A method and device for determining the attitude of a laser radar carried on a vehicle

Abstract

A method and device for determining the attitude of a laser radar mounted on a vehicle includes: collecting a frame of point data generated when the laser radar scans the surfaces of two objects at an angle; selecting a preset number of point data generated on the surface of each object from the frame of point data; determining the surface normal vector of each object in the vehicle coordinate system based on the selected point data; and determining the installation attitude of the laser radar in the vehicle coordinate system based on the surface normal vector of each object in the vehicle coordinate system. This technical solution can quickly determine the attitude of the laser radar.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic map determination, and in particular to a method and device for determining the posture of a laser radar carried on a vehicle. Background Art

[0002] High-precision map collection vehicles use sensors to collect geographic information data. The sensors used for collection include inertial navigation equipment (i.e., inertial navigation equipment) and lidar. The inertial navigation equipment outputs the vehicle's travel trajectory, and the lidar uses high-speed laser for scanning and measurement to quickly obtain three-dimensional coordinate data on the surface of the object being measured and provide a point cloud of the object being measured.

[0003] After collecting high-precision data using an HD map acquisition vehicle, trajectory data is required to solve the point cloud data. Therefore, the relative positional relationship between the LiDAR and the inertial navigation system, which collect these two types of data, must be known. Generally, the attitude of the inertial navigation system is consistent with that of the vehicle. Therefore, the LiDAR attitude, determined relative to the vehicle coordinate system, can represent the relative positional relationship between the LiDAR and the inertial navigation system. Once this positional relationship is determined, the subsequent processing of the point cloud and trajectory data can be established.

[0004] The methods for determining the attitude of the laser radar in the prior art include the following two methods:

[0005] Method 1: Use a measuring tool (such as a total station) to measure the device's attitude angle.

[0006] Method 2: Use the planar features of elements such as buildings and ground to find the error evaluation function, and iteratively calculate the device's posture information until the number of iterations is reached or the error is less than a fixed value.

[0007] The first method uses surveying tools (such as total stations) to measure distances and angles with high accuracy, but it doesn't work well with data acquisition equipment because the center point of the device and the installation posture of the internal components cannot be accurately determined, resulting in inaccurate measurement results. Furthermore, the attitude angle corresponds to three coordinate axes, and the device coordinate system is not clearly known during installation. Therefore, the measurement method using surveying tools cannot measure the attitude angle.

[0008] The second method offers higher measurement accuracy than the first and is currently the most commonly used method for device calibration. However, it requires feature extraction and error function selection before calculation, and the result depends on the number of iterations and error parameters, resulting in high algorithm complexity and low program efficiency.

[0009] Therefore, current methods cannot solve the problem of lidar attitude determination quickly, efficiently and accurately. Summary of the Invention

[0010] The purpose of the present invention is to provide a method and device for determining the posture of a laser radar carried on a vehicle, so as to achieve rapid and accurate determination of the laser radar posture.

[0011] To achieve the above object, the present invention provides a method for determining the posture of a laser radar carried on a vehicle, comprising:

[0012] Collecting a frame of point data generated when the laser radar scans the surfaces of two objects at an angle;

[0013] Selecting, from the one frame of point data, a preset number of point data generated by the object on the surface for each object;

[0014] Determining a normal vector of a surface of each object in a vehicle coordinate system based on point data selected for each object;

[0015] Based on the normal vector of the surface of each object in the vehicle coordinate system, the installation posture of the laser radar in the vehicle coordinate system is determined.

[0016] Furthermore, three point data are selected for each object from the point data generated by the object on the surface, and the three point data are not in a collinear relationship.

[0017] Furthermore, the determining of the installation posture of the laser radar in the vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system is specifically as follows:

[0018] Multiplying the calculated normal vectors of the surfaces of the two objects in the vehicle coordinate system to obtain a third vector;

[0019] The installation posture of the laser radar in the vehicle coordinate system is determined using the normal vectors of the surfaces of the two objects in the vehicle coordinate system and the third vector.

