Relative position calibration method, system and device for intelligent rail tramcar and medium

Abstract

The relative position calibration method for the intelligent rail tramcar comprises the steps that a first space rectangular coordinate system is established on the right front portion of a vehicle head of the intelligent rail tramcar through a total station, and the three-dimensional coordinate values of the center of a right front wheel of the intelligent rail tramcar and a calibration object in the first space rectangular coordinate system are determined; a second space rectangular coordinate system is established on the left front portion of the head of the intelligent rail tramcar through the total station, and the three-dimensional coordinate value of the center of the left front wheel of the intelligent rail tramcar in the second space rectangular coordinate system is determined; determining a three-dimensional coordinate value of the center of the left front wheel in the first space rectangular coordinate system according to a conversion relation between the first space rectangular coordinate system and the second space rectangular coordinate system; determining the three-dimensional coordinate value of the front axle center in the first space rectangular coordinate system according to the three-dimensional coordinate values of the right front wheel center and the left front wheel center in the first space rectangular coordinate system; and determining the relative position of the calibration object and the front axle center based on the three-dimensional coordinate values of the calibration object and the front axle center in the first space rectangular coordinate system.

Description

Technical Field

[0001] The present invention relates to the technical field of smart rail trams, and in particular to a relative position calibration method for smart rail trams, a relative position calibration system for smart rail trams, a relative position calibration device for smart rail trams, and a computer-readable storage medium. Background Art

[0002] The sensors used in the intelligent driving of the smart rail tram mainly include the combined inertial navigation of the positioning system and the laser radar, camera and millimeter wave radar of the perception system. Compared with other intelligent driving models, the smart rail tram has a different body structure, with a longer body and a higher body. Various sensors are installed on the roof or different positions in the body of the smart rail tram. During the intelligent driving process, the perception data and positioning data collected by these sensors need to be uniformly converted to the center of the front axle. In order to improve the positioning accuracy of the smart rail tram under intelligent driving, it is necessary to accurately calibrate the relative position of the sensor and the center of the front axle, but the existing calibration technologies are relatively complex and not easy to operate.

[0003] In order to overcome the above-mentioned defects of the prior art, the art urgently needs a simple-to-operate relative position calibration technology for smart rail trams, which can accurately calibrate the relative position of each sensor and the center of the front axle and improve the positioning accuracy of the smart rail tram under intelligent driving. Summary of the invention

[0004] A brief summary of one or more aspects is given below to provide a basic understanding of these aspects. This summary is not an exhaustive overview of all conceived aspects, and is neither intended to identify the key or critical elements of all aspects nor to define the scope of any or all aspects. Its only purpose is to give some concepts of one or more aspects in a simplified form as a prelude to a more detailed description that will be given later.

[0005] In order to overcome the above-mentioned defects existing in the prior art, the present invention provides a relative position calibration method for a smart rail tram, a relative position calibration system for a smart rail tram, a relative position calibration device for a smart rail tram, and a computer-readable storage medium. The provided relative position calibration technology for the smart rail tram is simple to operate, and can accurately calibrate the relative position of each sensor and the center of the front axle, thereby improving the positioning accuracy of the smart rail tram under intelligent driving.

[0006] Specifically, the relative position calibration method for smart rail trams provided in accordance with the first aspect of the present invention comprises: establishing a first spatial rectangular coordinate system in front of the right front of the front of the smart rail tram via a total station, and determining the three-dimensional coordinate values ​​of the right front wheel center of the smart rail tram and the calibration object in the first spatial rectangular coordinate system; establishing a second spatial rectangular coordinate system in front of the left front of the front of the smart rail tram via the total station, and determining the three-dimensional coordinate value of the left front wheel center of the smart rail tram in the second spatial rectangular coordinate system; determining the three-dimensional coordinate value of the left front wheel center in the first spatial rectangular coordinate system according to the conversion relationship between the first spatial rectangular coordinate system and the second spatial rectangular coordinate system; determining the three-dimensional coordinate value of the front axle center in the first spatial rectangular coordinate system according to the three-dimensional coordinate values ​​of the right front wheel center and the left front wheel center in the first spatial rectangular coordinate system; and determining the relative position of the calibration object and the front axle center based on the three-dimensional coordinate values ​​of the calibration object and the front axle center in the first spatial rectangular coordinate system.

