Dynamic calibration method and dynamic calibration system for positioning devices

Abstract

The application discloses a dynamic calibration method and system of a positioning device. The system comprises: a differential positioning device mobile end is placed on a slope of a right-angled triangular slope and can slide along the slope; a rigid ruler is arranged at the upper end of the differential positioning device mobile end and is parallel to the slope of the right-angled triangular slope, and the rigid ruler is used for accurately measuring the sliding distance of a to-be-tested device on the right-angled triangular slope; a differential positioning device reference station performs difference calculation with the to-be-tested device and outputs high-precision differential positioning data; and a camera is arranged above the differential positioning device mobile end and is used for shooting the scale on the rigid ruler. The technical content of the application can intuitively reflect the error condition in the height calibration of the to-be-tested device, so that the dynamic calibration of the high-precision differential positioning device is more accurate and convenient to operate.

Description

Technical Field

[0001] This invention relates to the field of high-precision differential positioning technology, and more specifically, to a dynamic calibration method and a dynamic calibration system for positioning equipment. Background Technology

[0002] Currently, high-precision differential positioning has been widely used in various fields, providing services for AI technology, autonomous driving technology, drones, robots, and 3D high-precision mapping.

[0003] Its positioning principle is to place a base station (receiver) on a reference and a mobile device on the target. The base station calculates the difference between the reference value and the received satellite position data. The mobile device calculates the received satellite position data based on the difference sent by the base station to obtain high-precision differential position data.

[0004] For dynamic calibration of high-precision differential positioning equipment, the existing method is mainly the frustum or circular swing arm measurement method, which involves fixing the equipment to the top of a frustum or circular swing arm and driving the frustum or circular swing arm to perform circular motion at a fixed angular velocity through a motor, thereby realizing the dynamic positioning accuracy detection of the equipment under test.

[0005] During the dynamic movement of high-precision differential positioning equipment, the elevation position data has a larger error value compared to the latitude and longitude position data. In existing calibration methods, the change range of elevation measurement values ​​during the movement and inspection process is relatively small, which is not conducive to intuitively reflecting the error in the elevation calibration of the inspected equipment.

[0006] Currently, it is difficult to find cheap, practical positioning equipment that has higher accuracy than the differential positioning module under test, so there is no good dynamic calibration system for differential positioning modules at present.

[0007] Therefore, how to provide a dynamic calibration method and system for positioning devices has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0008] The purpose of this invention is to provide a dynamic calibration method and a dynamic calibration system for positioning devices.

[0009] The first aspect of this invention discloses a dynamic calibration system for a positioning device; the system includes: a right-angled triangle ramp, a differential positioning device mobile end, a rigid ruler, a differential positioning device base station, a computer, and a camera;

[0010] The differential positioning device's moving end is the device under test. The differential positioning device's moving end is placed on the slope of the right-angled triangular ramp and can slide along the ramp.

[0011] The rigid ruler is set at the upper end of the moving end of the differential positioning device, and the rigid ruler is parallel to the slope of the right-angled triangle slope. The rigid ruler is used to accurately measure the sliding distance of the device under test on the right-angled triangle slope.

[0012] The differential positioning device base station calculates the difference with the device under test and outputs high-precision differential positioning data;

[0013] The camera is positioned above the mobile end of the differential positioning device. The camera is used to photograph the scale on the rigid ruler. The camera is connected in sequence to the computer and the base station of the differential positioning device. The computer provides time synchronization between the base station of the differential positioning device and the camera to ensure GPS time synchronization of all participating devices during overall calibration.

[0014] According to the system of the first aspect of the present invention, the camera is connected in sequence to the computer and the differential positioning device reference station via a high-speed network cable.

[0015] According to the system of the first aspect of the invention, the graduation value of the rigid ruler is 1 millimeter.

[0016] According to the system of the first aspect of the present invention, the mobile end of the differential positioning device is provided with a timing device.

[0017] According to the system of the first aspect of the present invention, both the mobile terminal of the differential positioning device and the base station of the differential positioning device are high-precision differential positioning devices; the camera is a high-speed camera.

[0018] A second aspect of the present invention provides a dynamic calibration method for a positioning device, employing the system described in the first aspect of the present invention, the method comprising:

[0019] Step S1: Place the differential positioning device's moving end at the vertex of the right-angled triangle slope and keep it stationary. Configure the differential positioning device's moving end to be in working condition.