[0020] Furthermore, the method further comprises:

[0021] The determined installation posture of the laser radar in the vehicle coordinate system is adjusted to the installation posture of the laser radar in the reference coordinate system.

[0022] Furthermore, the step of adjusting the determined installation posture of the laser radar in the vehicle coordinate system to the installation posture of the laser radar in the reference coordinate system is specifically as follows:

[0023] When the vehicle coordinate system and the reference coordinate system are consistent, the determined installation posture of the laser radar in the vehicle coordinate system is used as the installation posture of the laser radar in the reference coordinate system; when the vehicle coordinate system and the reference coordinate system deviate, the installation posture of the laser radar in the reference coordinate system is obtained based on the installation posture of the laser radar in the vehicle coordinate system and the rotation matrix between the vehicle coordinate system and the reference coordinate system.

[0024] Furthermore, the method also includes: correcting the determined installation posture of the laser radar in the vehicle coordinate system.

[0025] Furthermore, the correcting the determined installation posture of the laser radar in the vehicle coordinate system includes:

[0026] Multiplying one of the normal vectors of the surfaces of the two objects in the vehicle coordinate system by the third vector to obtain a corrected normal vector;

[0027] The installation posture of the calibrated laser radar in the vehicle coordinate system is obtained using the one calibrated normal vector, the one of the normal vectors of the surfaces of the two objects in the vehicle coordinate system, and the third vector.

[0028] Furthermore, the method also includes: using the installation posture of the laser radar in the reference coordinate system and the installation posture of the inertial navigation device in the reference coordinate system to determine the installation posture of the laser radar relative to the inertial navigation device.

[0029] Furthermore, the angle is 90 degrees.

[0030] Furthermore, the two objects with an included angle are a wall and a ground perpendicular to each other or two walls perpendicular to each other.

[0031] The present invention also provides a device for determining the posture of a laser radar carried on a vehicle, the device comprising a data acquisition unit, a point data acquisition unit, a vector calculation unit, and a posture determination unit:

[0032] The data acquisition unit is used to acquire a frame of point data generated when the laser radar scans the surfaces of two objects at an angle;

[0033] a point data selection unit, configured to select, for each object, a preset number of point data generated by the object on the surface from the one frame of point data;

[0034] The vector calculation unit is configured to determine a normal vector of a surface of each object in a vehicle coordinate system based on point data selected for each object;

[0035] The posture determination unit is used to determine the installation posture of the laser radar in the vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system.

[0036] Furthermore, the point data selection unit is used to select three point data from the point data generated by each object on the surface, and the three point data are not in a collinear relationship.

[0037] Furthermore, the determining of the installation posture of the laser radar in the vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system is specifically as follows:

[0038] Multiplying the calculated normal vectors of the surfaces of the two objects in the vehicle coordinate system to obtain a third vector;

[0039] The installation posture of the laser radar in the vehicle coordinate system is determined using the normal vectors of the surfaces of the two objects in the vehicle coordinate system and the third vector.

[0040] Furthermore, the device also includes a posture conversion unit for adjusting the determined installation posture of the laser radar in the vehicle coordinate system to the installation posture of the laser radar in the reference coordinate system.

[0041] Furthermore, the step of adjusting the determined installation posture of the laser radar in the vehicle coordinate system to the installation posture of the laser radar in the reference coordinate system is specifically as follows:

[0042] When the vehicle coordinate system and the reference coordinate system are consistent, the determined installation posture of the laser radar in the vehicle coordinate system is used as the installation posture of the laser radar in the reference coordinate system; when the vehicle coordinate system and the reference coordinate system deviate, the installation posture of the laser radar in the reference coordinate system is obtained based on the installation posture of the laser radar in the vehicle coordinate system and the rotation matrix between the vehicle coordinate system and the reference coordinate system.

[0043] Furthermore, the posture determination unit is also used to correct the determined installation posture of the laser radar in the vehicle coordinate system.