[0007] Preferably, in one embodiment of the present invention, the step of determining the three-dimensional coordinate value of the left front wheel center in the first space rectangular coordinate system according to the conversion relationship between the first space rectangular coordinate system and the second space rectangular coordinate system includes: determining the conversion relationship based on the three-dimensional coordinate values ​​of four common and non-coplanar points located on the front of the smart rail tram in the first space rectangular coordinate system and the second space rectangular coordinate system; and determining the three-dimensional coordinate value of the left front wheel center in the first space rectangular coordinate system based on the conversion relationship.

[0008] Preferably, in one embodiment of the present invention, the step of determining the conversion relationship based on the three-dimensional coordinate values ​​of four common and non-coplanar points located at the front of the smart rail tram in the first space rectangular coordinate system and the second space rectangular coordinate system includes: constructing a first matrix based on the three-dimensional coordinate values ​​of the four common and non-coplanar points located at the front of the tram in the first space rectangular coordinate system, and constructing a second matrix based on the three-dimensional coordinate values ​​of the four common and non-coplanar points located at the front of the tram in the second space rectangular coordinate system; performing standardization and scaling on the first matrix and the second matrix to determine a first standard matrix and a second standard matrix; determining a third matrix according to the first standard matrix and the second standard matrix; performing singular value decomposition on the third matrix to determine a first orthogonal matrix with column vectors as left singular vectors and a second orthogonal matrix with row vectors as right singular vectors; determining a first matrix conversion coefficient and a second matrix conversion coefficient according to the first orthogonal matrix, the second orthogonal matrix, the unit matrix and the scaling coefficient; and determining the conversion relationship through the first matrix conversion coefficient and the second matrix conversion coefficient.

[0009] Preferably, in one embodiment of the present invention, the step of performing standardization and scaling on the first matrix and the second matrix to determine the first standard matrix and the second standard matrix includes: determining the scaled standardized first matrix and the scaled standardized second matrix of the first matrix and the second matrix based on the mean matrix and the scaling coefficient corresponding to the first matrix and the second matrix; and determining the first standard matrix and the second standard matrix based on the mean matrix corresponding to the scaled standardized first matrix and the scaled standardized second matrix.

[0010] Preferably, in one embodiment of the present invention, the scaling coefficient of the first matrix is ​​obtained by accumulating the product of each element in the first matrix and one quarter and then taking the square root thereof, and the scaling coefficient of the second matrix is ​​obtained by accumulating the product of each element in the second matrix and one quarter and then taking the square root thereof.

[0011] Preferably, in one embodiment of the present invention, the step of determining the first matrix conversion coefficient and the second matrix conversion coefficient based on the first orthogonal matrix, the second orthogonal matrix, the unit matrix and the scaling coefficient includes: determining a fourth matrix based on the first orthogonal matrix and the second orthogonal matrix, and calculating the determinant of the fourth matrix; and determining the unit matrix based on the determinant of the fourth matrix.

[0012] Preferably, in one embodiment of the present invention, the step of determining the first matrix conversion coefficient and the second matrix conversion coefficient according to the first orthogonal matrix, the second orthogonal matrix, the unit matrix and the scaling coefficient includes: determining the scaling factor according to the scaling coefficient of the first matrix and the scaling coefficient of the second matrix; determining the first matrix conversion coefficient based on the first orthogonal matrix, the second orthogonal matrix, the unit matrix and the scaling factor; determining the fifth matrix according to the transpose of the first matrix conversion coefficient and the second matrix; and subtracting the fifth matrix from the first matrix to obtain a sixth matrix, and determining the second matrix conversion coefficient based on the sixth matrix.

[0013] Preferably, in one embodiment of the present invention, the calibration object is a sensor, including an inertial navigation antenna, a laser radar, a camera, and a millimeter wave radar.

[0014] In addition, the relative position calibration system for smart rail trams provided according to the second aspect of the present invention includes a memory and a processor. The memory stores computer instructions. The processor is connected to the memory and is configured to execute the computer instructions stored in the memory to implement the relative position calibration method for smart rail trams provided in any one of the above embodiments.

[0015] In addition, the relative position calibration device for the smart rail tram provided according to the third aspect of the present invention includes a total station and the relative position calibration system for the smart rail tram provided according to the second aspect of the present invention.

[0016] In addition, the computer-readable storage medium provided according to the fourth aspect of the present invention stores computer instructions. When the computer instructions are executed by the processor, the relative position calibration method for the smart rail tram provided by any one of the above embodiments is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above features and advantages of the present invention can be better understood after reading the detailed description of the embodiments of the present disclosure in conjunction with the following drawings. In the drawings, the components are not necessarily drawn to scale, and components with similar related properties or features may have the same or similar reference numerals.

