate the initial spatial coordinate information and initial angle information according to the gyroscope data and acceleration data;

[0027] The initial spatial coordinate information and initial angle information are calibrated and corrected using the magnetometer data to obtain the first spatial coordinate information (X A , Y A , Z A ) and the first angle information (α A , β A , γ A ), α A is the pitch angle, β A is the roll angle, γ A is the heading angle.

[0028] Further, according to the first spatial coordinate information, the first angle information and the first distance value, the spatial coordinate information of the first point to be measured is calculated using a spatial posture angle conversion algorithm, including:

[0029] Determine the first spatial coordinate information as (X A , Y A , Z A ), the first angle information includes the pitch angle α A , roll angle β A and heading angle γ A and the first distance value d AC ; A represents the first transmitting point, C represents the first point to be measured;

[0030] Substitute into the formula for setting the spatial posture angle conversion algorithm:

[0031] x C =x A +d AC *sin(α A )*cos(γ A);

[0032] y C =y A +d AC *sin(α A )*sin(γ A );

[0033] z C =z A +d AC *cos(α A );

[0034] Among them, x C represents the displacement of C relative to A in the x-axis direction, si(α A ) represents the length of the projection of C on the xy plane, cos(γ A ) represents the component of the projection in the x-axis direction; y C represents the displacement of C relative to A in the y-axis direction, sin(γ A ) represents the component of the projection in the y-axis direction; z C represents the displacement of C relative to A in the z-axis direction, cos(α A ) represents the length of the projection of C upward or downward from the xy plane;

[0035] The spatial coordinate information of the first point C to be measured is obtained as (x C ,y C , z C ).

[0036] Furthermore, the laser distance measuring device also includes a mobile platform;

[0037] The mobile platform is used to move the laser distance measuring device from the first emitting point to the second emitting point;

[0038] The mobile platform is a flying mobile platform, a surface mobile platform or a land mobile platform.

[0039] Furthermore, when the mobile platform is a flying mobile platform,

[0040] Before calculating the spatial coordinate information of the first point to be measured by using the spatial posture angle conversion algorithm according to the first spatial coordinate information, the first angle information and the first distance value, the method further includes:

[0041] Detect and obtain wind speed data when laser measurement is performed at a first emission point and a second emission point;

[0042] The position and angle offset values ​​when performing laser measurement at the first emission point and the second emission point are calculated according to the wind speed data;

[0043] Data correction is performed on the first space coordinate information, the second space coordinate information, the first angle information and the second angle information according to the position and the angle offset value.

[0044] Furthermore, when the mobile platform is a surface mobile platform,

[0045] Before calculating the spatial coordinate information of the first point to be measured by using the spatial posture angle conversion algorithm according to the first spatial coordinate information, the first angle information and the first distance value, the method further includes:

[0046] Detect and obtain wave data when laser measurement is performed at a first emission point and a second emission point;

[0047] The height offset value when laser measurement is performed at the first emission point and the second emission point is calculated according to the wave data;

[0048] Data correction is performed on the z-axis data of the first space coordinate information and the second space coordinate information according to the height offset value.

[0049] Furthermore, when the mobile platform is a land mobile platform,

[0050] Before calculating the spatial coordinate information of the first point to be measured by using the spatial posture angle conversion algorithm according to the first spatial coordinate information, the first angle information and the first distance value, the method further includes:

[0051] Detect and obtain mechanical vibration data when laser measurement is performed at a first emission point and a second emission point;

[0052] Calculate the height and / or horizontal offset value when performing laser measurement at the first emission point and the second emission point according to the mechanical vibration data;

[0053] Data correction is performed on the first space coordinate information and the second space coordinate information according to the height and / or horizontal offset value.

[0054] In a second aspect, a laser ranging device based on a posture sensor is provided, comprising:

[0055] Laser transmitter, receiving component, attitude sensor and processor; the processor includes a laser ranging module and a computing module;

[0056] The laser distance measuring module is used to control the laser transmitter at the first emission point to emit laser to the first measurement point to measure and obtain a first distance value when measuring the straight-line distance between the first measurement point and the second measurement point;

[0057] A posture sensor, used to obtain first spatial coordinate information and first angle information of a first emission point;

[0058] The laser distance measurement module is also used for controlling the laser transmitter at the second emission point to emit laser light to the second point to be measured to obtain a second distance value after moving from the first emission point to the second emission point;

[0059] The attitude sensor is further used to obtain second spatial coordinate information and second angle information of the second emission point through the attitude sensor;

[0060] A calculation module, used to calculate the spatial coordinate information of the first point to be measured by using a spatial posture angle conversion algorithm according to the first spatial coordinate information, the first angle information and the first distance value, and to calculate the spatial coordinate information of the second point to be measured by using a spatial posture angle conversion algorithm according to the second spatial coordinate information, the second angle information and the second distance value;

[0061] The calculation module is further used to calculate the straight-line distance value between the first point to be measured and the second point to be measured according to the spatial coordinate information of the first point to be measured and the second point to be measured.

