A method and system for obtaining equipment positioning reference trajectory using a measuring robot

Abstract

The present invention provides a method and system for obtaining a device positioning reference trajectory using a measuring robot, which belongs to the field of positioning data processing technology, including: when collecting device positioning, using a high-precision measuring robot to track and locate the device at the same time, and saving the device positioning result and the measuring robot measurement result; aligning the measuring robot trajectory timestamp to the timestamp of the device positioning trajectory by using the device positioning result as a reference through the movement start time of the two trajectories; using linear interpolation to interpolate the device positioning result to make it have the same frequency as the measuring robot trajectory; statistically analyzing the error characteristics of the two trajectories, obtaining the optimal time difference of the measuring robot trajectory by modifying the time difference and correcting the timestamp; coordinate conversion, so that the coordinate systems of the two trajectories are the same. The present invention designs a method for synchronizing the time system of the measuring robot and the positioning device, which effectively reduces the time delay error and improves the accuracy of the final positioning result.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning data processing, and in particular to a method and system for acquiring equipment positioning reference trajectory using a measuring robot. Background Art

[0002] With the rapid development of computer technology and sensor technology, indoor positioning technologies and methods for robots and pedestrians have received more and more attention and development; in the research on indoor equipment positioning, high-precision reference trajectory is an important basis for evaluating indicators such as method accuracy.

[0003] In the current research, two methods are mainly used: one is to use high-precision navigation-level inertial navigation systems for real-time calculations; the other is to use motion capture systems to track and locate the equipment in real time. However, navigation-level inertial navigation equipment is often large in size, and when using it to collect the true value of the trajectory, it is often necessary to provide a larger platform so that the navigation-level inertial navigation equipment and the equipment used in the research can maintain consistency in motion; high-precision dynamic capture systems are expensive and bring limitations to experimental sites and conditions, making it impossible to obtain reference trajectories for different scenarios and conditions. Summary of the invention

[0004] The present invention provides a method and system for obtaining a device positioning reference trajectory using a measuring robot, so as to solve the defects of the indoor device positioning method in the prior art, such as high implementation cost and large scene limitation.

[0005] In a first aspect, the present invention provides a method for obtaining a device positioning reference trajectory using a measuring robot, comprising:

[0006] Collect equipment positioning results and measurement robot measurement results;

[0007] Taking any one of the device positioning result and the measurement robot measurement result as a reference, aligning any one of the device motion trajectory timestamp corresponding to the device positioning result and the measurement robot motion trajectory timestamp corresponding to the measurement robot measurement result to another timestamp to obtain a relative timestamp;

[0008] Performing linear interpolation on any one of the device positioning result and the measurement result of the measurement robot to obtain an interpolated result having the same frequency as the other result;

[0009] Counting the time error between the device positioning trajectory and the measurement trajectory of the measuring robot, determining the optimal time delay of the time error, correcting the relative timestamp based on the optimal time delay, and updating the interpolated result using the corrected relative timestamp to obtain an updated interpolated result;

[0010] The coordinate transformation relationship between the device positioning result and the measurement result of the measuring robot is obtained from the updated interpolation result, and the coordinate transformation is performed on any one of the device positioning result and the measurement result of the measuring robot based on the coordinate transformation relationship to obtain a transformed reference trajectory result.

[0011] According to a method for obtaining a device positioning reference trajectory using a measuring robot provided by the present invention, the device positioning result and the measuring robot measurement result are collected, including:

[0012] Obtaining the three-dimensional spatial coordinates of the device positioning in the device spatial coordinate system and the timestamp of the device motion trajectory;

[0013] The three-dimensional spatial coordinates of the measuring robot and the time stamp of the motion trajectory of the measuring robot are obtained in the measuring robot spatial coordinate system.

[0014] According to a method for obtaining a device positioning reference trajectory using a measuring robot provided by the present invention, taking the device positioning result and any one of the measuring robot measurement results as reference, aligning any one of the device motion trajectory timestamp corresponding to the device positioning result and the measuring robot motion trajectory timestamp corresponding to the measuring robot measurement result to another timestamp to obtain a relative timestamp, including:

[0015] Determine motor threshold;

[0016] When it is determined that the device displacement is greater than the motion threshold, obtaining the initial displacement measured by the measuring robot, the initial displacement of the device positioning, the initial timestamp of the measuring robot measurement, and the initial timestamp of the device positioning;

[0017] The initial movement speed of the device is obtained from the initial timestamp of the device positioning, the previous timestamp of the initial timestamp of the device positioning and the initial displacement of the device positioning; the initial movement displacement difference is obtained from the difference between the initial displacement measured by the measuring robot and the initial displacement of the device positioning; the timestamp of the measuring robot relative to the device is obtained from the initial movement displacement difference, the initial movement speed of the device and the initial timestamp measured by the measuring robot;

[0018] Based on the timestamp of the measuring robot relative to the device, the initial timestamp of the measuring robot measurement and any timestamp in the timestamp sequence of the measuring robot measurement, obtain any timestamp of the measuring robot measurement relative to the device;

[0019] A relative timestamp sequence of the measurement robot's measurements relative to the device is constructed from any timestamp of the measurement robot's measurements relative to the device.