[0018] Figure 1 A schematic diagram of a relative position calibration system for a smart rail tram provided according to some embodiments of the present invention is shown; Figure 2 A flowchart of a relative position calibration method for a smart rail tram provided according to some embodiments of the present invention is shown; and Figure 3 A schematic diagram of an interface of a relative position calibration system for a smart rail tram provided according to a preferred embodiment of the present invention is shown.

[0019] Reference numerals: 100: Relative position calibration system for smart rail vehicles; 110: memory; 111: Computer readable storage medium; 120: Processor; 200: A relative position calibration method for a smart rail vehicle; and S210~S250: steps. DETAILED DESCRIPTION

[0020] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. Note that the aspects described below in conjunction with the accompanying drawings and specific embodiments are only exemplary and should not be construed as limiting the scope of protection of the present invention in any way.

[0021] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] In addition, the terms "upper", "lower", "left", "right", "top", "bottom", "horizontal" and "vertical" used in the following description should be understood as the directions shown in the paragraph and the related drawings. Such relative terms are only used for the convenience of description and do not mean that the device described therein must be manufactured or operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0023] It is understood that although the terms "first", "second", "third", etc. may be used herein to describe various components, regions, layers and / or parts, these components, regions, layers and / or parts should not be limited by these terms, and these terms are only used to distinguish different components, regions, layers and / or parts. Therefore, the first component, region, layer and / or part discussed below may be referred to as a second component, region, layer and / or part without departing from some embodiments of the present invention.

[0024] As mentioned above, the sensors used in the intelligent driving of the smart rail tram mainly include the combined inertial navigation of the positioning system and the laser radar, camera and millimeter wave radar of the perception system. Compared with other intelligent driving models, the smart rail tram has a different body structure, with a longer body and a higher body. Various sensors are installed on the roof or different positions in the body of the smart rail tram. In the process of intelligent driving, the perception data and positioning data collected by these sensors need to be uniformly converted to the center of the front axle. In order to improve the positioning accuracy of the smart rail tram under intelligent driving, it is necessary to accurately calibrate the relative position of the sensor and the center of the front axle, but the existing calibration technologies are relatively complex and not easy to operate.

[0025] In order to overcome the above-mentioned defects of the prior art, the art urgently needs a simple-to-operate relative position calibration technology for smart rail trams, which can accurately calibrate the relative position of each sensor and the center of the front axle and improve the positioning accuracy of the smart rail tram under intelligent driving.

[0026] In some non-limiting embodiments, the relative position calibration method for the smart rail tram provided by the first aspect of the present invention can be implemented via the relative position calibration system for the smart rail tram provided by the second aspect of the present invention.

[0027] Please refer to Figure 1 , Figure 1 A schematic diagram of a relative position calibration system for a smart rail tram provided according to some embodiments of the present invention is shown.

[0028] like Figure 1 As shown, the relative position calibration system 100 for smart rail trams may be configured with a memory 110 and a processor 120. The memory 110 includes but is not limited to the computer-readable storage medium 111 provided in the fourth aspect of the present invention, on which computer instructions are stored. The processor 120 is connected to the memory 110 and is configured to execute the computer instructions stored in the memory 110 to implement the relative position calibration method for smart rail trams provided in the first aspect of the present invention.

[0029] The above-mentioned relative position calibration system for smart rail trams provided in the second aspect of the present invention can be configured in the above-mentioned relative position calibration device for smart rail trams provided in the third aspect of the present invention. The relative position calibration device for smart rail trams may also include a total station. Here, the full name of the total station is a total station type electronic tachometer, and the total station may include an electronic theodolite, a photoelectric rangefinder and a microprocessor. Through the total station, the above-mentioned relative position calibration device for smart rail trams can realize the measurement of smart rail trams. The data measured by the total station can be acquired by the relative position calibration system of the smart rail tram.

[0030] The following will first describe the working principle of the above-mentioned relative position calibration system for smart rail trams in conjunction with some embodiments of the relative position calibration method for smart rail trams. Those skilled in the art will understand that these embodiments of the relative position calibration method for smart rail trams are only some non-restrictive implementation methods provided by the present invention, which are intended to clearly demonstrate the main concept of the present invention and provide some specific solutions that are convenient for the public to implement, rather than to limit all functions or all working modes of the relative position calibration system for smart rail trams. Similarly, the relative position calibration system for smart rail trams is also only a non-restrictive implementation method provided by the present invention, and does not constitute a limitation on the execution subject and execution order of each step in these relative position calibration methods for smart rail trams.