[0020] Step S2: Use a computer to provide unified time synchronization to the mobile terminal of the differential positioning device, the base station 4 of the differential positioning device, and the camera;

[0021] Step S3: Perform static calibration on the mobile terminal of the differential positioning device, requiring that the spatial error between the position information output by the mobile terminal of the differential positioning device and the position of point A is less than or equal to the static error of the mobile terminal of the differential positioning device; the vertex of the right-angled triangle slope is the position of point A, the right angle point is the position of point B, and the other point is the position of point C;

[0022] Step S4: Use a rigid ruler to push the moving end of the differential positioning device downwards along the slope of the right triangle, while keeping the rigid ruler in contact with the device under test at all times; at this time, the camera will take pictures and record the scale on the rigid ruler.

[0023] Step S5: The computer analyzes the scale captured by the camera and calculates the actual latitude and longitude of the mobile terminal of the differential positioning device at the current time, i.e., the actual value; finds the latitude and longitude output by the mobile terminal of the differential positioning device at the corresponding time, i.e., the output value; compares the output value with the actual value to obtain the difference, which is the error value of the mobile terminal of the differential positioning device.

[0024] According to the method of the second aspect of the present invention, in step S3, the spatial error between the position information output by the mobile terminal of the differential positioning device and the position of point A is less than or equal to 2 cm.

[0025] According to the method of the second aspect of the present invention, in step S4, the camera is kept in a working state, and the camera shooting time interval is a fixed value of 1 second.

[0026] According to the method of the second aspect of the present invention, in step S5, the method for calculating the actual latitude and longitude of the mobile terminal of the differential positioning device at the current time includes: after knowing the precise coordinates of the starting point A and the scale of the rigid ruler, calculating the dynamic movement distance of the mobile terminal of the differential positioning device; by measuring the angle of the position of point B, and then by coordinate system conversion, the actual latitude and longitude of the mobile terminal of the differential positioning device at the current time can be obtained; by triangulation, the change in spatial position between the mobile terminal of the differential positioning device and the starting point A can be known, and the actual latitude and longitude of the mobile terminal of the differential positioning device at the current time can be obtained.

[0027] According to the method of the second aspect of the present invention, in step S2, the timing device of the moving end of the differential positioning device is configured to continuously output trigger pulses to the camera, so that the camera can capture and record the scale on the rigid ruler.

[0028] According to the technical content disclosed in this invention, the following beneficial effects are achieved: the dynamic calibration of high-precision differential positioning equipment is more accurate and easier to operate and implement.

[0029] Other features and advantages of the invention will become clear from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings. Attached Figure Description

[0030] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the invention and, together with their description, serve to explain the principles of the invention.

[0031] Figure 1 This is a schematic diagram of a dynamic calibration system for a positioning device according to an embodiment.

[0032] Figure label:

[0033] 1-Right-angled triangle ramp, 2-Differential positioning device mobile end, 3-Rigid ruler, 4-Differential positioning device base station, 5-Computer, 6-Camera. Detailed Implementation

[0034] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0035] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0036] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0037] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0038] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0039] Example 1:

[0040] The first aspect of this invention discloses a dynamic calibration system for a positioning device. Figure 1 This is a structural diagram of a dynamic calibration system for a positioning device according to an embodiment of the present invention, specifically as follows: Figure 1As shown, the system includes: a right-angled triangular ramp 1, a differential positioning device moving end 2, a rigid ruler 3, a differential positioning device base station 4, a computer 5, and a camera 6; the right-angled triangular ramp 1 is used to support the device under inspection; the differential positioning device moving end 2 is the device under inspection, and the differential positioning device moving end 2 is placed on the ramp of the right-angled triangular ramp 1 and can slide along the ramp; the rigid ruler 3 is set at the upper end of the differential positioning device moving end 2, and the rigid ruler 3 is parallel to the ramp of the right-angled triangular ramp 1. The rigid ruler 3 is used to accurately measure the sliding distance of the inspected device 2 on the right-angled triangular ramp 1. The differential positioning device base station 4 calculates the difference with the inspected device 2 and outputs high-precision differential positioning data. The camera 6 is positioned above the differential positioning device mobile end 2 and is used to photograph the scale on the rigid ruler 3. The camera 6 is connected to the computer 5 and the differential positioning device base station 4 in sequence. The computer 5 provides time synchronization between the differential positioning device base station 4 and the camera 6 to ensure GPS time synchronization of all participating devices during overall calibration. The camera 6 is connected to the computer 5 and the differential positioning device base station 4 in sequence via a high-speed network cable. The graduation value of the rigid ruler 3 is 1 mm. The differential positioning device mobile end 2 is equipped with a timing device. Both the differential positioning device mobile end 2 and the differential positioning device base station 4 are high-precision differential positioning devices; the camera 6 is a high-speed camera. The vertex of the right-angled triangular ramp 1 is A, the right angle point is C, and the other point is C.