[0062] The beneficial effects achieved by the present invention are:

[0063] S1, when measuring the straight-line distance between the first point to be measured and the second point to be measured, the laser transmitter is controlled at the first emission point to emit laser to the first point to be measured to obtain a first distance value; S2, the first spatial coordinate information and the first angle information of the first emission point are obtained through the attitude sensor; S3, after moving from the first emission point to the second emission point, the laser transmitter is controlled at the second emission point to emit laser to the second point to be measured to obtain a second distance value; S4, the second spatial coordinate information and the second angle information of the second emission point are obtained through the attitude sensor; S5, according to the first spatial coordinate information, the first angle information and the first distance value, the spatial coordinate information of the first point to be measured is calculated by the spatial posture angle conversion algorithm, and according to the second spatial coordinate information, the second angle information and the second distance value, the spatial coordinate information of the second point to be measured is calculated by the spatial posture angle conversion algorithm; S6, according to the spatial coordinate information of the first point to be measured and the second point to be measured, the straight-line distance value between the first point to be measured and the second point to be measured is calculated. Laser ranging is performed at two emission points other than the two points to be measured, and the coordinate information of the two points to be measured is calculated using the spatial coordinate information and angle information of the emission points obtained by the attitude sensor, thereby obtaining the straight-line distance between the two points to be measured. It is not necessary to emit laser at one of the two points to be measured for laser ranging, which improves the convenience of the laser ranging process;

[0064] When there is a curve between two points to be measured, the curve can be divided into multiple straight line segments. The straight line distance value of each straight line segment can be calculated using the calculation principle of the straight line distance value, and the length value of the curve can be obtained by adding them up, which solves the problem that laser ranging in the prior art cannot measure the length of the curve. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 It is a flow chart of the laser ranging method based on the attitude sensor of the present invention;

[0066] Figure 2 Schematic diagram of laser ranging of the measured curve of the present invention;

[0067] Figure 3 It is a structural diagram of the laser ranging device based on the attitude sensor of the present invention. DETAILED DESCRIPTION

[0068] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0069] In an embodiment of the present invention, a laser ranging method based on a gesture sensor is applied to a laser ranging device based on a gesture sensor. The laser ranging device based on a gesture sensor includes a laser transmitter, a gesture sensor and a processor, and also includes a receiving component for receiving a reflected laser signal.

[0070] like Figure 1 As shown, an embodiment of the present invention provides a laser ranging method based on a posture sensor, comprising:

[0071] S1, when measuring the straight-line distance between a first point to be measured and a second point to be measured, controlling a laser transmitter at a first emission point to emit a laser to the first point to be measured to obtain a first distance value;

[0072] In this embodiment, it is assumed that the first point to be measured and the second point to be measured are the points that the user needs to perform laser measurement. There is no obstacle between the first point to be measured and the second point to be measured. The straight-line distance between the two points to be measured needs to be measured. Then the user uses a laser ranging device at the first emitting point to control the laser emitter to emit a laser to the first point to be measured. The first point to be measured will reflect the laser signal. After receiving the reflected laser signal, the receiving component of the laser ranging device can calculate the first distance value between the first emitting point and the first point to be measured by the existing pulse method or phase method.

[0073] S2, obtaining first spatial coordinate information and first angle information of the first emission point through a posture sensor;

[0074] In this embodiment, the attitude sensor adopts a high-precision inertial measurement unit (IMU) as a six-axis sensor including a three-axis gyroscope and a three-axis accelerometer. The accelerometer detects acceleration signals, and the gyroscope detects angular velocity signals, measures the angular velocity and acceleration of the object in three-dimensional space, and calculates the attitude of the object based on this; it can capture the tilt and rotation information of the laser ranging device in real time, and can accurately locate the spatial position and orientation;

[0075] However, the six-axis sensor has inaccuracies in measuring the heading angle (Yaw). When integrating the angular velocity to obtain the angle information, the heading angle will drift over time due to the integration error. The error accumulation will be more obvious after long-term use.