[0031] Please refer to Figure 2 , Figure 2 A flow chart of a relative position calibration method for a smart rail tram provided according to some embodiments of the present invention is shown.

[0032] like Figure 2 As shown, the relative position calibration method 200 for the smart rail tram may include step S210: establishing a first spatial rectangular coordinate system in front of the right front of the front of the smart rail tram via a total station, and determining the three-dimensional coordinate values ​​of the right front wheel center of the smart rail tram and the calibration object in the first spatial rectangular coordinate system.

[0033] The relative position calibration system can maintain horizontality with the total station as the origin, establish the first spatial rectangular coordinate system in the right front of the front of the smart rail tram, and measure the horizontally parked smart rail tram. The total station can measure the right front wheel center of the smart rail tram and the calibration object to determine the three-dimensional coordinate values ​​of the right front wheel center of the smart rail tram and the calibration object in the first spatial rectangular coordinate system. Here, the calibration object is a sensor, including an inertial navigation antenna, a laser radar, a camera, and a millimeter wave radar.

[0034] The relative position calibration system can record the three-dimensional coordinate value of the center of the right front wheel as R1( x R1 ,y R1 ,z R1 ), the three-dimensional coordinate value of the calibration object is recorded as G( x G ,y G ,z G ).

[0035] Preferably, the relative position calibration system can also measure the common and non-coplanar points on the front of the four smart rail trams. The three-dimensional coordinate values ​​of the common and non-coplanar points A, B, C, and D on the front of the four smart rail trams in the first spatial rectangular coordinate system can be recorded as AR( x AR ,y AR ,z AR )、BR( x BR ,y BR ,z BR )、CR( x CR ,y CR ,z CR )、DR( x DR ,y DR ,z DR ).

[0036] like Figure 2 As shown, the relative position calibration method 200 for the smart rail tram may include step S220: establishing a second spatial rectangular coordinate system in front of the left front of the smart rail tram via a total station, and determining the three-dimensional coordinate value of the left front wheel center of the smart rail tram in the second spatial rectangular coordinate system.

[0037] The measured smart rail tram remains stationary, and the total station is moved to the left front of the front of the smart rail tram. The relative position calibration system can maintain horizontality with the total station as the origin, establish a second spatial rectangular coordinate system in the left front of the front of the smart rail tram, and measure the horizontally parked smart rail tram in the same position. The relative position calibration system can measure the three-dimensional coordinate value of the left front wheel center of the smart rail tram in the second spatial rectangular coordinate system, recorded as L2( x L2 ,y L2 ,z L2 ).

[0038] In a preferred embodiment, the relative position calibration system can also measure the common and non-coplanar points A, B, C, and D of the front of the four smart rail trams in the second spatial rectangular coordinate system. The three-dimensional coordinate values ​​of points A, B, C, and D in the first spatial rectangular coordinate system can be recorded as AL( x AL ,y AL ,z AL )、BL( x BL ,y BL ,z BL )、CL( x CL ,y CL ,z CL )、DL( x DL ,y DL ,z DL ). By measuring the three-dimensional coordinate values ​​of the common and non-coplanar points A, B, C, and D of the front of the four smart rail trams in the first space rectangular coordinate system and the second space rectangular coordinate system, it can be used to subsequently determine the conversion relationship between the first space rectangular coordinate system and the second space rectangular coordinate system.

[0039] Afterwards, if Figure 2 As shown, the relative position calibration system can execute step S230: determine the three-dimensional coordinate value of the center of the left front wheel in the first spatial rectangular coordinate system according to the conversion relationship between the first spatial rectangular coordinate system and the second spatial rectangular coordinate system.

[0040] In a non-limiting embodiment, the conversion relationship may be as follows: , , ,

[0041] in,( x 1 ,y 1 ,z 1) is the three-dimensional coordinate value of the coordinate point in the first spatial rectangular coordinate system, ( x 2 ,y 2 ,z 2) is the three-dimensional coordinate value of the coordinate point in the second space rectangular coordinate system, H is the first matrix conversion coefficient, P is the second matrix conversion coefficient, P T is the second matrix conversion coefficient P The transpose of .

[0042] In a preferred embodiment, the conversion relationship between the first space rectangular coordinate system and the second space rectangular coordinate system can be determined by the three-dimensional coordinate values ​​of the common and non-coplanar points A, B, C, and D of the front ends of the four smart rail trams in the first space rectangular coordinate system and the second space rectangular coordinate system.

