A method for tracking and positioning of a target in a confined underground space

Abstract

The application discloses a kind of underground confined space accompanying type target tracking positioning test method, adopt by ground unmanned vehicle platform carries 3D laser radar, RGB-D vision camera and IMU inertial navigation positioning module and so on multi-source sensor composition tracking positioning test system, by obtaining the position information known in underground confined space layout barrier or wall pasted marker, the data information collected by each kind of sensor is fused and handled, and the position information of tracking positioning test system is obtained after solving;The tail and side of the measured unmanned system are pasted with identification object with certain identification characteristics, and the tracking positioning test system identifies the identification object information pasted by the test unmanned system through the multi-source sensor carried and is compared and matched with the identification object identification model established in model library, to realize the accompanying tracking of mobile measured intelligent unmanned system.The application has good maneuvering deployment ability, and can better meet the demonstration verification and ability examination needs of intelligent unmanned equipment in underground confined environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned system testing, and in particular relates to an underground confined space accompanying target tracking and positioning testing method. Background Art

[0002] With the increasing importance of underground space in urban warfare, it has been called the new battlefield of human warfare, following land, sea, air, space, cyberspace, and electricity. The enclosed and diverse nature of urban underground structures makes it a strategic combat area, necessitating soldiers to conduct operations in complex environments such as underground passages and tunnel systems. Intelligent unmanned systems, with their numerous advantages in providing real-time intelligence and executing precision strikes, have become an indispensable weapon in underground warfare. Their advanced perception, intelligent navigation, and remote control capabilities will provide real-time support for operations and enhance soldiers' combat effectiveness in urban underground environments. Testing of intelligent unmanned systems in underground confined spaces is a crucial step in transitioning from development to operational deployment. It primarily assesses their autonomy, perception, action, decision-making, and control capabilities in complex mission environments. Accurate position and posture information are crucial for evaluating their capabilities. Ensuring precise positioning of intelligent unmanned systems in underground confined spaces while in motion has become a pressing challenge. Summary of the Invention

[0003] In order to overcome the shortcomings of the existing technology, the present invention provides a method for tracking and positioning a target in an underground confined space. The method adopts a tracking and positioning test system composed of a ground unmanned vehicle platform equipped with a 3D laser radar, an RGB-D visual camera, an IMU inertial navigation positioning module and other multi-source sensors. By obtaining obstacles with known position information or markers attached to the wall in the underground confined space, the multi-source sensor information data fusion processing is used to fuse the data information collected by various sensors, and the position information of the tracking and positioning test system is obtained after the solution. Markers with certain identification features are attached to the tail and sides of the unmanned system under test. The tracking and positioning test system recognizes the marker information attached to the unmanned system under test through the multi-source sensors carried by the vehicle and compares and matches it with the marker recognition model established in the model library to achieve accompanying tracking of the mobile intelligent unmanned system under test. The present invention has good mobile deployment capabilities and can better meet the demonstration, verification and capability assessment needs of intelligent unmanned equipment in underground confined environments.

[0004] The technical solutions adopted by the present invention to solve the technical problems are as follows:

[0005] Step 1: Build an underground confined space accompanying target tracking and positioning test system, including a ground unmanned vehicle platform, a 3D lidar, an RGB-D visual camera, and an IMU inertial navigation and positioning module;

[0006] The 3D laser radar, RGB-D visual camera and IMU inertial navigation positioning module are mounted on the ground unmanned vehicle platform;

[0007] The ground unmanned vehicle platform wheeled unmanned vehicle is used as a mobile platform to achieve accompanying tracking of the moving target;

[0008] The 3D laser radar and RGB-D visual camera are used to obtain information about known landmarks in the surrounding underground confined space environment, and obtain their own position information after fusing and processing multi-source sensor data;

[0009] The IMU inertial navigation positioning module is used for positioning the measurement system itself in an underground space without navigation signals, and is used for correction after fusion processing of information collected by multi-source sensors;

[0010] Step 2: Placement of markers in underground confined spaces;

[0011] Before the test begins, obstacles are placed in the underground confined space, and markers with depth image information are attached to the walls of the underground confined space at regular intervals. A tracking and positioning measurement system is then deployed into the underground confined space in advance to collect the position information of the obstacles and markers.