[0076] In addition, the six-axis sensor lacks a sensor such as a magnetometer to provide absolute reference information about the direction of the earth's magnetic field. Without a magnetometer, the heading angle cannot be effectively calibrated and corrected by relying solely on the fusion of a gyroscope and an accelerometer, resulting in inaccurate estimation of the heading angle. Even if the six-axis sensor is combined with a magnetometer to become a nine-axis sensor, the direction of the earth's magnetic field measured by the magnetometer is easily interfered by the surrounding magnetic field, including hard magnetic interference and soft magnetic interference. These interferences will cause inaccurate magnetometer data, which in turn affects the accuracy of the heading angle.

[0077] In the subsequent distance measurement process, accurate heading angle data is required. At this time, ordinary six-axis sensors cannot accurately measure heading angle data. The addition of magnetometers is to improve the accuracy and robustness of attitude estimation. Magnetometers can measure the direction of the earth's magnetic field and provide a reference for determining the yaw angle of the device. The yaw angle describes the rotation angle of the device relative to the north-south direction of the earth's magnetic field, which is very important for navigation and positioning.

[0078] The principle of magnetometer data to help calibrate the accelerometer and gyroscope is as follows: when the device is stationary, the accelerometer only measures the acceleration of gravity, and the magnetometer can help determine the zero offset of the accelerometer; in a dynamic environment, the accelerometer and gyroscope may be affected by noise and interference, resulting in inaccurate measurement data. The magnetometer provides a measurement dimension independent of the accelerometer and gyroscope, which can help identify and correct these errors;

[0079] After a long period of operation, the gyroscope will drift, resulting in the accumulation of attitude estimation errors. Magnetometer data can be used to detect and correct this drift, improving the long-term stability of attitude estimation; substituting it into subsequent calculations can effectively reduce errors, improve data accuracy, and effectively avoid data drift and other problems during movement, and provide more accurate position and direction information;

[0080] Therefore, at the first transmitting point A, the gyroscope data, the acceleration data and the magnetometer data are obtained through the three-axis gyroscope, the three-axis accelerometer and the three-axis magnetometer of the attitude sensor;

[0081] Calculate the initial spatial coordinate information and initial angle information according to the gyroscope data and acceleration data;

[0082] The initial spatial coordinate information and initial angle information are calibrated and corrected using the magnetometer data to obtain the first spatial coordinate information (X A, Y A , Z A ) and the first angle information (α A , β A , γ A ), α A is the pitch angle, β A is the roll angle, γ A is the heading angle;

[0083] The first distance value d AC , A represents the first transmitting point, and C represents the first point to be measured.

[0084] S3, after moving from the first emission point to the second emission point, controlling the laser emitter at the second emission point to emit laser to the second point to be measured to obtain a second distance value;

[0085] In this embodiment, after measuring the first distance value, the laser ranging device needs to move from the first emitting point to the second emitting point. After moving from the first emitting point to the second emitting point, the laser emitter is controlled to emit laser to the second point to be measured. The second point to be measured will reflect the laser signal. After receiving the reflected laser signal, the receiving component of the laser ranging device can calculate the second distance value between the second emitting point and the second point to be measured through the existing pulse method or phase method.

[0086] S4, obtaining second spatial coordinate information and second angle information of the second transmitting point through the attitude sensor;

[0087] The second space coordinate information obtained by the attitude sensor is (X B , Y B , Z B ), the second angle information includes the pitch angle α B , roll angle β B and heading angle γ B ;

[0088] The second distance value d BD , B represents the second transmitting point, and D represents the second point to be measured.

[0089] S5, according to the first spatial coordinate information, the first angle information and the first distance value, the spatial coordinate information of the first point to be measured is calculated by using a spatial posture angle conversion algorithm, and according to the second spatial coordinate information, the second angle information and the second distance value, the spatial coordinate information of the second point to be measured is calculated by using a spatial posture angle conversion algorithm;

[0090] In this embodiment, the spatial posture angle conversion algorithm formula is:

[0091] x C =x A +d AC *sin(αA )*cos(γ A );

[0092] y C =y A +d AC *sin(α A )*sin(γ A );

[0093] z C =z A +d AC *cos(α A );

[0094] Among them, x C represents the displacement of C relative to A in the x-axis direction, sin(α A ) represents the length of the projection of C on the xy plane, cos(γ A ) represents the component of the projection in the x-axis direction; y C represents the displacement of C relative to A in the y-axis direction, sin(γ A ) represents the component of the projection in the y-axis direction; z C represents the displacement of C relative to A in the z-axis direction, cos(α A ) represents the length of the projection of C upward or downward from the xy plane;

[0095] Then the known first space coordinate information is (X A , Y A , Z A ), the first angle information includes the pitch angle α A , roll angle β A and heading angle γ A The first distance value d AC Substituting into the spatial posture angle conversion algorithm formula, the spatial coordinate information of C can be calculated as (x C ,y C , z C );

[0096] Similarly, the spatial coordinate information of D can also be calculated as (x D ,y D , z D ).