[0043] Those skilled in the art can understand that the above method for determining the conversion relationship based on the three-dimensional coordinate values ​​of four common and non-coplanar points A, B, C, and D located at the front of the smart rail tram in the first space rectangular coordinate system and the second space rectangular coordinate system is only a non-limiting implementation method provided by the present invention, which is intended to clearly demonstrate the main concept of the present invention and provide some specific solutions that are convenient for the public to implement, rather than to limit the scope of protection of the present invention. In other embodiments, those skilled in the art can also use other equivalent methods to determine the conversion relationship between the two space rectangular coordinate systems based on the above concept and relevant knowledge in the field.

[0044] Specifically, the relative position calibration system can be based on the three-dimensional coordinate values ​​AR( x AR ,y AR ,z AR )、BR( x BR ,y BR ,z BR )、CR( x CR ,y CR ,z CR )、DR( x DR,y DR ,z DR ), construct the first matrix M R : , Based on the three-dimensional coordinate values ​​AL( x AL ,y AL ,z AL )、BL( x BL ,y BL ,z BL )、CL( x CL ,y CL ,z CL )、DL( x DL ,y DL ,z DL ), construct the second matrix M L : .

[0045] Afterwards, the relative position calibration system can be used to calibrate the first matrix M R and the second matrix M L A normalization process and a scaling process are performed to determine a first standard matrix and a second standard matrix.

[0046] Specifically, first based on the first matrix M R and the second matrix M L The corresponding mean matrix and scaling coefficient determine the standardized first matrix after the first matrix and the second matrix are scaled and the standardized second matrix after the scaled matrix.

[0047] First Matrix M R The corresponding mean matrix M R_mean Through the first matrix M R Here, the mean matrix M R_mean Can be: , , , ; Similarly, the second matrix M L The corresponding mean matrix M L_mean Through the second matrix M L Here, the mean matrix M L_mean Can be: , , , .

[0048] Then, according to the mean matrix M R_mean and the mean matrix M L_mean , calculate the first matrix M R The standardized first and second matrices M L The normalized second matrix of .

[0049] First Matrix M R The first normalized matrix M R_norm for: , The normalized first matrix is ​​calculated by the following formula M R_norm : , Accordingly, the second matrix M L The standardized second matrix M L_norm for: , The normalized second matrix is ​​calculated by the following formula M L_norm : .

[0050] Then, according to the first matrix M Rand the second matrix M L The corresponding scaling coefficients determine the scaled normalized first matrix and the scaled normalized second matrix.

[0051] First Matrix M R The corresponding scaling factor is R scale , by the first matrix M R The cumulative product of each element in and one quarter is: , Second Matrix M L The corresponding scaling factor is L scale , by the second matrix M L The cumulative product of each element in and one quarter is: , in, (i,j) Represents the matrix i Line j Elements of a column.

[0052] Based on the zoom factor R scale and scaling factor L scale , to standardize the first matrix M R_norm and the normalized second matrix M L_norm Calculate the first matrix after scaling M R_scale for: , The scaled and normalized first matrix M R_scale The first matrix can be normalized by M R_norm Divide by the scaling factor R scale The calculation results are: ; The scaled and normalized second matrix M L_scale for: , The scaled and normalized second matrix M L_scale The second matrix can be normalized by ML_norm Divide by the scaling factor L scale The calculation results are: .

[0053] Afterwards, based on the scaled and normalized first matrix M R_scale and the scaled and normalized second matrix M L_scale The corresponding mean matrix determines the first standard matrix and the second standard matrix.

[0054] The scaled and normalized first matrix M R_scale The corresponding mean matrix M R_scale_mean The first matrix can be normalized by scaling M R_scale Here, the mean matrix M R_scale_mean Can be: , , , ; Similarly, the scaled and normalized second matrix M L_scale The corresponding mean matrix M L_scale_mean The scaled and normalized second matrix can be M L_scale Here, the mean matrix M L_scale_mean Can be: , , , .

[0055] Then, according to the mean matrix M R_scale_mean and the mean matrix M L_scale_mean , calculate the first standard matrix M R_scale_norm and the second standard matrix M L_scale_norm .

[0056] First standard matrix M R_scale_norm for: , The first standard matrix is ​​calculated by the following formula M R_scale_norm : ; Accordingly, the second standard matrix M L_scale_norm for: , The second standard matrix is ​​calculated by the following formula M L_scale_norm : .

[0057] The relative position calibration system can be based on the determined first standard matrix M R_scale_norm and the second standard matrix M L_scale_norm , determine the third matrix N svd . The first standard matrix M R_scale_norm and the second standard matrix M L_scale_norm The transposed matrices are multiplied to determine the third matrix N svd : .