[0012] Step 3: Acquire the position of the tracking and positioning measurement system;

[0013] At the beginning of the test, the unmanned system under test entered the underground confined space environment. The tracking and positioning measurement system followed the unmanned system under test into the underground confined space. Based on the model library established by obtaining information about obstacles or landmarks in the confined space in advance, it matched the information collected at the test site. Through multi-source sensor data fusion processing, the multi-source sensor navigation and positioning were selectively corrected to achieve accurate positioning of the tracking and positioning measurement system.

[0014] Step 4: Obtain the location of the unmanned system under test;

[0015] A marker with identification features is attached to the tail or side of the unmanned system under test. The left side of the marker is a circle composed of red hexagonal concave-convex microstructures, and the right side is a circle composed of green quadrilateral concave-convex microstructures. The tracking and positioning measurement system uses 3D laser radar and RGB-D visual camera to identify the marker of the unmanned system under test, and measures the distance and angle information between the marker of the unmanned system under test and itself. After dynamic coordinate system conversion and distance correction, the position information of the center of the unmanned system under test in the same coordinate system is obtained.

[0016] Step 5: accompanying tracking control;

[0017] By comparing the radar wave signals transmitted and received by the onboard 3D laser radar, the system obtains information on the distance, direction, attitude and speed change between itself and the unmanned system under test. Based on the distortion of the image of the marker when the unmanned system is driving straight or turning, the system can be judged and stably tracked. The speed and direction of the tracking and positioning measurement system can be adjusted in real time according to the changes in the speed and direction of the unmanned system under test.

[0018] Step 6: Upload positioning information;

[0019] During the test, the tracking and positioning measurement system transmits the obtained positioning and image information to the command and control center via wired / wireless means for situation display.

[0020] Preferably, the measurement radius of the 3D laser radar is 0.15m to 12m, and the sampling frequency is 8000Hz.

[0021] Preferably, there are two 3D laser radars, one of which collects the location of obstacles and markers with depth information in the underground confined space, and the other obtains the location information of the unmanned system being tested;

[0022] Preferably, the RGB-D vision camera has a resolution of 1080p, an optical zoom of 30 times, and infrared and night vision functions.

[0023] A computer program enables a computer to execute the target tracking and positioning test method.

[0024] An electronic device comprises: a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device performs the above-mentioned target tracking and positioning test method.

[0025] A computer-readable storage medium stores a computer program, which implements the target tracking and positioning test method when executed by a processor.

[0026] A chip includes: a processor for calling and running a computer program from a memory, so that a device equipped with the chip executes the target tracking and positioning test method.

[0027] A computer program product includes a computer storage medium storing a computer program, wherein the computer program includes instructions that can be executed by at least one processor, and when the instructions are executed by the at least one processor, the target tracking and positioning test method described above is implemented.

[0028] The beneficial effects of the present invention are as follows:

[0029] The present invention can realize the accompanying measurement of mobile targets in underground confined spaces and real-time acquisition of position information. It can be flexibly deployed according to the test tasks, has good mobile deployment capabilities, and can better meet the demonstration, verification and capability assessment needs of intelligent unmanned equipment in underground confined environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a diagram of the target tracking and positioning test method architecture of the present invention.

[0031] Figure 2 This is a layout diagram of markers with location information in an underground confined test space according to an embodiment of the present invention.

[0032] Figure 3 This is a design drawing of the unmanned system identifier for the test subject according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] The present invention will be further described below with reference to the accompanying drawings and examples.