[0020] According to a method for obtaining a device positioning reference trajectory using a measuring robot provided by the present invention, linear interpolation is performed on any one of the device positioning result and the measuring robot measurement result to obtain an interpolated result having the same frequency as the other result, including:

[0021] The three-dimensional space coordinates of the device positioning and the timestamp of the device motion trajectory constitute the device positioning timestamp sequence, and the three-dimensional space coordinates measured by the measuring robot and the timestamp of the measuring robot motion trajectory constitute the measuring robot measurement result sequence;

[0022] Obtain any relative timestamp in the measurement result sequence of the measurement robot, determine in the device positioning timestamp sequence the first device positioning timestamp and the second device positioning timestamp that are closest to any measurement result timestamp at two moments before and after any relative timestamp, and obtain the first device positioning coordinates corresponding to the first device positioning timestamp and the second device positioning coordinates corresponding to the second device positioning timestamp;

[0023] Calculate any relative timestamp, the first device positioning timestamp, the second device positioning timestamp, the first device positioning coordinates and the second device positioning coordinates by using linear interpolation to obtain device positioning interpolated coordinates;

[0024] The device positioning interpolated coordinates are calculated for the device positioning timestamp sequence in sequence to obtain an initial device positioning interpolated positioning result sequence.

[0025] According to a method for obtaining a device positioning reference trajectory using a measuring robot provided by the present invention, a time delay between a device positioning trajectory and a measuring trajectory of a measuring robot is counted, an optimal time delay of the time error is determined, the relative timestamp is corrected based on the optimal time delay, and the interpolated result is updated using the corrected relative timestamp to obtain an updated interpolated result, including:

[0026] Determine the time delay initial value, the time increment length and the time delay termination value, and cyclically calculate multiple time delay values;

[0027] Adding any time delay value to the relative timestamp sequence of the measurement robot's measurement relative to the device to obtain any delay-adjusted relative timestamp sequence;

[0028] Using any of the delays to adjust the relative timestamp sequence, re-performing linear interpolation, and obtaining a positioning result sequence after positioning interpolation of any device;

[0029] Calculate the error accuracy value of the positioning result sequence after the interpolation of any device positioning and the positioning result sequence after the interpolation of the initial device positioning by using a preset error accuracy;

[0030] Determine the time delay value corresponding to the minimum error precision value as the optimal time delay, and calculate the corrected relative timestamp according to the optimal time delay;

[0031] Re-performing linear interpolation using the corrected relative timestamp to obtain the updated interpolation result.

[0032] According to a method for obtaining a device positioning reference trajectory using a measuring robot provided by the present invention, a coordinate transformation relationship between the device positioning result and the measuring robot measurement result is obtained from the updated interpolation result, and a coordinate transformation is performed on any one of the device positioning result and the measuring robot measurement result based on the coordinate transformation relationship to obtain a converted reference trajectory result, including:

[0033] An iterative closest point method is used to randomly select a number of coordinates from the measurement results of the measuring robot, and a coordinate conversion value is calculated. After selecting a number of coordinates multiple times, the obtained multiple coordinate conversion values ​​are averaged to obtain the coordinate conversion relationship, and the coordinate conversion relationship includes a coordinate rotation conversion and a coordinate translation transformation from the coordinate system of the measuring robot to the coordinate system of the positioning result;

[0034] The device positioning result is transformed using the coordinate transformation relationship to obtain a transformed device positioning result sequence.

[0035] In a second aspect, the present invention further provides a system for acquiring a device positioning reference trajectory using a measuring robot, comprising:

[0036] The acquisition module is used to acquire the positioning results of the equipment and the measurement results of the measuring robot;

[0037] A timestamp conversion module is used to align any one of the device motion trajectory timestamp corresponding to the device positioning result and the measurement robot measurement result with the other timestamp, using any one of the device positioning result and the measurement robot measurement result as a reference, to obtain a relative timestamp;

[0038] An interpolation module, used for performing linear interpolation on any one of the device positioning result and the measurement result of the measurement robot to obtain an interpolated result with the same frequency as the other result;

[0039] A correction module, used for counting the time error between the device positioning trajectory and the measurement trajectory of the measuring robot, determining the optimal time delay of the time error, correcting the relative timestamp based on the optimal time delay, and updating the interpolation result using the corrected relative timestamp to obtain an updated interpolation result;

[0040] A coordinate conversion module is used to obtain the coordinate conversion relationship between the device positioning result and the measurement result of the measuring robot from the updated interpolation result, and to perform coordinate conversion on any one of the device positioning result and the measurement result of the measuring robot based on the coordinate conversion relationship to obtain a converted reference trajectory result.