[0058] Afterwards, the relative position calibration system can calibrate the third matrix N svd Perform singular value decomposition to determine the first orthogonal matrix U whose column vectors are left singular vectors and the second orthogonal matrix V whose row vectors are right singular vectors. Then, according to the first orthogonal matrix, the second orthogonal matrix, the identity matrix and the scaling factor, determine the first matrix conversion coefficient in the formula of the above conversion relationship: H and the second matrix conversion coefficients P .

[0059] Here, the fourth matrix can be determined according to the first orthogonal matrix U and the second orthogonal matrix V N d , the fourth matrix N d for: ; Calculate the fourth matrix N d The determinant of , and the sign of the returned determinant is d. When the determinant is greater than 0, d is 1; when the determinant is less than 0, d is -1; when the determinant is equal to 0, d is 0.

[0060] According to the fourth matrix N d The determinant of the relative position calibration system can determine the unit matrix N I Specifically, the relative position calibration system can construct a 3×3 initial identity matrix, and then replace the elements in the third row and third column of the initial identity matrix with d returned by the determinant to determine the identity matrix N I .

[0061] In addition, the relative position calibration system can also be based on the first matrix M R The scaling factor R scale and the second matrix M L The scaling factor L scale , determine the scaling factor : ; Based on the first orthogonal matrix U, the second orthogonal matrix V, and the identity matrix N I and scaling factor , determine the first matrix conversion coefficient H : .

[0062] Afterwards, according to the first matrix conversion coefficient H and the second matrix M L The transpose of , determines the fifth matrix K : ; First Matrix M R Subtract the fifth matrix K To get the sixth matrix J : ; Based on the sixth matrix J Determine the second matrix conversion coefficients P : , , , .

[0063] Thus, in this preferred embodiment, the relative position calibration system can determine the first matrix conversion coefficient in the conversion relationship based on the three-dimensional coordinate values ​​of four common and non-coplanar points A, B, C, and D located at the front of the smart rail tram in the first space rectangular coordinate system and the second space rectangular coordinate system. H and the second matrix conversion coefficients P . Thus, the three-dimensional coordinate value ( x 2 ,y 2 ,z 2) Convert to three-dimensional coordinate values ​​in the first spatial rectangular coordinate system ( x 1 ,y 1 ,z 1).

[0064] Please continue to refer to Figure 2 , the relative position calibration system can convert the three-dimensional coordinate value L2( x L2 ,y L2 ,z L2 ) is converted into the first spatial rectangular coordinate system, thereby determining the three-dimensional coordinate value L1 ( x L1 ,y L1 ,z L1 ).

[0065] Afterwards, the relative position calibration system may execute step S240: determining the three-dimensional coordinate value of the front axle center in the first spatial rectangular coordinate system according to the three-dimensional coordinate values ​​of the right front wheel center and the left front wheel center in the first spatial rectangular coordinate system.

[0066] The three-dimensional coordinate value of the center of the right front wheel in the first spatial rectangular coordinate system is R1( x R1 ,y R1 ,z R1 ), the three-dimensional coordinate value of the left front wheel center in the first spatial rectangular coordinate system is L1( x L1 ,y L1 ,z L1 ). The three-dimensional coordinate value of the front axle center in the first spatial rectangular coordinate system can be recorded as O( x O ,y O ,zO ), where the three-dimensional coordinate values ​​can be determined by the following formula: , , .

[0067] like Figure 2 As shown, the relative position calibration method 200 for the smart rail tram also includes step S250: determining the relative position of the calibration object and the front axle center based on the three-dimensional coordinate values ​​of the calibration object and the front axle center in the first spatial rectangular coordinate system.

[0068] The three-dimensional coordinate value of the calibration object in the first spatial rectangular coordinate system is G( x G ,y G ,z G ), the three-dimensional coordinate value of the front axle center in the first spatial rectangular coordinate system is O( x O ,y O ,z O ), calculate the relative position of the two, where x Relative position of direction for: , exist y Relative position of direction for: , exist z Relative position of direction for: .

[0069] According to relative position , relative position , relative position , the relative position of the calibration object and the center of the front axle can be determined.

[0070] In addition, please refer to Figure 3 , Figure 3 A schematic diagram of an interface of a relative position calibration system for a smart rail tram provided according to a preferred embodiment of the present invention is shown.