[0044] Furthermore, the correcting the determined installation posture of the laser radar in the vehicle coordinate system includes:

[0045] Multiplying one of the normal vectors of the surfaces of the two objects in the vehicle coordinate system by the third vector to obtain a corrected normal vector;

[0046] The installation posture of the calibrated laser radar in the vehicle coordinate system is obtained using the one calibrated normal vector, the one of the normal vectors of the surfaces of the two objects in the vehicle coordinate system, and the third vector.

[0047] Furthermore, the device also includes a relative posture determination unit, which is used to determine the installation posture of the laser radar relative to the inertial navigation device using the installation posture of the laser radar in the reference coordinate system and the installation posture of the inertial navigation device in the reference coordinate system.

[0048] Furthermore, the angle is 90 degrees.

[0049] Furthermore, the two objects with an included angle are a wall and a ground perpendicular to each other or two walls perpendicular to each other.

[0050] The present invention further provides an electronic device, comprising:

[0051] storage device;

[0052] one or more processors;

[0053] The storage device is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the method as described above.

[0054] The present invention also provides a computer program product, comprising computer program instructions, which are used to implement the method described above when the instructions are executed by a processor.

[0055] The present invention also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed, the method described above is implemented.

[0056] Compared with the existing technology, the technical problem to be solved by the present invention is to provide a method and device for determining the attitude of a laser radar. By using only part of the scanned laser data, the initial value of the attitude of the laser radar can be obtained relatively accurately, providing a reliable initial basis for subsequent iterative calculations. It can be quickly applied to actual projects, realizing rapid and accurate determination of the attitude of the laser radar and improving computational efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0058] Figure 1 This is a flowchart of a method for determining the posture of a laser radar mounted on a vehicle according to embodiment 1 of the present invention.

[0059] Figure 2 This is a diagram of the actual installation of the laser radar of the present invention.

[0060] Figure 3 Schematic diagram of the acquisition scene of the present invention.

[0061] Figure 4 This is a schematic diagram of real-time data when the laser is placed horizontally.

[0062] Figure 5 This is a schematic diagram of real-time data when the laser is tilted.

[0063] Figure 6 This is a schematic diagram of selecting three points on plane 1 according to an embodiment of the present invention.

[0064] Figure 7 This is a schematic diagram of selecting three points on plane 2 according to an embodiment of the present invention.

[0065] Figure 8 This is a structural block diagram of a device for determining the posture of a laser radar mounted on a vehicle according to a second embodiment of the present invention. DETAILED DESCRIPTION

[0066] To facilitate understanding and implementation of the present invention by those skilled in the art, the technical solutions of the present invention are clearly and completely described below with reference to the accompanying drawings. It is apparent that the embodiments described are only some of the embodiments of the present invention, rather than all of them. All other embodiments derived by those skilled in the art based on the embodiments of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0067] Example 1:

[0068] See also Figure 1 Embodiment 1 of the present invention provides a method for determining the posture of a laser radar mounted on a vehicle, the method comprising the following steps:

[0069] Step 101: Collect a frame of point data generated when the laser radar scans the surfaces of two objects at an angle.

[0070] The point data generated by one rotation of the laser radar is one frame of point data.

[0071] Before step 101, see Figure 2The method further includes: fixing the laser radar on a vehicle in a certain posture, and ensuring that the laser radar can simultaneously scan the surfaces of two objects at an angle. When the laser radar is mounted on the vehicle at different angles, the scanned points will also change. The vehicle is a map collection vehicle.

[0072] The angle can be 90 degrees, that is, the surfaces of the two objects are perpendicular to each other. Figure 3 As shown, the two mutually perpendicular objects may be a wall and a ground that are perpendicular to each other, or the two mutually perpendicular objects may be two mutually perpendicular walls.

[0073] Step 102: Selecting a preset number of point data generated on the surface of each object from the one frame of point data.

[0074] like Figure 4 and 5 Shown are the data generated when the laser is placed horizontally and tilted.