[0097] S6, calculating the straight-line distance between the first point to be measured and the second point to be measured according to the spatial coordinate information of the first point to be measured and the second point to be measured.

[0098] In this embodiment, the distance calculation formula between points C and D is:

[0099]

[0100] The spatial coordinate information of C (x C ,y C , z C ) and the spatial coordinate information of D (x D ,y D , z D ) into the formula, we can calculate the straight-line distance L between C and D. CD .

[0101] The beneficial effects of the embodiments of the present invention are:

[0102] S1, when measuring the straight-line distance between the first point to be measured and the second point to be measured, the laser transmitter is controlled at the first emission point to emit laser to the first point to be measured to obtain a first distance value; S2, the first spatial coordinate information and the first angle information of the first emission point are obtained through the attitude sensor; S3, after moving from the first emission point to the second emission point, the laser transmitter is controlled at the second emission point to emit laser to the second point to be measured to obtain a second distance value; S4, the second spatial coordinate information and the second angle information of the second emission point are obtained through the attitude sensor; S5, according to the first spatial coordinate information, the first angle information and the first distance value, the spatial coordinate information of the first point to be measured is calculated by the spatial posture angle conversion algorithm, and according to the second spatial coordinate information, the second angle information and the second distance value, the spatial coordinate information of the second point to be measured is calculated by the spatial posture angle conversion algorithm; S6, according to the spatial coordinate information of the first point to be measured and the second point to be measured, the straight-line distance value between the first point to be measured and the second point to be measured is calculated. Laser ranging is performed at two transmitting points other than the two points to be measured. The coordinate information of the two points to be measured is calculated using the spatial coordinate information and angle information of the transmitting points obtained by the attitude sensor, thereby obtaining the straight-line distance between the two points to be measured. There is no need to transmit laser ranging at one of the two points to be measured, which improves the convenience of the laser ranging process.

[0103] Combination Figure 1 In the embodiment shown, when there is a curve between two points to be measured, the curve can be divided into a plurality of straight line segments. The straight line distance value of each straight line segment is calculated by using the calculation principle of the straight line distance value, and the length value of the curve is obtained after adding them up, which solves the problem that the laser distance measurement in the prior art cannot measure the length of the curve. The specific process is as follows:

[0104] According to the surface of the object to be measured at the first point to be measured and the second point to be measured marked by the user, determining whether the line segment to be measured between the first point to be measured and the second point to be measured is a straight line or a curve;

[0105] When a straight line is formed between the first point to be measured and the second point to be measured, step S1 is executed;

[0106] When there is a curve between the first point to be measured and the second point to be measured, the curve is divided into a plurality of straight line segments connected end to end, such as Figure 2 As shown, the measured curve is divided into L1, L2, L3, ..., Ln; execute steps S1-S6 to calculate the straight-line distance value between the starting point and the end point of each straight line segment, and add the straight-line distance values ​​of all straight line segments to obtain the curve length value of the curve.

[0107] Preferably, in some implementations of the present invention, after calculating the straight-line distance between the starting point and the end point of each straight-line segment, the method further includes:

[0108] According to the spatial coordinate information and angle information of the starting point emission point corresponding to the starting point of each straight line segment, and the spatial coordinate information and angle information of the end point emission point corresponding to the end point, the posture change information within each straight line segment is calculated; assuming that the spatial coordinate information (X E , Y E , Z E ) and angle information including pitch angle α E , roll angle β E and heading angle γ E , the spatial coordinate information of the starting point F (X F , Y F , Z F ) and angle information including pitch angle α F , roll angle β F and heading angle γ F ; The posture change information in the straight line segment L6 is (X F -X E , Y F -Y E , Z F -Z E )、(α F -α E , β F -β E , γ F -γ E );

[0109] Compare the straight-line distance values ​​of all the straight-line segments, and select the target straight-line segment that exceeds the preset distance value range; suppose the straight-line distance values ​​of L1, L2, L3, ..., L6, L7 are 10m, 10.5m, 10.2m, 11m, 10.8m, 20m, 11m; by comparison, it can be seen that the straight-line distance value of L6, 20m, is the maximum value, and the preset distance value range can be within 10±2m, which is the normal value, and L6 exceeds the target straight-line segment;