[0034] In order to realize the accompanying tracking and positioning of intelligent unmanned systems in underground confined spaces, a tracking and positioning test system is composed of a ground unmanned vehicle platform equipped with multi-source sensors such as 3D laser radar, RGB-D visual camera and IMU inertial navigation positioning module. By obtaining the obstacles with known position information or markers attached to the wall (with image / depth information) arranged in the underground confined space, multi-source sensor information data fusion processing is used to fuse the data information collected by various sensors, and the position information of the tracking and positioning test system is obtained after solution; markers with certain identification features are attached to the tail and side of the unmanned system under test, and the tracking and positioning test system recognizes the marker information attached to the unmanned system under test through the multi-source sensors (laser radar, visual camera, etc.) carried by the system, and compares and matches it with the marker recognition model established in the model library to realize the mobile intelligent unmanned vehicle under test. The system's accompanying tracking extracts features from the 3D point cloud generated by the onboard laser radar after reflection from the target surface, determines the position of the marker in the sensor coordinate system, obtains the real-time pose information of the target center through position correction, and uses the moving target coordinate system conversion to convert the tracking and positioning test system and the position of the unmanned system under test based on the marker to the same coordinate system for solution; combined with the onboard visual camera to collect image detection in adjacent time intervals, the speed and direction changes of the intelligent unmanned system under test are predicted, and while ensuring a safe distance, the speed and direction of the tracking and positioning test system are automatically controlled, thereby realizing accompanying tracking of moving targets in underground confined spaces and real-time acquisition of position information, and transmitting the measured position information and image data to the command and control center, providing an evaluation reference for the performance assessment and performance verification of intelligent unmanned systems in underground confined spaces.

[0035] Underground confined spaces are characterized by darkness, weak light, obstructed line of sight, no navigation signals, and obstructed communications. In complex underground confined spaces, the tracking and positioning test system needs to collect the characteristics and position information of surrounding markers to obtain its own position; on the other hand, it needs to collect the characteristics of the markers attached to the unmanned system under test to obtain their information. Therefore, the use of a multi-wheeled unmanned vehicle platform greatly meets the traffic capacity of complex underground environments. Various sensors are controlled by a pan-tilt platform to achieve 360° all-round observation, ensuring that as much surrounding information as possible is obtained.

[0036] The system is equipped with two 3D lidars with a measurement radius of 0.15m to 12m and a sampling frequency of 8000Hz. One of these radars collects information about known obstacles and depth markers within the underground confined space, while the other acquires the position of the unmanned system under test. The system also features two 1080p, 30x optical zoom high-definition cameras with infrared and night vision capabilities, enabling them to observe and capture the characteristics of markers in dark, low-light environments. The two high-definition cameras function similarly to radar targets. The system is equipped with an inertial navigation unit (IMU) for tracking and positioning the test system's own positioning in underground spaces without navigation signals, and performs corrections based on information fusion processing collected by multiple sensors.

[0037] The control module is primarily used to precisely control the speed and velocity of the tracking and positioning test system based on the speed and direction of the unmanned system being tested. Using a visual feature extraction model, the visual information of the marker captured by the tracking and positioning test system's onboard visual camera is compared between the previous and next frames to predict the speed and direction changes of the unmanned system being tested. This prediction is then transmitted to the system's control mechanism, ensuring maximum tracking of the target while maintaining a safe distance.

[0038] This system uses both wired and wireless methods to transmit images and location information of the unmanned system under test to the command and control center. The wired method mainly uses a flexible optical fiber dragged at the tail of the tracking and positioning test system to transmit the collected images and location information to the data switch via a wired optical fiber network, and then transmit it to the command and control center via the backbone network. This method can also be used to control the tracking and positioning test system through human intervention in emergency situations. The wireless transmission method mainly uses a small number of temporary relay base stations in confined underground spaces to transmit the collected information to the communication base station, and then transmit it to the command and control center via the backbone network for situation display.

[0039] Example:

[0040] The present invention is used for accompanying tracking and positioning of an intelligent unmanned system in a confined space. The following describes the implementation method in detail by taking an intelligent unmanned system (length × width: X (cm) × Y (cm)) in an underground confined space as an example.

[0041] Attachment Figure 1 As shown in the figure, the tracking and positioning test system mainly consists of a wheeled unmanned vehicle platform, a 3D laser radar module, an RGB-D visual camera, and an IMU inertial navigation and positioning module. The wheeled unmanned vehicle mainly serves as a mobile platform to achieve accompanying tracking of the moving target under test; the 3D laser radar and RGB-D visual camera mainly obtain information about known landmarks in the surrounding underground confined space environment, and obtain their own position information after fusing and processing multi-source sensor data; the multi-source sensor uses information from the marker attached to the tail of the unmanned system under test to obtain information such as its distance and speed from the tracking and positioning test system. The test system and the test system are converted to the same world coordinate system through dynamic coordinate system conversion and relative position solution to obtain the specific position information of the unmanned system under test.