[0075] When selecting data, three point data are selected for each object from the point data generated by the object on the surface, and the three point data are not in a collinear relationship. Figure 6 and 7 As shown, three points 1, 2, 3 and 4, 5, 6 are selected on two planes respectively, and the three points selected on each plane are not on a straight line.

[0076] Step 103: Based on the point data selected for each object, determine the normal vector of the surface of each object in the vehicle coordinate system.

[0077] When the angle between the surfaces of two objects with an angle is 90 degrees, that is, perpendicular, the normal vector of the surface of each object in the vehicle coordinate system is determined based on the point data selected for each object. Specifically, the normal vector of each vertical surface in the vehicle coordinate system is calculated based on the coordinates of the three points selected on each vertical surface in the vehicle coordinate system. The normal vectors of the two vertical surfaces are and express.

[0078] For example, consider a map collection vehicle with a lidar located on the ground and on one side of a wall. The vehicle coordinate system is used as the reference coordinate system (RFU), where the right side of the vehicle is the X-axis, the front is the Y-axis, and the sky is the Z-axis.

[0079] First, calculate the normal vector of the ground

[0080] Select three points on the ground and record them as p1, p2, and p3. The coordinates of the three points p1, p2, and p3 in the selected reference coordinate system are p1(x1, y1, z1), p2(x2, y2, z2), and p3(x3, y3, z3) respectively.

[0081] but:

[0082]

[0083]

[0084] Calculate the ground normal vector

[0085]

[0086] in,

[0087] a=(y2-y1)(z3-z1)-(z2-z1)(y3-y1);

[0088] b=(z2-z1)(x3-x1)-(z3-z1)(x2-x1);

[0089] c=(x2-x1)(y3-y1)-(x3-x1)(y2-y1).

[0090] Similarly, calculate the normal vector of the wall

[0091] Select three points on the wall and record them as p4, p5, and p6. The coordinates of the three points p4, p5, and p6 in the reference coordinate system are p4 (x4, y4, z4), p5 (x5, y5, z5), and p6 (x6, y6, z6) respectively.

[0092] but:

[0093]

[0094]

[0095] Calculate the ground normal vector

[0096]

[0097] in,

[0098] d=(y5-y4)(z6-z4)-(z5-z4)(y6-y4);

[0099] e=(z5-z4)(x6-x4)-(z6-z4)(x5-x4);

[0100] f=(x5-x4)(y6-y4)-(x6-x4)(y5-y4).

[0101] Step 104: Determine the installation posture of the laser radar in the vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system.

[0102] The determining of the installation posture of the laser radar in the vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system is specifically as follows:

[0103] Multiplying the calculated normal vectors of the surfaces of the two objects in the vehicle coordinate system to obtain a third vector;

[0104] The installation posture of the laser radar in the vehicle coordinate system is determined using the normal vectors of the surfaces of the two objects in the vehicle coordinate system and the third vector.

[0105] When the angle between the surfaces of two objects at an angle is 90 degrees, that is, perpendicular, the installation posture of the laser radar in the vehicle coordinate system is determined based on the normal vector of the surface of each object in the vehicle coordinate system, specifically:

[0106] The normal vectors of the surfaces of the two mutually perpendicular objects calculated in step 103 are and Calculate the vector That is, the third vector:

[0107]

[0108] Get the attitude matrix of the laser radar relative to the reference coordinate system

[0109]

[0110] Taking into account that the vertical angles of the two vertical planes may have an error, that is, may not be 90 degrees, the method further includes: correcting the determined installation posture of the laser radar in the vehicle coordinate system, including:

[0111] (1) multiplying one of the normal vectors of the surfaces of the two objects in the vehicle coordinate system by the third vector to obtain a corrected normal vector;

[0112] Based on the vector calculated above, use the third vector and vector The vector Corrected to

[0113]

[0114] (2) Using the corrected normal vector, the one normal vector among the normal vectors of the surfaces of the two objects in the vehicle coordinate system, and the third vector, the installation posture of the corrected laser radar in the vehicle coordinate system is obtained.