[0110] According to the posture change information corresponding to the target straight line segment, it is determined whether the posture change size in the target straight line segment exceeds the posture change size in the adjacent straight line segment; the posture change information of L6 is (X F -X E , Y F -Y E , Z F -Z E )、(α F -α E , β F -β E , γ F -γ E ); the calculation method of the posture change information of the adjacent straight line segments L5 and L7 is similar to that of L6; by calculation, it is determined whether the posture change within L6 exceeds the posture change within L5 and L7;

[0111] If it exceeds, it indicates that the attitude change of the laser distance measuring device at the starting point and the end point of L6 is relatively large, which is larger than that of L5 and L7. Then the straight-line distance value of L6 is obviously larger than that of other straight-line segments, which is also normal. It is determined that the straight-line distance value calculation of the target straight-line segment L6 is normal.

[0112] If it does not exceed, it indicates that the posture changes of the laser ranging device at the starting point and end point of L6 are smaller than those of L5 and L7. Then the straight-line distance value of L6 is obviously greater than that of other straight-line segments, which is abnormal. It is determined that the straight-line distance value calculation of the target straight-line segment is abnormal. At this time, the original abnormal value of 20m needs to be deleted, and the (10.8+11) / 2=10.9m of the adjacent straight-line segments L5 and L7 before and after the target straight-line segment is used as the new straight-line distance value of the target straight-line segment L6.

[0113] It should be noted that in the above embodiments, the movement of the laser distance measuring device is performed by hand by default. When there are many sampling points, the operator needs to operate frequently, and some points are inaccessible to the operator. In order to improve the automation and facilitate the laser distance measurement, the present invention can set a mobile platform on the laser distance measuring device, that is, the laser distance measuring device can be automatically moved;

[0114] The mobile platform is a flying mobile platform, a surface mobile platform or a land mobile platform.

[0115] Specifically, the flying mobile platform may be a drone, the surface mobile platform may be an aircraft model ship, and the land mobile platform may be an unmanned vehicle.

[0116] When the mobile platform is a flying mobile platform,

[0117] Before calculating the spatial coordinate information of the first point to be measured by using a spatial posture angle conversion algorithm according to the first spatial coordinate information, the first angle information and the first distance value, the method further includes:

[0118] Detect and obtain wind speed data when performing laser measurement at the first launch point and the second launch point; since the drone needs to hover at the first launch point for T1 and complete the laser measurement operation within T1, excessive wind speed within T1 may cause the drone's hovering position to change, resulting in inaccurate spatial coordinate information and angle information of the launch point, so data correction processing is required;

[0119] The position and angle offset values ​​when performing laser measurement at the first emission point and the second emission point are calculated according to the wind speed data;

[0120] Data correction is performed on the first space coordinate information, the second space coordinate information, the first angle information and the second angle information according to the position and the angle offset value.

[0121] In this embodiment, when the laser ranging device is mounted on a flying mobile platform (UAV), it is necessary to take into account the interference of the wind speed environment and correct the position and angle of the emission point to improve the accuracy of the laser ranging.

[0122] When the mobile platform is a surface mobile platform,

[0123] Before calculating the spatial coordinate information of the first point to be measured by using the spatial posture angle conversion algorithm according to the first spatial coordinate information, the first angle information and the first distance value, the method further includes:

[0124] Detect and obtain wave data when performing laser measurement at the first and second emission points; since the surface mobile platform (model aircraft ship) needs to stop at the first emission point, the undulation of the water surface at this time will affect the position change, so it is necessary to obtain wave data;

[0125] The height offset value when performing laser measurement at the first emission point and the second emission point is calculated based on the wave data; the wave data includes wave height and wave direction, etc., and the height offset caused by the wave height is mainly what can affect the surface mobile platform (model aircraft ship);

[0126] Data correction is performed on the z-axis data of the first space coordinate information and the second space coordinate information according to the height offset value.

[0127] In this embodiment, when the laser ranging device is mounted on a water surface mobile platform (model aircraft ship), it is necessary to take into account the wave interference of the water surface environment and correct the z-axis data of the emission point to improve the accuracy of the laser ranging.

[0128] When the mobile platform is a land mobile platform,

[0129] Before calculating the spatial coordinate information of the first point to be measured by using the spatial posture angle conversion algorithm according to the first spatial coordinate information, the first angle information and the first distance value, the method further includes:

[0130] Detect and obtain mechanical vibration data when performing laser measurement at the first emission point and the second emission point; since the land mobile platform (unmanned vehicle) itself has mechanical vibration, the mechanical vibration of the vehicle will affect the height change and / or horizontal position change during laser measurement; therefore, it is necessary to obtain mechanical vibration data;

[0131] Calculate the height and / or horizontal offset value when performing laser measurement at the first emission point and the second emission point according to the mechanical vibration data;

[0132] Data correction is performed on the first space coordinate information and the second space coordinate information according to the height and / or horizontal offset value.