[0071] In a non-limiting embodiment, the relative position calibration system for the smart rail tram may also include: Figure 3The calibration software interface for technicians is shown. A person skilled in the art can measure the three-dimensional coordinate values ​​of four points in the first spatial rectangular coordinate system, the three-dimensional coordinate value of the center of the right front wheel, and the three-dimensional coordinate value of the calibration object (for example, an inertial navigation antenna) through the total station of the relative position calibration device for the smart rail tram, as well as the three-dimensional coordinate values ​​of four points in the second spatial rectangular coordinate system and the three-dimensional coordinate value of the center of the left front wheel. Afterwards, a person skilled in the art can confirm the coordinates after confirming that the input coordinate format is correct, and press the coordinate conversion button. In response to the coordinate conversion button being triggered, the relative position calibration system for the smart rail tram outputs the three-dimensional coordinate value of the center of the left front wheel in the first spatial rectangular coordinate system, and further outputs the relative three-dimensional coordinates of the calibration object and the center of the front axle in the first spatial rectangular coordinate system.

[0072] Those skilled in the art will understand that Figure 3 The calibration software interface provided is only a non-limiting implementation mode provided by the present invention. For example, the operation of confirming the coordinates after confirming the input coordinate format and pressing the coordinate conversion button can also be automatically completed by the relative position calibration system for smart rail trams.

[0073] To sum up, the relative position calibration method for smart rail trams, the relative position calibration system for smart rail trams, and the relative position calibration device for smart rail trams provided by the present invention can accurately determine the relative position of the calibration object and the front axle center through the first-hand data directly measured by the total station and the conversion relationship between the two sets of coordinate systems; in the calibration process, there is no total station rear-sight measurement involved, no other measurement errors are introduced, and no data collection of the calibration object itself is involved, so that the operation is simple and effective while improving the calibration accuracy.

[0074] Although the above methods are illustrated and described as a series of actions for simplicity of explanation, it should be understood and appreciated that these methods are not limited by the order of the actions, because according to one or more embodiments, some actions may occur in a different order and / or concurrently with other actions from those illustrated and described herein or not illustrated and described herein but understandable to those skilled in the art.

[0075] Those skilled in the art will appreciate that information, signals, and data may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips cited throughout the above description may be represented by voltage, current, electromagnetic waves, magnetic fields or magnetic particles, optical fields or optical particles, or any combination thereof.

[0076] Those skilled in the art will further appreciate that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or a combination of the two. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. The technician may implement the described functionality in different ways for each specific application, but such implementation decisions should not be interpreted as resulting in a departure from the scope of the present invention.

[0077] The various illustrative logic modules and circuits described in conjunction with the embodiments disclosed herein may be implemented or executed with a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in an alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in cooperation with a DSP core, or any other such configuration.

[0078] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software module may reside in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read and write information from / to the storage medium. In an alternative, a storage medium may be integrated into a processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In an alternative, the processor and the storage medium may reside in a user terminal as discrete components.

[0079] In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented as a computer program product in software, each function may be stored on or transmitted by a computer-readable medium as one or more instructions or codes. Computer-readable media include both computer storage media and communication media, including any media that facilitates the transfer of a computer program from one place to another. Storage media may be any available media that can be accessed by a computer. As an example and not limitation, such a computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, disk storage or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer. Any connection is also properly referred to as a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of the medium. Disk and disc as used herein include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc, where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0080] The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be apparent to those skilled in the art, and the general principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein, but should be granted the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A relative position calibration method for a smart rail tram, characterized in that: include: A first spatial rectangular coordinate system is established at the right front of the front of the smart rail tram by using a total station, and the three-dimensional coordinate values ​​of the right front wheel center of the smart rail tram and the calibration object in the first spatial rectangular coordinate system are determined; A second spatial rectangular coordinate system is established at the left front of the front of the smart rail tram by means of the total station, and the three-dimensional coordinate value of the left front wheel center of the smart rail tram in the second spatial rectangular coordinate system is determined; Determine the three-dimensional coordinate value of the center of the left front wheel in the first spatial rectangular coordinate system according to the conversion relationship between the first spatial rectangular coordinate system and the second spatial rectangular coordinate system; Determine the three-dimensional coordinate value of the center of the front axle in the first spatial rectangular coordinate system according to the three-dimensional coordinate values ​​of the center of the right front wheel and the center of the left front wheel in the first spatial rectangular coordinate system; as well as Based on the three-dimensional coordinate values ​​of the calibration object and the front axle center in the first spatial rectangular coordinate system, the relative positions of the calibration object and the front axle center are determined.