[0041] In a third aspect, the present invention further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for acquiring a device positioning reference trajectory using a measuring robot as described in any one of the above-mentioned methods is implemented.

[0042] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for acquiring a device positioning reference trajectory using a measuring robot as described in any one of the above.

[0043] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-described methods for acquiring device positioning reference trajectories using a measuring robot.

[0044] Compared with the prior art, this application has the following beneficial effects:

[0045] The method and system for obtaining a device positioning reference trajectory using a measuring robot provided by the present invention adopt a method for synchronizing a high-precision measuring robot with a device positioning time system, and utilize the independent characteristics of the measuring robot relative to the positioning device. Compared with the method for obtaining a reference true value of a navigation-level inertial navigation, the measuring robot does not need to make hardware changes during the data collection process of the positioning device, and compared with the inertial navigation device, the accuracy is higher under long-term conditions; the time delay error is effectively reduced, and the accuracy of the final positioning result is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 This is one of the flow charts of the method for obtaining the equipment positioning reference trajectory using a measuring robot provided by the present invention;

[0048] Figure 2 This is the second flow chart of the method for obtaining the equipment positioning reference trajectory using the measuring robot provided by the present invention;

[0049] Figure 3 This is a time stamp difference correction effect diagram provided by the present invention;

[0050] Figure 4 It is a structural schematic diagram of a system for acquiring equipment positioning reference trajectory using a measuring robot provided by the present invention;

[0051] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] Figure 1 FIG. 1 is a flow chart of a method for obtaining a device positioning reference trajectory using a measuring robot provided in an embodiment of the present invention. Figure 1 As shown, including:

[0054] Step 100: Collecting equipment positioning results and measurement robot measurement results;

[0055] Step 200: using any one of the device positioning result and the measurement robot measurement result as a reference, aligning any one of the device motion trajectory timestamp corresponding to the device positioning result and the measurement robot motion trajectory timestamp corresponding to the measurement robot measurement result to another timestamp to obtain a relative timestamp;

[0056] Step 300: performing linear interpolation on any one of the device positioning result and the measurement result of the measurement robot to obtain an interpolated result having the same frequency as the other result;

[0057] Step 400: Counting the time error between the device positioning trajectory and the measurement trajectory of the measuring robot, determining the optimal time delay of the time error, correcting the relative timestamp based on the optimal time delay, and updating the interpolated result using the corrected relative timestamp to obtain an updated interpolated result;

[0058] Step 500: Obtain a coordinate transformation relationship between the device positioning result and the measurement result of the measuring robot from the updated interpolation result, and perform coordinate transformation on any one of the device positioning result and the measurement result of the measuring robot based on the coordinate transformation relationship to obtain a converted reference trajectory result.

[0059] Specifically, the embodiment of the present invention uses a high-precision measurement robot to track the movement of the positioning device in real time. Common measurement robots include Leica's TS60 measurement robot, AT960 laser tracker, etc., to obtain real-time high-precision three-dimensional coordinates. In the present invention, the time coordinate system and space coordinate system that are different from the measurement robot and the positioning result are processed. The timestamp alignment adopts a cyclic calculation, and the best time difference is found through multiple cycles to perform timestamp alignment; while the space coordinate system uses the idea of ​​iterative closest point (ICP) to transform the coordinate sequence, so as to compare the accuracy of three-dimensional space coordinates. The method of the embodiment of the present invention can be used to obtain the reference true value of indoor positioning, and the reference trajectory accuracy can reach the sub-millimeter level, which can be used in various indoor positioning studies.

[0060] like Figure 2 As shown, in the embodiment of the present invention, when collecting positioning device data, a high-precision measuring robot is used to track and locate the device, and the device positioning result and the measuring robot measurement result are saved; through the start time of the movement of the two trajectories, the timestamp of the measuring robot trajectory is aligned to the timestamp of the device positioning trajectory with the device positioning result as a reference; the device positioning result is interpolated by linear interpolation to make it have the same frequency as the measuring robot trajectory; the error characteristics of the two trajectories are counted, and the optimal time difference of the measuring robot trajectory is obtained by modifying the time difference and the timestamp is corrected; finally, coordinate conversion is performed to make the coordinate systems of the two trajectories the same.