[0115] Through the above calculation Get the corrected attitude matrix of the laser radar relative to the reference coordinate system

[0116]

[0117] In addition, the method further includes: adjusting the determined installation posture of the laser radar in the vehicle coordinate system to the installation posture of the laser radar in the reference coordinate system. Specifically:

[0118] When the vehicle coordinate system and the reference coordinate system are consistent, the determined installation posture of the laser radar in the vehicle coordinate system is used as the installation posture of the laser radar in the reference coordinate system;

[0119] When there is a deviation between the vehicle coordinate system and the reference coordinate system, the installation posture of the laser radar in the reference coordinate system is obtained based on the installation posture of the laser radar in the vehicle coordinate system and the rotation matrix between the vehicle coordinate system and the reference coordinate system.

[0120] There are many ways to select the reference coordinate system used above. It may be the same as the standard coordinate system, or it may have obvious deviations from the standard coordinate system. Taking the Northeast Sky coordinate system as the standard coordinate system as an example (when the standard coordinate system is the Northeast Sky coordinate system, the X axis is in the east direction, the Y axis is in the north direction, and the Z axis is in the direction of the sky). Calculate the attitude matrix of the lidar in the standard coordinate system There are two cases:

[0121] Case 1: When the normal vectors of the two vertical planes of the selected reference coordinate system are approximately consistent with the two axes of the standard coordinate system, the calculated As the attitude matrix of the laser radar in the standard coordinate system, that is:

[0122]

[0123] Case 2: When the normal vectors of the two perpendicular planes of the selected reference coordinate system have obvious deviations from the standard coordinate system, it is necessary to calculate the rotation matrix of the coordinate axis of the currently selected reference coordinate system in the standard coordinate system. The rotation matrix can be directly calculated by using the point cloud of the scene acquired in advance, or by adding control points. It can be obtained according to the general surveying and mapping process. This method will not be described in detail. Then calculate the attitude matrix of the laser in the standard coordinate system, that is:

[0124]

[0125] The method further includes: determining the installation posture of the laser radar relative to the inertial navigation device using the installation posture of the laser radar in the reference coordinate system and the installation posture of the inertial navigation device in the reference coordinate system.

[0126] Specifically: using the attitude matrix of the laser radar in the standard coordinate system To calculate the attitude matrix of the lidar relative to the inertial navigation device

[0127]

[0128] described It is the attitude matrix of the inertial navigation device in the standard coordinate system.

[0129] Example 2:

[0130] See also Figure 8 A second embodiment of the present invention provides a device for determining the posture of a laser radar mounted on a vehicle, the device comprising a data acquisition unit 1, a point data acquisition unit 2, a vector calculation unit 3 and a posture determination unit 4.

[0131] The data acquisition unit is used to collect a frame of point data generated when the laser radar scans the surfaces of two objects at an angle.

[0132] The point data generated by one rotation of the laser radar is one frame of point data.

[0133] Before collecting a frame of point data generated by a laser radar scanning the surfaces of two objects at an angle, the laser radar must be mounted on a vehicle in a certain position to ensure that it can simultaneously scan the surfaces of the two objects at an angle. Scanning points will change when the laser radar is mounted on the vehicle at different angles. The vehicle in question is a map collection vehicle.

[0134] The angle can be 90 degrees, that is, the surfaces of the two objects are perpendicular to each other. Figure 3 As shown, the two mutually perpendicular objects may be a wall and a ground that are perpendicular to each other, or the two mutually perpendicular objects may be two mutually perpendicular walls.

[0135] The point data selection unit is used to select, for each object, a preset number of point data generated by the object on the surface from the one frame of point data.

[0136] like Figure 4 and 5 Shown are the data generated when the laser is placed horizontally and tilted.