2. The relative position calibration method for a smart rail tram according to claim 1, characterized in that: The step of determining the three-dimensional coordinate value of the left front wheel center in the first spatial rectangular coordinate system according to the conversion relationship between the first spatial rectangular coordinate system and the second spatial rectangular coordinate system comprises: Determining the conversion relationship based on the three-dimensional coordinate values ​​of four common and non-coplanar points located at the front of the smart rail tram in the first spatial rectangular coordinate system and the second spatial rectangular coordinate system; and Based on the conversion relationship, the three-dimensional coordinate value of the left front wheel center in the first spatial rectangular coordinate system is determined.

3. The relative position calibration method for a smart rail tram according to claim 2, characterized in that: The step of determining the conversion relationship based on the three-dimensional coordinate values ​​of four common and non-coplanar points located at the front of the smart rail tram in the first spatial rectangular coordinate system and the second spatial rectangular coordinate system comprises: Constructing a first matrix based on the three-dimensional coordinate values ​​of the four common and non-coplanar points located at the front of the vehicle in the first spatial rectangular coordinate system, and constructing a second matrix based on the three-dimensional coordinate values ​​of the four common and non-coplanar points located at the front of the vehicle in the second spatial rectangular coordinate system; Performing standardization and scaling processing on the first matrix and the second matrix to determine a first standard matrix and a second standard matrix; Determine a third matrix according to the first standard matrix and the second standard matrix; Performing singular value decomposition on the third matrix to determine a first orthogonal matrix whose column vectors are left singular vectors and a second orthogonal matrix whose row vectors are right singular vectors; determining first matrix conversion coefficients and second matrix conversion coefficients according to the first orthogonal matrix, the second orthogonal matrix, a unit matrix, and a scaling coefficient; and The conversion relationship is determined by the first matrix conversion coefficient and the second matrix conversion coefficient.

4. The relative position calibration method for a smart rail tram according to claim 3, characterized in that: The step of performing standardization and scaling on the first matrix and the second matrix to determine the first standard matrix and the second standard matrix comprises: Determine a standardized first matrix and a standardized second matrix after scaling the first matrix and the second matrix based on the mean matrix and the scaling coefficient corresponding to the first matrix and the second matrix; and The first standard matrix and the second standard matrix are determined based on mean matrices corresponding to the scaled standardized first matrix and the scaled standardized second matrix.

5. The relative position calibration method for a smart rail tram according to claim 3, characterized in that: The scaling coefficient of the first matrix is ​​obtained by accumulating and then taking the square root of the product of each element in the first matrix and one quarter, and the scaling coefficient of the second matrix is ​​obtained by accumulating and then taking the square root of the product of each element in the second matrix and one quarter.

6. The relative position calibration method for a smart rail tram according to claim 3, characterized in that: The step of determining the first matrix conversion coefficient and the second matrix conversion coefficient according to the first orthogonal matrix, the second orthogonal matrix, the unit matrix and the scaling coefficient comprises: determining a fourth matrix according to the first orthogonal matrix and the second orthogonal matrix, and calculating a determinant of the fourth matrix; and The identity matrix is ​​determined according to the determinant of the fourth matrix.

7. The relative position calibration method for a smart rail tram according to claim 3, characterized in that: The step of determining the first matrix conversion coefficient and the second matrix conversion coefficient according to the first orthogonal matrix, the second orthogonal matrix, the unit matrix and the scaling coefficient comprises: determining a scaling factor according to the scaling coefficients of the first matrix and the scaling coefficients of the second matrix; Determining first matrix conversion coefficients based on the first orthogonal matrix, the second orthogonal matrix, the identity matrix, and the scaling factor; determining a fifth matrix according to the first matrix conversion coefficients and the transpose of the second matrix; and The fifth matrix is ​​subtracted from the first matrix to obtain a sixth matrix, and the second matrix conversion coefficients are determined based on the sixth matrix.

8. The relative position calibration method for a smart rail tram according to claim 1, characterized in that: The calibration objects are sensors, including inertial navigation antennas, laser radars, cameras, and millimeter-wave radars.

9. A relative position calibration system for a smart rail tram, characterized in that: include: a memory having computer instructions stored thereon; as well as A processor is connected to the memory and is configured to execute computer instructions stored in the memory to implement the relative position calibration method for a smart rail tram as described in any one of claims 1 to 8.

10. A relative position calibration device for a smart rail tram, characterized in that: include: Total station; as well as A relative position calibration system for a smart rail tram as described in claim 9.

11. A computer-readable storage medium having computer instructions stored thereon, characterized in that: When the computer instructions are executed by the processor, the relative position calibration method for the smart rail tram as described in any one of claims 1 to 8 is implemented.

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