[0041] Example 2:

[0042] A second aspect of the present invention provides a dynamic calibration method for a positioning device, using the system described in any one of Embodiment 1, the method comprising:

[0043] Step S1: Place the differential positioning device mobile end 2 at the vertex of the right triangle ramp 1 and keep it stationary. Configure the differential positioning device mobile end 2 to put it into working state.

[0044] Step S2: The computer 5 provides unified time synchronization to the differential positioning device mobile terminal 2, the differential positioning device base station 4, and the camera 6 to ensure GPS time synchronization of all participating devices during overall calibration; the timing device of the differential positioning device mobile terminal 2 is set to continuously output trigger pulses to the camera 6, so that the camera 6 can photograph and record the scale on the rigid ruler 3; the sampling time interval is usually set to the second pulse of the satellite positioning system, with a fixed value of 1 second;

[0045] Step S3: After completing Step S2, perform static calibration on the mobile terminal 2 of the differential positioning device. It is required that the spatial error between the position information output by the mobile terminal 2 of the differential positioning device and the position of Point A is less than or equal to the static error of the differential positioning system. The vertex of the right triangle ramp 1 is the position of Point A, the right angle point is the position of Point B, and the other point is the position of Point C. The spatial error between the position information output by the mobile terminal 2 of the differential positioning device and the position of Point A is less than or equal to 2 cm. It is required that the spatial error between the position information output by the device under test 2 and the position of Point A is less than or equal to the static error of the mobile terminal of the differential positioning device, which is approximately 2 cm, and it is regarded as qualified. Otherwise, the device under test 2 should be statically calibrated again until the requirements are met.

[0046] Step S4: Use a rigid ruler 3 to push the mobile terminal 2 of the differential positioning device to move downward along the slope of the right triangle ramp 1, and keep the rigid ruler 3 in contact with the device under test 2 at all times. At this time, the camera 6 takes pictures and records the scale on the rigid ruler 3. Keep the camera 6 in working condition, and the time interval for the camera to take pictures is a fixed value of 1 s. Use the rigid ruler 3 to push the device under test 2 to move downward along the slope AB of the right triangle ramp 1, and the rigid ruler 3 should be kept in contact with the device under test 2 at all times during the process.

[0047] The method for the computer to analyze the scale pictures taken by the camera 6 and calculate the actual longitude, latitude and altitude of the mobile terminal 2 of the differential positioning device at the current moment, that is, the actual value, includes: after knowing the precise coordinates of the starting point A and the scale of the rigid ruler 3, calculate the dynamic movement distance of the mobile terminal 2 of the differential positioning device; measure the angle at the position of Point B, and then through coordinate system conversion, the actual longitude, latitude and altitude of the mobile terminal 2 of the differential positioning device at the current moment, that is, the actual value, can be obtained; through trigonometric calculation, the spatial position change amount between the mobile terminal 2 of the differential positioning device and the starting position Point A at this moment can be known, and the actual longitude, latitude and altitude of the mobile terminal 2 of the differential positioning device at the current moment, that is, the actual value, can be obtained. Find the longitude, latitude and altitude output by the mobile terminal 2 of the differential positioning device at the corresponding moment, that is, the output value; compare the output value with the actual value, and the difference obtained is the error value of the mobile terminal 2 of the differential positioning device.

[0048] The mobile terminal 2 of the differential positioning device is the device under test. The device under test can be multiple or multiple groups. Through the above method, multiple groups of devices under test are collected and the error values are calculated, which can intuitively reflect the error situation in the elevation calibration of the device under test, so as to make the dynamic calibration of the high-precision differential positioning device more accurate and the operation more convenient.

[0049] In summary, the dynamic calibration method and system for positioning equipment designed above can calculate the overall positional offset of the tested equipment 2 within space through difference analysis of multiple sets of time data. It can also independently analyze errors in single or any two indicators such as longitude, latitude, and elevation. In particular, it can intuitively reflect the error situation in the elevation calibration of the tested equipment, thus making the dynamic calibration of high-precision differential positioning equipment more accurate and convenient to operate.

[0050] While this specification contains numerous specific implementation details, these should not be construed as limiting the scope of any invention or the scope of the claims, but rather are primarily intended to describe features of specific embodiments of a particular invention. Certain features described in the various embodiments herein may also be implemented in combination in a single embodiment. Conversely, various features described in a single embodiment may also be implemented separately in various embodiments or in any suitable sub-combination. Furthermore, while features may function in certain combinations as described above and even initially claimed in this way, one or more features from a claimed combination may be removed from that combination in some cases, and a claimed combination may refer to a sub-combination or a variation thereof.