[0133] In this embodiment, when the laser ranging device is mounted on a land mobile platform (unmanned vehicle), it is necessary to take into account the interference of mechanical vibration and correct the data of the height and / or horizontal direction of the emission point to improve the accuracy of laser ranging.

[0134] In combination with the laser ranging method based on the attitude sensor described in the above embodiments, the laser ranging device based on the attitude sensor is described below through embodiments.

[0135] like Figure 3 As shown, an embodiment of the present invention provides a laser ranging device based on a posture sensor, comprising:

[0136] Laser transmitter 301, receiving component 302, attitude sensor 303 and processor 304; processor 304 includes laser ranging module 3041 and calculation module 3042;

[0137] The laser distance measuring module 3041 is used to control the laser transmitter 301 at the first transmitting point to transmit laser to the first measuring point to measure and obtain a first distance value when measuring the straight-line distance between the first measuring point and the second measuring point;

[0138] The posture sensor 303 is used to obtain the first spatial coordinate information and the first angle information of the first emission point;

[0139] The laser distance measurement module 3041 is also used for controlling the laser transmitter 301 at the second transmitting point to transmit laser to the second measured point to obtain a second distance value after moving from the first transmitting point to the second transmitting point;

[0140] The attitude sensor 303 is further used to obtain the second spatial coordinate information and the second angle information of the second emission point through the attitude sensor;

[0141] A calculation module 3042 is used to calculate the spatial coordinate information of the first point to be measured by using a spatial posture angle conversion algorithm according to the first spatial coordinate information, the first angle information and the first distance value, and to calculate the spatial coordinate information of the second point to be measured by using a spatial posture angle conversion algorithm according to the second spatial coordinate information, the second angle information and the second distance value;

[0142] The calculation module 3042 is further used to calculate the straight-line distance value between the first point to be measured and the second point to be measured according to the spatial coordinate information of the first point to be measured and the second point to be measured.

[0143] Combination Figure 3 The embodiments shown are preferably some embodiments of the present invention.

[0144] The calculation module 3042 is specifically used to determine the first space coordinate information as (X A , Y A , Z A ), the first angle information includes the pitch angle α A , roll angle β A and heading angle γ A and the first distance value d AC ; A represents the first transmitting point, C represents the first point to be measured;

[0145] Substitute into the formula for setting the spatial posture angle conversion algorithm:

[0146] x C =x A +d AC *sin(α A )*cos(γ A );

[0147] y C =y A +d AC *sin(α A )*sin(γ A );

[0148] z C =z A +d AC *cos(α A );

[0149] Among them, x C represents the displacement of C relative to A in the x-axis direction, sin(α A ) represents the length of the projection of C on the xy plane, cos(γ A ) represents the component of the projection in the x-axis direction; y C represents the displacement of C relative to A in the y-axis direction, sin(γA ) represents the component of the projection in the y-axis direction; z C represents the displacement of C relative to A in the z-axis direction, cos(α A ) represents the length of the projection of C upward or downward from the xy plane;

[0150] The spatial coordinate information of the first point C to be measured is obtained as (x C ,y C , z C ).

[0151] In summary, the beneficial effects of the laser ranging device based on the attitude sensor in the embodiment of the present invention are:

[0152] When the laser distance measuring module 3041 measures the straight-line distance between the first point to be measured and the second point to be measured, the laser transmitter 301 is controlled at the first emission point to emit laser light to the first point to be measured to obtain a first distance value; the attitude sensor 303 obtains the first spatial coordinate information and the first angle information of the first emission point; after the laser distance measuring module 3041 moves from the first emission point to the second emission point, the laser transmitter 301 is controlled at the second emission point to emit laser light to obtain a second distance value; the attitude sensor 303 obtains the second spatial coordinate information and the second angle information of the second emission point through the attitude sensor; the calculation module 3042 uses the first spatial coordinate information, the first angle information and the first distance value to calculate the distance between the first and second points. The spatial coordinate information of the first point to be measured is calculated by a spatial posture angle conversion algorithm, and the spatial coordinate information of the second point to be measured is calculated by a spatial posture angle conversion algorithm according to the second spatial coordinate information, the second angle information and the second distance value; the straight-line distance value between the first point to be measured and the second point to be measured is calculated according to the spatial coordinate information of the first point to be measured and the second point to be measured; laser ranging is performed at two transmitting points other than the two points to be measured, and the coordinate information of the two points to be measured is calculated using the spatial coordinate information and angle information of the transmitting points obtained by the posture sensor, so as to obtain the straight-line distance between the two points to be measured, without emitting laser at one of the two points to be measured for laser ranging, thereby improving the convenience of the laser ranging process;