[0061] The measuring robot used in the embodiment of the present invention can be applied in different scenarios and venues. Compared with the expensive and complex motion capture system, the measuring robot does not need to process the experimental site in advance, but only needs to ensure the visibility of the tracking prism relative to the robot during the experiment. Therefore, it can be applied in more scenarios and venues.

[0062] In some embodiments, step 100 includes:

[0063] Obtaining the three-dimensional spatial coordinates of the device positioning in the device spatial coordinate system and the timestamp of the device motion trajectory;

[0064] The three-dimensional spatial coordinates of the measuring robot and the time stamp of the motion trajectory of the measuring robot are obtained in the measuring robot spatial coordinate system.

[0065] It is understandable that the embodiment of the present invention should include two parts when retaining the device positioning results and the measurement robot measurement results: the three-dimensional spatial coordinates (x, y, z) in their respective spatial coordinate systems and the timestamp corresponding to each point. .

[0066] In some embodiments, step 200 includes:

[0067] Determine motor threshold;

[0068] When it is determined that the device displacement is greater than the motion threshold, obtaining the initial displacement measured by the measuring robot, the initial displacement of the device positioning, the initial timestamp of the measuring robot measurement, and the initial timestamp of the device positioning;

[0069] The initial movement speed of the device is obtained from the initial timestamp of the device positioning, the previous timestamp of the initial timestamp of the device positioning and the initial displacement of the device positioning; the initial movement displacement difference is obtained from the difference between the initial displacement measured by the measuring robot and the initial displacement of the device positioning; the timestamp of the measuring robot relative to the device is obtained from the initial movement displacement difference, the initial movement speed of the device and the initial timestamp measured by the measuring robot;

[0070] Based on the timestamp of the measuring robot relative to the device, the initial timestamp of the measuring robot measurement and any timestamp in the timestamp sequence of the measuring robot measurement, obtain any timestamp of the measuring robot measurement relative to the device;

[0071] A relative timestamp sequence of the measurement robot's measurements relative to the device is constructed from any timestamp of the measurement robot's measurements relative to the device.

[0072] Specifically, in an embodiment of the present invention, the first moment when each detects motion is determined based on the two trajectory results of measuring the robot and device positioning; since the device often remains stationary in the initial stage, the coordinates at the beginning of the trajectory should only fluctuate slightly due to the presence of measurement noise.

[0073] The motion threshold is set to 2 mm. When the displacement is greater than 2 mm, the displacement observed by the measuring robot is recorded (denoted as ) and the corresponding timestamp in the measurement robot time system ( ) and the displacement calculated from the positioning result (denoted as ) and the corresponding timestamp in the positioning result time system ( ), remember the positioning result and The previous timestamp is , because the time interval is short, it is assumed that the speed is constant when the movement occurs, and the initial movement speed is calculated for:

[0074]

[0075] Simultaneously calculate the difference in displacement of the first motion observed in the two trajectories :

[0076]

[0077] Therefore, it can be calculated that under the positioning result time system The corresponding relative timestamp :

[0078]

[0079] Afterwards, the time-stamped sequence of the measurement results of the measuring robot can be processed , , where each timestamp is represented by The difference is corrected, where Timestamp The processing is as follows:

[0080]

[0081] At this point, we can get the relative timestamp sequence of the measurement results of the measuring robot corresponding to the positioning result time system:

[0082]

[0083] It should be noted that, in this embodiment, the timestamp sequence of the device positioning result can also be mapped to the timestamp sequence of the measuring robot.

[0084] In some embodiments, step 300 includes:

[0085] The three-dimensional space coordinates of the device positioning and the timestamp of the device motion trajectory constitute the device positioning timestamp sequence, and the three-dimensional space coordinates measured by the measuring robot and the timestamp of the measuring robot motion trajectory constitute the measuring robot measurement result sequence;

[0086] Obtain any relative timestamp in the measurement result sequence of the measurement robot, determine in the device positioning timestamp sequence the first device positioning timestamp and the second device positioning timestamp that are closest to any measurement result timestamp at two moments before and after any relative timestamp, and obtain the first device positioning coordinates corresponding to the first device positioning timestamp and the second device positioning coordinates corresponding to the second device positioning timestamp;

[0087] Calculate any relative timestamp, the first device positioning timestamp, the second device positioning timestamp, the first device positioning coordinates and the second device positioning coordinates by using linear interpolation to obtain device positioning interpolated coordinates;

[0088] The device positioning interpolated coordinates are calculated for the device positioning timestamp sequence in sequence to obtain an initial device positioning interpolated positioning result sequence.