[0051] Similarly, although the operations are depicted in a specific order in the accompanying drawings, this should not be construed as requiring these operations to be performed in the specific order shown or sequentially, or requiring all illustrated operations to be performed to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous. Furthermore, the separation of various system modules and components in the above embodiments should not be construed as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0052] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims may be performed in a different order and still achieve the desired result. Furthermore, the processes depicted in the drawings are not necessarily shown in a specific order or sequence to achieve the desired result. In some implementations, multitasking and parallel processing may be advantageous.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0054] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of the invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. A dynamic calibration method for a positioning device, characterized in that, The method includes: Step S1: Place the differential positioning device's moving end at the vertex of the right-angled triangle slope and keep it stationary; configure the differential positioning device's moving end to be in working condition. Step S2: Provide unified time synchronization between the mobile terminal of the differential positioning device, the base station of the differential positioning device, and the camera via computer; Step S3: Perform static calibration on the mobile terminal of the differential positioning device, requiring that the spatial error between the position information output by the mobile terminal of the differential positioning device and the position of point A is less than or equal to the static error of the mobile terminal of the differential positioning device; the vertex of the right-angled triangle slope is the position of point A, the right angle point is the position of point B, and the other point is the position of point C; Step S4: Use a rigid ruler to push the moving end of the differential positioning device downwards along the slope of the right triangle, while keeping the rigid ruler in contact with the device under test at all times; at this time, the camera will take pictures and record the scale on the rigid ruler. Step S5: The computer analyzes the scale captured by the camera and calculates the actual latitude and longitude of the differential positioning device mobile terminal at the current time, i.e., the actual value; finds the latitude and longitude output by the differential positioning device mobile terminal at the corresponding time, i.e., the output value; compares the output value with the actual value to obtain the difference, which is the error value of the differential positioning device mobile terminal; In step S5, the method for calculating the actual latitude and longitude of the differential positioning device's mobile terminal at the current moment includes: after knowing the precise coordinates of the starting point A and the scale of the rigid ruler, the dynamic movement distance of the differential positioning device's mobile terminal is calculated; by measuring the angle of point B and then converting the coordinate system, the actual latitude and longitude of the differential positioning device's mobile terminal at the current moment can be obtained; through triangulation, the change in spatial position between the differential positioning device's mobile terminal and the starting point A can be determined, thus obtaining the actual latitude and longitude of the differential positioning device's mobile terminal at the current moment. In step S2, the timing device of the differential positioning device's moving end is set to continuously output trigger pulses to the camera, so that the camera can capture and record the scale on the rigid ruler.

2. The dynamic calibration method for a positioning device according to claim 1, characterized in that, In step S3, the spatial error between the position information output by the mobile terminal of the differential positioning device and the position of point A is less than or equal to 2cm.

3. The dynamic calibration method for a positioning device according to claim 1, characterized in that, In step S4, the camera is kept in working state, and the camera shooting time interval is a fixed value of 1 second.

4. A dynamic calibration system for a positioning device, wherein the system employs the method described in any one of claims 1-3, characterized in that, The system includes: a right-angled triangular ramp, a differential positioning device mobile terminal, a rigid ruler, a differential positioning device base station, a computer, and a camera; The differential positioning device's moving end is the device under test. The differential positioning device's moving end is placed on the slope of the right-angled triangular ramp and can slide along the ramp. The rigid ruler is set at the upper end of the moving end of the differential positioning device, and the rigid ruler is parallel to the slope of the right-angled triangle slope. The rigid ruler is used to measure the sliding distance of the device under test on the right-angled triangle slope. The differential positioning device base station calculates the difference with the device under test and outputs high-precision differential positioning data; The camera is positioned above the mobile end of the differential positioning device. The camera is used to photograph the scale on the rigid ruler. The camera is connected in sequence to the computer and the base station of the differential positioning device.

5. The dynamic calibration system for a positioning device according to claim 4, characterized in that, The camera is connected to the computer and the differential positioning device base station in sequence via a high-speed network cable.

6. The dynamic calibration system for a positioning device according to claim 4, characterized in that, The graduation value of a rigid ruler is 1 millimeter.

7. The dynamic calibration system for a positioning device according to claim 4, characterized in that, in, The mobile terminal of the differential positioning device is equipped with a timing device; Both the mobile terminal and the base station of the differential positioning device are high-precision differential positioning devices; the camera is a high-speed camera.

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