[0153] When there is a curve between two points to be measured, the curve can be divided into multiple straight line segments. The straight line distance value of each straight line segment can be calculated using the calculation principle of the straight line distance value, and the length value of the curve can be obtained by adding them up, which solves the problem that laser ranging in the prior art cannot measure the length of the curve.

[0154] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0155] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0156] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0157] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0158] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the scope of the claims of the present invention to be approved.

Claims

1. A laser ranging method based on a posture sensor, characterized in that: The invention is applied to a laser distance measuring device based on a posture sensor, wherein the laser distance measuring device comprises a laser transmitter, a receiving component, a posture sensor and a processor, and the laser distance measuring method comprises: S1, when measuring the straight-line distance between a first point to be measured and a second point to be measured, controlling the laser transmitter at a first emission point to emit laser light to the first point to be measured to obtain a first distance value; S2, obtaining first spatial coordinate information and first angle information of the first emission point through the attitude sensor; S3, after moving from the first emission point to the second emission point, controlling the laser emitter at the second emission point to emit laser light to the second point to be measured to obtain a second distance value; S4, obtaining second spatial coordinate information and second angle information of the second emission point through the attitude sensor; S5, according to the first spatial coordinate information, the first angle information and the first distance value, using a spatial posture angle conversion algorithm to calculate the spatial coordinate information of the first point to be measured, according to the second spatial coordinate information, the second angle information and the second distance value, using the spatial posture angle conversion algorithm to calculate the spatial coordinate information of the second point to be measured; S6: Calculate the straight-line distance between the first point to be measured and the second point to be measured according to the spatial coordinate information of the first point to be measured and the second point to be measured.

2. The laser ranging method based on the attitude sensor according to claim 1, characterized in that: Before step S1, the following steps are also included: According to the surface of the object to be measured at the first point to be measured and the second point to be measured marked by the user, determining whether the line segment to be measured between the first point to be measured and the second point to be measured is a straight line or a curve; When the first to-be-measured point and the second to-be-measured point are a straight line, executing step S1; When there is a curve between the first point to be measured and the second point to be measured, the curve is divided into a plurality of straight line segments connected end to end, and steps S1 to S6 are executed to calculate the straight line distance value between the starting point and the end point of each straight line segment, and the straight line distance values ​​of all the straight line segments are added together to obtain the curve length value of the curve.

3. The laser ranging method based on the attitude sensor according to claim 2 is characterized in that: After executing the steps S1 to S6 to calculate the straight-line distance between the starting point and the end point of each straight line segment, the method further includes: The posture change information in each straight line segment is calculated based on the spatial coordinate information and angle information of the starting point emission point corresponding to the starting point of each straight line segment, and the spatial coordinate information and angle information of the ending point emission point corresponding to the ending point; Compare the straight line distance values ​​of all straight line segments, and select the target straight line segment that exceeds the preset distance value range; According to the posture change information corresponding to the target straight line segment, determining whether the posture change size in the target straight line segment exceeds the posture change size in the adjacent straight line segment; If it exceeds, it is determined that the straight-line distance value of the target straight line segment is calculated normally; If it does not exceed, it is determined that the straight-line distance value calculation of the target straight-line segment is abnormal, and the average of the straight-line distance values ​​of the adjacent straight-line segments before and after the target straight-line segment is used as the new straight-line distance value of the target straight-line segment.

4. The laser ranging method based on the attitude sensor according to claim 1 is characterized in that: The attitude sensor is a nine-axis sensor, which includes a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer. The step S2, obtaining the first spatial coordinate information and the first angle information of the first emission point through the attitude sensor, includes: Obtaining gyroscope data, acceleration data and magnetometer data through a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer of the attitude sensor at the first transmitting point; Calculating initial spatial coordinate information and initial angle information according to the gyroscope data and the acceleration data; The initial spatial coordinate information and the initial angle information are calibrated and corrected using the magnetometer data to obtain the first spatial coordinate information (X A , Y A , Z A ) and the first angle information (α A , β A , γ A ), the α A is the pitch angle, the β A is the roll angle, the γ A is the heading angle.