[0137] When selecting data, three point data are selected for each object from the point data generated by the object on the surface, and the three point data are not in a collinear relationship. Figure 6 and 7 As shown, three points 1, 2, 3 and 4, 5, 6 are selected on two planes respectively, and the three points selected on each plane are not on a straight line.

[0138] The vector calculation unit is used to determine the normal vector of the surface of each object in the vehicle coordinate system based on the point data selected for each object.

[0139] When the angle between the surfaces of two objects with an angle is 90 degrees, that is, perpendicular, the normal vector of the surface of each object in the vehicle coordinate system is determined based on the point data selected for each object. Specifically, the normal vector of each vertical surface in the vehicle coordinate system is calculated based on the coordinates of the three points selected on each vertical surface in the vehicle coordinate system. The normal vectors of the two vertical surfaces are and express.

[0140] For example, consider a map collection vehicle with a lidar located on the ground and on one side of a wall. The vehicle coordinate system is used as the reference coordinate system (RFU), where the right side of the vehicle is the X-axis, the front is the Y-axis, and the sky is the Z-axis.

[0141] First, calculate the normal vector of the ground

[0142] Select three points on the ground and record them as p1, p2, and p3. The coordinates of the three points p1, p2, and p3 in the selected reference coordinate system are p1(x1, y1, z1), p2(x2, y2, z2), and p3(x3, y3, z3) respectively.

[0143] but:

[0144]

[0145]

[0146] Calculate the ground normal vector

[0147]

[0148] in,

[0149] a=(y2-y1)(z3-z1)-(z2-z1)(y3-y1);

[0150] b=(z2-z1)(x3-x1)-(z3-z1)(x2-x1);

[0151] c=(x2-x1)(y3-y1)-(x3-x1)(y2-y1).

[0152] Similarly, calculate the normal vector of the wall

[0153] Select three points on the wall and record them as p4, p5, and p6. The coordinates of the three points p4, p5, and p6 in the reference coordinate system are p4 (x4, y4, z4), p5 (x5, y5, z5), and p6 (x6, y6, z6) respectively.

[0154] but:

[0155]

[0156]

[0157] Calculate the ground normal vector

[0158]

[0159] in,

[0160] d=(y5-y4)(z6-z4)-(z5-z4)(y6-y4);

[0161] e=(z5-z4)(x6-x4)-(z6-z4)(x5-x4);

[0162] f=(x5-x4)(y6-y4)-(x6-x4)(y5-y4).

[0163] The posture determination unit is used to determine the installation posture of the laser radar in the vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system.

[0164] The determining of the installation posture of the laser radar in the vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system is specifically as follows:

[0165] Multiplying the calculated normal vectors of the surfaces of the two objects in the vehicle coordinate system to obtain a third vector;

[0166] The installation posture of the laser radar in the vehicle coordinate system is determined using the normal vectors of the surfaces of the two objects in the vehicle coordinate system and the third vector.

[0167] When the angle between the surfaces of two objects at an angle is 90 degrees, that is, perpendicular, the installation posture of the laser radar in the vehicle coordinate system is determined based on the normal vector of the surface of each object in the vehicle coordinate system, specifically:

[0168] The normal vectors of the surfaces of the two mutually perpendicular objects calculated by the vector calculation unit and Calculate the vector That is, the third vector:

[0169]

[0170] Get the attitude matrix of the laser radar relative to the reference coordinate system

[0171]

[0172] Taking into account that there is an error in the vertical angle between the two vertical planes, that is, it may not be 90 degrees, the posture determination unit is further used to: correct the determined installation posture of the laser radar in the vehicle coordinate system, specifically including:

[0173] (1) multiplying one of the normal vectors of the surfaces of the two objects in the vehicle coordinate system by the third vector to obtain a corrected normal vector;

[0174] Based on the vector calculated above, use the third vector and vector The vector Corrected to

[0175]

[0176] (2) Using the corrected normal vector, the one normal vector among the normal vectors of the surfaces of the two objects in the vehicle coordinate system, and the third vector, the installation posture of the corrected laser radar in the vehicle coordinate system is obtained.