[0089] Specifically, in the embodiment of the present invention, the coordinate sequence obtained from the device positioning result is linearly interpolated according to the timestamp. Since the acquisition frequency of the measurement robot is usually 3-4Hz, and the output frequency of the positioning result in scientific research is usually above 10Hz, the linear interpolation method is used to process the positioning result sequence in a shorter time interval ( The total is ), so that the obtained sequence is consistent with the measurement result sequence of the measuring robot ( , the total number is ) are the same in number and their timestamps are in corresponding relationship. The specific operations are as follows:

[0090] First, for Observations , record its timestamp , traverse the timestamp sequence of the positioning results , find The closest two timestamps and , and get the corresponding coordinates and , and then use linear interpolation to get the interpolated coordinates:

[0091]

[0092] right Perform the above operation on each result to obtain the interpolated positioning result sequence:

[0093]

[0094] At this point, we have obtained two trajectories of the same number, and their timestamps correspond one to one.

[0095] In some embodiments, step 400 includes:

[0096] Determine the time delay initial value, the time increment length and the time delay termination value, and cyclically calculate multiple time delay values;

[0097] Adding any time delay value to the relative timestamp sequence of the measurement robot's measurement relative to the device to obtain any delay-adjusted relative timestamp sequence;

[0098] Using any of the delays to adjust the relative timestamp sequence, re-performing linear interpolation, and obtaining a positioning result sequence after positioning interpolation of any device;

[0099] Calculate the error accuracy value of the positioning result sequence after the interpolation of any device positioning and the positioning result sequence after the interpolation of the initial device positioning by using a preset error accuracy;

[0100] Determine the time delay value corresponding to the minimum error precision value as the optimal time delay, and calculate the corrected relative timestamp according to the optimal time delay;

[0101] Re-performing linear interpolation using the corrected relative timestamp to obtain the updated interpolation result.

[0102] Specifically, after the above-mentioned processing, two coordinate sequences are obtained: and In terms of time, there will be a certain degree of time delay characteristics because the motion model in the initial situation is not strictly considered in the timestamp alignment. Therefore, in this embodiment, the time delay will be calculated and the timestamp will be corrected. The specific operations are as follows:

[0103] Set time delay For unknown quantities, a cyclic calculation method is used, and the initial value is set -0.10, step length The termination condition is , with the Time delay during sub-cycle calculation Take this as an example to process the timestamp sequence of the measurement robot:

[0104]

[0105] Afterwards, using the new Sequence, re-execute the interpolation operation, and obtain the corresponding positioning result sequence at this time:

[0106]

[0107] Statistics of the root mean square error (RMSE) of two sequences:

[0108]

[0109] In the formula, the | | operation represents taking the modulus length of the three-dimensional coordinate sequence.

[0110] Get each Corresponding After that, the minimum Value, remember this time For the final , and get the corrected timestamp sequence:

[0111]

[0112] Afterwards, the interpolation operation is re-performed according to the new timestamp sequence to obtain the final interpolation positioning result sequence:

[0113]

[0114] In the above technical solution, other accuracy indicators can also be selected as a reference for time delay calculation. Commonly used accuracy indicators include standard deviation (STD) and root mean square (RMS). Among them, RMSE reflects the square root of the ratio of the sum of squares of the difference between a set of observations and the true value to the number of observations, corresponding to the accuracy of the observations (accuracy + precision); while STD refers to the square root of the ratio of the sum of squares of the difference between a set of data and its mean value to the number of data, which reflects the discreteness of this set of data, that is, precision.

[0115] In some embodiments, step 500 includes:

[0116] An iterative closest point method is used to randomly select a number of coordinates from the measurement results of the measuring robot, and a coordinate conversion value is calculated. After selecting a number of coordinates multiple times, the obtained multiple coordinate conversion values ​​are averaged to obtain the coordinate conversion relationship, and the coordinate conversion relationship includes a coordinate rotation conversion and a coordinate translation transformation from the coordinate system of the measuring robot to the coordinate system of the positioning result;

[0117] The measurement results of the measuring robot are transformed using the coordinate transformation relationship to obtain a transformed measurement result sequence of the measuring robot.

[0118] Specifically, in the embodiment of the present invention, since the two sets of sequences have completed the alignment of the timestamps, it can be considered that the two sets of coordinate sequences have completed the matching. Here, the ICP method is used to solve the coordinate transformation relationship between the two coordinate systems. The ICP method has been widely used in the prior art. The specific principle and process of the ICP method are not described here. Here, a random point selection method is used. Each time n points are selected Calculate the coordinate transformation relationship of points, and take the average of the transformation relationship matrix after selecting multiple times. Finally, the coordinate transformation relationship between the two groups of sequences is obtained:

[0119]

[0120] In the formula, Represents the rotation transformation from the coordinates in the measuring robot coordinate system to the coordinates in the positioning result coordinate system. Represents the translation transformation from the coordinates in the measuring robot coordinate system to the coordinates in the positioning result coordinate system.