5. The laser ranging method based on the attitude sensor according to claim 2 is characterized in that: The step of calculating the spatial coordinate information of the first point to be measured by using a spatial posture angle conversion algorithm according to the first spatial coordinate information, the first angle information and the first distance value includes: Determine the first spatial coordinate information as (X A , Y A , Z A ), the first angle information includes the pitch angle α A , roll angle β A and heading angle γ A and the first distance value d AC ; A represents the first transmitting point, and C represents the first point to be measured; Substitute into the formula for setting the spatial posture angle conversion algorithm: x C =x A +d AC *sin(a A )*cos(γ A ); and C =and A +d AC *sin(α A )*sin(γ A ); With C =from A +d AC *something(α A ); Among them, the x C represents the displacement of C relative to A in the x-axis direction, and the sin(α A ) represents the length of the projection of C on the xy plane, and cos(γ A ) represents the component of the projection in the x-axis direction; the y C represents the displacement of C relative to A in the y-axis direction, and the sin(γ A ) represents the component of the projection in the y-axis direction; the z C represents the displacement of C relative to A in the z-axis direction, and cos(α A ) represents the length of the projection of C upward or downward from the xy plane; The spatial coordinate information of the first test point C is obtained as (x C ,y C , z C ).

6. The laser ranging method based on the attitude sensor according to claim 5 is characterized in that: The laser distance measuring device also includes a mobile platform; The mobile platform is used to move the laser distance measuring device from the first emission point to the second emission point; The mobile platform is a flying mobile platform, a surface mobile platform or a land mobile platform.

7. The laser ranging method based on the attitude sensor according to claim 6 is characterized in that: When the mobile platform is a flying mobile platform, Before calculating the spatial coordinate information of the first point to be measured by using a spatial posture angle conversion algorithm according to the first spatial coordinate information, the first angle information and the first distance value, the method further includes: Detecting and acquiring wind speed data when laser measurement is performed at the first emission point and the second emission point; Calculate the position and angle offset values ​​when performing laser measurement at the first emission point and the second emission point according to the wind speed data; Data correction is performed on the first spatial coordinate information, the second spatial coordinate information, the first angle information, and the second angle information according to the position and angle offset value.

8. The laser ranging method based on the attitude sensor according to claim 6, characterized in that: When the mobile platform is a water surface mobile platform, Before calculating the spatial coordinate information of the first point to be measured by using a spatial posture angle conversion algorithm according to the first spatial coordinate information, the first angle information and the first distance value, the method further includes: Detecting and acquiring wave data when laser measurement is performed at the first emitting point and the second emitting point; Calculate the height offset value when performing laser measurement at the first emission point and the second emission point according to the wave data; Data correction is performed on z-axis data of the first spatial coordinate information and the second spatial coordinate information according to the height offset value.

9. The laser ranging method based on the attitude sensor according to claim 6, characterized in that: When the mobile platform is a land mobile platform, Before calculating the spatial coordinate information of the first point to be measured by using a spatial posture angle conversion algorithm according to the first spatial coordinate information, the first angle information and the first distance value, the method further includes: Detecting and acquiring mechanical vibration data when laser measurement is performed at the first emitting point and the second emitting point; Calculate the height and / or horizontal offset value when performing laser measurement at the first emission point and the second emission point according to the mechanical vibration data; Data correction is performed on the first spatial coordinate information and the second spatial coordinate information according to the height and / or horizontal offset value.

10. A laser ranging device based on a posture sensor, characterized in that: include: Laser transmitter, receiving component, attitude sensor and processor; the processor includes a laser ranging module and a computing module; The laser distance measuring module is used to control the laser transmitter at a first emission point to emit laser to the first measurement point to measure a first distance value when measuring the straight-line distance between the first measurement point and the second measurement point; The attitude sensor is used to obtain the first spatial coordinate information and the first angle information of the first emission point; The laser distance measuring module is further used for controlling the laser transmitter to transmit laser to the second point to be measured at the second transmitting point to obtain a second distance value after moving from the first transmitting point to the second transmitting point; The attitude sensor is further used to obtain second spatial coordinate information and second angle information of the second emission point through the attitude sensor; The calculation module is used to calculate the spatial coordinate information of the first point to be measured by using a spatial posture angle conversion algorithm according to the first spatial coordinate information, the first angle information and the first distance value, and to calculate the spatial coordinate information of the second point to be measured by using the spatial posture angle conversion algorithm according to the second spatial coordinate information, the second angle information and the second distance value; The calculation module is further used to calculate the straight-line distance value between the first to-be-measured point and the second to-be-measured point according to the spatial coordinate information of the first to-be-measured point and the second to-be-measured point.

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