[0177] Through the above calculation Get the corrected attitude matrix of the laser radar relative to the reference coordinate system

[0178]

[0179] The device further includes a posture conversion unit for adjusting the determined installation posture of the laser radar in the vehicle coordinate system to the installation posture of the laser radar in the reference coordinate system. Specifically:

[0180] When the vehicle coordinate system and the reference coordinate system are consistent, the determined installation posture of the laser radar in the vehicle coordinate system is used as the installation posture of the laser radar in the reference coordinate system;

[0181] When there is a deviation between the vehicle coordinate system and the reference coordinate system, the installation posture of the laser radar in the reference coordinate system is obtained based on the installation posture of the laser radar in the vehicle coordinate system and the rotation matrix between the vehicle coordinate system and the reference coordinate system.

[0182] There are many ways to select the reference coordinate system used above. It may be the same as the standard coordinate system, or it may have obvious deviations from the standard coordinate system. Taking the Northeast Sky coordinate system as the standard coordinate system as an example (when the standard coordinate system is the Northeast Sky coordinate system, the X axis is in the east direction, the Y axis is in the north direction, and the Z axis is in the direction of the sky). Calculate the attitude matrix of the lidar in the standard coordinate system There are two cases:

[0183] Case 1: When the normal vectors of the two vertical planes of the selected reference coordinate system are approximately consistent with the two axes of the standard coordinate system, the calculated As the attitude matrix of the laser radar in the standard coordinate system, that is:

[0184]

[0185] Case 2: When the normal vectors of the two perpendicular planes of the selected reference coordinate system have obvious deviations from the standard coordinate system, it is necessary to calculate the rotation matrix of the coordinate axis of the currently selected reference coordinate system in the standard coordinate system. The rotation matrix can be directly calculated by using the point cloud of the scene acquired in advance, or by adding control points. It can be obtained according to the general surveying and mapping process. This method will not be described in detail. Then calculate the attitude matrix of the laser in the standard coordinate system, that is:

[0186]

[0187] The device also includes a relative attitude determination unit for determining the installation attitude of the laser radar relative to the inertial navigation device using the installation attitude of the laser radar in the reference coordinate system and the installation attitude of the inertial navigation device in the reference coordinate system.

[0188] Specifically: using the attitude matrix of the laser radar in the standard coordinate system To calculate the attitude matrix of the lidar relative to the inertial navigation device

[0189]

[0190] described It is the attitude matrix of the inertial navigation device in the standard coordinate system.

[0191] Based on the solution provided by the present invention, the initial value of the laser radar's posture can be obtained relatively accurately using only part of the scanned laser data, providing a reliable initial basis for subsequent iterative calculations. It can be quickly applied to actual projects, realizing rapid and accurate determination of the laser radar's posture and improving computational efficiency.

[0192] In addition, an embodiment of the present invention further discloses an electronic device, which includes a storage device and one or more processors, wherein the storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in Example 1.

[0193] An embodiment of the present invention further discloses a computer program product, including computer program instructions, which are used to implement the method of the first embodiment when the instructions are executed by a processor.

[0194] An embodiment of the present invention further discloses a computer-readable storage medium having a computer program stored thereon. When the computer program is executed, the method of the first embodiment is implemented.

[0195] The flowcharts and block diagrams in the accompanying drawings illustrate possible architectures, functions, and operations of methods, apparatus, and computer program products according to various embodiments of the present invention. In this regard, each box in the flowcharts and block diagrams may represent a unit, module, program segment, or portion of code comprising one or more computer executable instructions for implementing a logical function. It should also be noted that in some alternative implementations, the functions noted in the boxes may also occur in an order different from that noted in the accompanying drawings. It should also be noted that each box or combination of boxes in the block diagrams and flowcharts may be implemented using a dedicated hardware-based system that performs the specified function or action, or may be implemented using a combination of dedicated hardware and computer instructions.