[0121] According to the above conversion relationship, Perform the conversion and get the converted sequence:

[0122]

[0123] In the formula, This is the coordinate sequence obtained after conversion, which can eventually be used as the reference true value of the positioning result sequence.

[0124] In this embodiment, the idea of ​​nonlinear optimization can also be used as a reference, where the error is the coordinate residual after the coordinate system of the measuring robot is converted to the positioning result coordinate system, and the least squares method is used to obtain the conversion relationship between the two coordinate systems.

[0125] In this embodiment, the coordinate transformation relationship from the positioning result coordinate system to the measuring robot coordinate system can also be calculated, and then Perform coordinate transformation and then The comparison can also be used as a reference for accuracy assessment.

[0126] by Figure 3 For example, in the large picture above, the horizontal axis represents time in seconds (s), and the vertical axis represents travel in centimeters (cm). The hollow dot curve represents the coordinate sequence obtained by device positioning, the solid dot curve represents the measurement robot coordinate sequence obtained after the first interpolation, and the square dot curve represents the measurement robot coordinate sequence after timestamp correction. The small picture below is an example picture after enlarging the circled area in the large picture. Figure 3 It can be seen that the two final sequences are more matched in terms of itinerary.

[0127] It should be noted that, since it is not easy to see the obvious effect before and after the timestamp correction at the original scale, when the scale is enlarged, it can be clearly seen that the measurement robot coordinate sequence and the positioning result sequence are closer after the timestamp correction; a more accurate timestamp can bring higher coordinate accuracy. After calculation in this embodiment, the RMSE value between the measurement robot coordinate sequence and the positioning result coordinate sequence after selecting the optimal time difference is significantly reduced, which proves that the final reference trajectory has higher accuracy.

[0128] The following is a description of the device positioning reference trajectory acquisition system using a measuring robot provided by the present invention. The device positioning reference trajectory acquisition system using a measuring robot described below and the device positioning reference trajectory acquisition method using a measuring robot described above can correspond to each other.

[0129] Figure 4 FIG. 1 is a schematic diagram of a system for acquiring a device positioning reference trajectory using a measuring robot according to an embodiment of the present invention. Figure 4As shown, it includes: a collection module 41, a timestamp conversion module 42, an interpolation module 43, a correction module 44 and a coordinate conversion module 45, wherein:

[0130] The acquisition module 41 is used to acquire the device positioning result and the measurement result of the measuring robot; the timestamp conversion module 42 is used to align the device motion trajectory timestamp corresponding to the device positioning result and the measurement robot motion trajectory timestamp corresponding to the measurement robot measurement result with the reference of any one of the device positioning result and the measurement robot measurement result to another timestamp to obtain a relative timestamp; the interpolation module 43 is used to perform linear interpolation on the device positioning result and any one of the measurement robot measurement results to obtain an interpolated result with the same frequency as the other result; the correction module 44 is used to count the time error between the device positioning trajectory and the measurement robot measurement trajectory, determine the optimal time delay of the time error, correct the relative timestamp based on the optimal time delay, and update the interpolated result with the corrected relative timestamp to obtain an updated interpolated result; the coordinate conversion module 45 is used to obtain the coordinate conversion relationship between the device positioning result and the measurement result of the measuring robot from the updated interpolation result, and perform coordinate conversion on any one of the device positioning result and the measurement robot measurement result based on the coordinate conversion relationship to obtain a converted reference trajectory result.

[0131] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5As shown, the electronic device may include: a processor (processor) 510, a communication interface (Communications Interface) 520, a memory (memory) 530 and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 can call the logic instructions in the memory 530 to execute a method for obtaining a device positioning reference trajectory using a measuring robot, the method comprising: collecting device positioning results and measuring robot measurement results; taking the device positioning result and any one of the measuring robot measurement results as a reference, aligning any one of the device motion trajectory timestamp corresponding to the device positioning result and the measuring robot motion trajectory timestamp corresponding to the measuring robot measurement result to another timestamp to obtain a relative timestamp; performing linear interpolation on the device positioning result and any one of the measuring robot measurement results to obtain an interpolated result with the same frequency as the other result; counting the time error between the device positioning trajectory and the measuring robot measurement trajectory, determining the optimal time delay of the time error, correcting the relative timestamp based on the optimal time delay, and updating the interpolated result using the corrected relative timestamp to obtain an updated interpolated result; obtaining a coordinate transformation relationship between the device positioning result and the measuring robot measurement result from the updated interpolated result, performing coordinate transformation on the device positioning result and any one of the measuring robot measurement results based on the coordinate transformation relationship to obtain a transformed reference trajectory result.