[0196] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0197] The above description of the disclosed embodiments is intended to enable those skilled in the art to implement or use the present invention. The above embodiments are provided for illustrative purposes only and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that other variations or modifications may be made based on the above description, and such variations or modifications will fall within the scope of the present invention.

Claims

1. A method for determining the posture of a laser radar carried by a vehicle, comprising: Collecting a frame of point data generated when the laser radar scans the surfaces of two objects at an angle; Selecting, from the one frame of point data, a preset number of point data generated by the object on the surface for each object; Determining a normal vector of a surface of each object in a vehicle coordinate system based on point data selected for each object; Determining an installation posture of the laser radar in the vehicle coordinate system based on a normal vector of the surface of each object in the vehicle coordinate system; When the vehicle coordinate system and the reference coordinate system are consistent, the determined installation posture of the laser radar in the vehicle coordinate system is used as the installation posture of the laser radar in the reference coordinate system; When there is a deviation between the vehicle coordinate system and the reference coordinate system, the installation posture of the laser radar in the reference coordinate system is obtained based on the installation posture of the laser radar in the vehicle coordinate system and the rotation matrix between the vehicle coordinate system and the reference coordinate system. 2 . The method according to claim 1 , further comprising selecting three point data from the point data generated by each object on the surface, wherein the three point data are not in a collinear relationship.

3. The method according to claim 1, wherein determining the installation posture of the laser radar in the vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system is specifically: Multiplying the calculated normal vectors of the surfaces of the two objects in the vehicle coordinate system to obtain a third vector; The installation posture of the laser radar in the vehicle coordinate system is determined using the normal vectors of the surfaces of the two objects in the vehicle coordinate system and the third vector.

4. The method of claim 3, further comprising: The determined installation posture of the laser radar in the vehicle coordinate system is corrected.

5. The method according to claim 4, wherein the correcting the determined installation posture of the laser radar in the vehicle coordinate system comprises: Multiplying one of the normal vectors of the surfaces of the two objects in the vehicle coordinate system by the third vector to obtain a corrected normal vector; The installation posture of the calibrated laser radar in the vehicle coordinate system is obtained using the one calibrated normal vector, the one of the normal vectors of the surfaces of the two objects in the vehicle coordinate system, and the third vector.

6. The method of claim 1, further comprising: The installation posture of the laser radar in the reference coordinate system and the installation posture of the inertial navigation device in the reference coordinate system are used to determine the installation posture of the laser radar relative to the inertial navigation device. The method of claim 1 , wherein the angle is 90 degrees.

8. The method according to claim 1, wherein the two objects at an angle are a wall and a ground perpendicular to each other or two walls perpendicular to each other.

9. A device for determining the attitude of a laser radar mounted on a vehicle, the device comprising a data acquisition unit, a point data acquisition unit, a vector calculation unit, a attitude determination unit, and an attitude conversion unit: The data acquisition unit is used to acquire a frame of point data generated when the laser radar scans the surfaces of two objects at an angle; a point data selection unit, configured to select, for each object, a preset number of point data generated by the object on the surface from the one frame of point data; The vector calculation unit is configured to determine a normal vector of a surface of each object in a vehicle coordinate system based on point data selected for each object; The posture determination unit is configured to determine the installation posture of the laser radar in the vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system; The posture conversion unit is configured to use the determined installation posture of the laser radar in the vehicle coordinate system as the installation posture of the laser radar in the reference coordinate system when the vehicle coordinate system and the reference coordinate system are consistent; When there is a deviation between the vehicle coordinate system and the reference coordinate system, the installation posture of the laser radar in the reference coordinate system is obtained based on the installation posture of the laser radar in the vehicle coordinate system and the rotation matrix between the vehicle coordinate system and the reference coordinate system.

10. An electronic device, comprising: storage device; one or more processors; The storage device is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 8.

11. A computer program product comprising computer program instructions, which are configured to implement the method according to any one of claims 1 to 8 when the instructions are executed by a processor.

12. A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed, the method according to any one of claims 1 to 8 is implemented.

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