[0132] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0133] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the device positioning reference trajectory acquisition method using a measuring robot provided by the above-mentioned methods, the method including: collecting device positioning results and measuring robot measurement results; using any one of the device positioning results and the measuring robot measurement results as a reference, aligning any one of the device motion trajectory timestamp corresponding to the device positioning result and the measuring robot motion trajectory timestamp corresponding to the measuring robot measurement result to another timestamp to obtain a relative timestamp; Linearly interpolate any one of the device positioning result and the measurement result of the measuring robot to obtain an interpolated result with the same frequency as the other result; count the time error between the device positioning trajectory and the measurement trajectory of the measuring robot, determine the optimal time delay of the time error, correct the relative timestamp based on the optimal time delay, and update the interpolated result with the corrected relative timestamp to obtain an updated interpolated result; obtain the coordinate transformation relationship between the device positioning result and the measurement result of the measuring robot from the updated interpolated result, and perform coordinate transformation on any one of the device positioning result and the measurement result of the measuring robot based on the coordinate transformation relationship to obtain a transformed reference trajectory result.

[0134] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the device positioning reference trajectory acquisition method using a measuring robot provided by the above-mentioned methods, the method comprising: collecting device positioning results and measuring robot measurement results; using any one of the device positioning results and the measuring robot measurement results as a reference, aligning any one of the device motion trajectory timestamp corresponding to the device positioning result and the measuring robot motion trajectory timestamp corresponding to the measuring robot measurement result to another timestamp to obtain a relative timestamp; Linearly interpolate any one of the measurement results to obtain an interpolated result with the same frequency as the other result; count the time error between the device positioning trajectory and the measurement trajectory of the measuring robot, determine the optimal time delay of the time error, correct the relative timestamp based on the optimal time delay, and use the corrected relative timestamp to update the interpolated result to obtain an updated interpolated result; obtain the coordinate transformation relationship between the device positioning result and the measurement result of the measuring robot from the updated interpolated result, and perform coordinate transformation on any one of the device positioning result and the measurement result of the measuring robot based on the coordinate transformation relationship to obtain a converted reference trajectory result.

[0135] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0136] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0137] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for obtaining a device positioning reference trajectory using a measuring robot, characterized in that: include: Collect equipment positioning results and measurement robot measurement results; Taking any one of the device positioning result and the measurement robot measurement result as a reference, aligning any one of the device motion trajectory timestamp corresponding to the device positioning result and the measurement robot motion trajectory timestamp corresponding to the measurement robot measurement result to another timestamp to obtain a relative timestamp; Performing linear interpolation on any one of the device positioning result and the measurement result of the measurement robot to obtain an interpolated result having the same frequency as the other result; Counting the time error between the device positioning trajectory and the measurement trajectory of the measuring robot, determining the optimal time delay of the time error, correcting the relative timestamp based on the optimal time delay, and updating the interpolated result using the corrected relative timestamp to obtain an updated interpolated result; Obtaining a coordinate transformation relationship between the device positioning result and the measurement result of the measuring robot from the updated interpolation result, and performing coordinate transformation on any one of the device positioning result and the measurement result of the measuring robot based on the coordinate transformation relationship to obtain a transformed reference trajectory result; Linearly interpolating any one of the device positioning result and the measurement robot measurement result to obtain an interpolated result having the same frequency as the other result, including: The three-dimensional space coordinates of the device positioning and the timestamp of the device motion trajectory constitute a device positioning timestamp sequence, and the three-dimensional space coordinates measured by the measuring robot and the timestamp of the measuring robot motion trajectory constitute a measuring robot measurement result sequence; Obtain any relative timestamp in the measurement result sequence of the measurement robot, determine the first device positioning timestamp and the second device positioning timestamp closest to the two moments before and after the any relative timestamp in the device positioning timestamp sequence, and obtain the first device positioning coordinates corresponding to the first device positioning timestamp and the second device positioning coordinates corresponding to the second device positioning timestamp; By using linear interpolation, according to any relative timestamp, the first device positioning timestamp, the second device positioning timestamp, the first device positioning coordinates and the second device positioning coordinates, the interpolated coordinates of the device positioning are calculated; Calculating the interpolated coordinates of the device positioning for the measurement results of the measurement robot in sequence to obtain a sequence of initial device positioning interpolated positioning results; The method comprises: calculating a time delay between a positioning trajectory of a statistical device and a measurement trajectory of a measuring robot, determining an optimal time delay of the time error, correcting the relative timestamp based on the optimal time delay, and updating the interpolated result using the corrected relative timestamp to obtain an updated interpolated result, including: Determine the time delay initial value, the time increment length and the time delay termination value, and cyclically calculate multiple time delay values; Adding any time delay value to the relative timestamp sequence of the measurement robot's measurement relative to the device to obtain any delay-adjusted relative timestamp sequence; Using any of the delays to adjust the relative timestamp sequence, re-performing linear interpolation, and obtaining a positioning result sequence after positioning interpolation of any device; The error accuracy value of the positioning result sequence after positioning interpolation of any device and the measurement result sequence of the measuring robot is calculated by using a preset error accuracy index; Determine the time delay value corresponding to the minimum error precision value as the optimal time delay, and calculate the corrected relative timestamp according to the optimal time delay; Re-performing linear interpolation using the corrected relative timestamp to obtain the updated interpolation result; Obtaining a coordinate transformation relationship between the device positioning result and the measurement result of the measuring robot from the updated interpolation result, performing coordinate transformation on any one of the device positioning result and the measurement result of the measuring robot based on the coordinate transformation relationship to obtain a reference trajectory result after transformation, including: An iterative closest point method is used to randomly select a number of coordinates from the measurement results of the measuring robot, and a coordinate conversion value is calculated. After selecting a number of coordinates multiple times, the obtained multiple coordinate conversion values ​​are averaged to obtain the coordinate conversion relationship, and the coordinate conversion relationship includes a coordinate rotation conversion and a coordinate translation transformation from the coordinate system of the measuring robot to the coordinate system of the positioning result; The measurement results of the measuring robot are transformed using the coordinate transformation relationship to obtain a transformed measurement result sequence of the measuring robot.

2. The method for obtaining a device positioning reference trajectory using a measuring robot according to claim 1, characterized in that: Collect equipment positioning results and measurement robot measurement results, including: Obtaining the three-dimensional spatial coordinates of the device positioning in the device spatial coordinate system and the timestamp of the device motion trajectory; The three-dimensional spatial coordinates of the measuring robot and the time stamp of the motion trajectory of the measuring robot are obtained in the measuring robot spatial coordinate system.

3. The method for obtaining a device positioning reference trajectory using a measuring robot according to claim 1, characterized in that: Taking any one of the device positioning result and the measurement robot measurement result as a reference, aligning any one of the device motion trajectory timestamp corresponding to the device positioning result and the measurement robot motion trajectory timestamp corresponding to the measurement robot measurement result to another timestamp to obtain a relative timestamp, including: Determine motor threshold; When it is determined that the device displacement is greater than the motion threshold, obtaining the initial displacement measured by the measuring robot, the initial displacement of the device positioning, the initial timestamp of the measuring robot measurement, and the initial timestamp of the device positioning; The initial movement speed of the device is obtained from the initial timestamp of the device positioning, the previous timestamp of the initial timestamp of the device positioning and the initial displacement of the device positioning; the initial movement displacement difference is obtained from the difference between the initial displacement measured by the measuring robot and the initial displacement of the device positioning; the timestamp of the measuring robot relative to the device is obtained from the initial movement displacement difference, the initial movement speed of the device and the initial timestamp measured by the measuring robot; Based on the timestamp of the measuring robot relative to the device, the initial timestamp of the measuring robot measurement and any timestamp in the timestamp sequence of the measuring robot measurement, obtain any timestamp of the measuring robot measurement relative to the device; A relative timestamp sequence of the measurement robot's measurements relative to the device is constructed from any timestamp of the measurement robot's measurements relative to the device.

4. A system for acquiring a device positioning reference trajectory using a measuring robot, based on the method for acquiring a device positioning reference trajectory using a measuring robot as claimed in any one of claims 1 to 3, characterized in that: include: The acquisition module is used to acquire the positioning results of the equipment and the measurement results of the measuring robot; A timestamp conversion module is used to align any one of the device motion trajectory timestamp corresponding to the device positioning result and the measurement robot measurement result with the other timestamp, using any one of the device positioning result and the measurement robot measurement result as a reference, to obtain a relative timestamp; An interpolation module, used for performing linear interpolation on any one of the device positioning result and the measurement result of the measurement robot to obtain an interpolated result with the same frequency as the other result; A correction module, used for counting the time error between the device positioning trajectory and the measurement trajectory of the measuring robot, determining the optimal time delay of the time error, correcting the relative timestamp based on the optimal time delay, and updating the interpolation result using the corrected relative timestamp to obtain an updated interpolation result; A coordinate conversion module is used to obtain the coordinate conversion relationship between the device positioning result and the measurement result of the measuring robot from the updated interpolation result, and to perform coordinate conversion on any one of the device positioning result and the measurement result of the measuring robot based on the coordinate conversion relationship to obtain a converted reference trajectory result.

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method for obtaining the equipment positioning reference trajectory using a measuring robot as described in any one of claims 1 to 3 is implemented.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for obtaining a device positioning reference trajectory using a measuring robot as claimed in any one of claims 1 to 3 is implemented.

7. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for obtaining a device positioning reference trajectory using a measuring robot as claimed in any one of claims 1 to 3 is implemented.

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