[0042] The tracking and positioning process is as follows:

[0043] Step 1: Placement of markers in underground confined spaces

[0044] Attachment Figure 2 As shown in the figure, before the start of the experiment, a considerable number of obstacles (with known positions) are arranged in the underground confined space, and markers (with known positions) with depth image information are attached at certain intervals on the walls of the underground confined space, and an accompanying tracking and positioning measurement system enters the underground confined space in advance to collect the position information of the obstacles and markers.

[0045] Step 2: Acquire the location of the companion test system

[0046] At the beginning of the test, the unmanned system under test enters the underground confined space environment, and the accompanying positioning and tracking test system follows the unmanned system under test into the underground confined space. The model library established based on the information of obstacles or landmarks obtained in advance in the confined space is matched with the information collected at the test site. Through multi-source sensor data fusion processing, the multi-source sensor navigation positioning is selectively corrected to achieve precise positioning of the accompanying test system.

[0047] Step 3: Obtain the location of the unmanned system under test

[0048] Attachment Figure 3 As shown, a marker with certain identifying features is attached to the tail or side of the unmanned system under test. The left side of the marker consists of a circle composed of red hexagonal concave-convex microstructures, and the right side consists of a circle composed of green quadrilateral concave-convex microstructures. The accompanying tracking and positioning measurement system uses sensors such as 3D lidar and RGB-D vision cameras to identify the marker and measure the distance and angle between the marker and the unmanned system under test. After dynamic coordinate system conversion and distance correction (related to the length and width of the unmanned system under test), the position of the center of the unmanned system under test in the same coordinate system is obtained.

[0049] Step 4: Accompanying tracking control

[0050] By comparing the radar wave signals transmitted and received by the onboard 3D laser radar, the system obtains information such as the distance, direction, attitude and speed change between itself and the unmanned system under test. Based on the distortion of the (convex / concave / color) image of the marker when the unmanned system is driving in a straight line or turning, the system judges its direction and achieves stable tracking. The system adjusts the speed and direction of the tracking and positioning test system in real time according to the changes in the speed and direction of the unmanned system under test. While ensuring a safe distance, the system performs accompanying tracking as close as possible, which can effectively reduce the time and probability of losing the target during turning.

[0051] Step 5: Upload location information

[0052] During the test, the tracking and positioning test system transmits the obtained positioning and image information to the command and control center via wired / wireless means for situation display.

Claims

1. A method for tracking and positioning a target in an underground confined space, characterized in that: The steps include: Step 1: Build an underground confined space accompanying target tracking and positioning test system, including a ground unmanned vehicle platform, a 3D lidar, an RGB-D visual camera, and an IMU inertial navigation and positioning module; The 3D laser radar, RGB-D visual camera and IMU inertial navigation positioning module are mounted on the ground unmanned vehicle platform; The ground unmanned vehicle platform wheeled unmanned vehicle is used as a mobile platform to achieve accompanying tracking of the moving target; The 3D laser radar and RGB-D visual camera are used to obtain information about known landmarks in the surrounding underground confined space environment, and obtain their own position information after fusing and processing multi-source sensor data; The IMU inertial navigation positioning module is used for positioning the measurement system itself in an underground space without navigation signals, and is used for correction after fusion processing of information collected by multi-source sensors; Step 2: Placement of markers in underground confined spaces; Before the test begins, obstacles are placed in the underground confined space, and markers with depth image information are attached to the walls of the underground confined space at regular intervals. A tracking and positioning measurement system is then deployed into the underground confined space in advance to collect the position information of the obstacles and markers. Step 3: Acquire the position of the tracking and positioning measurement system; At the beginning of the test, the unmanned system under test entered the underground confined space environment. The tracking and positioning measurement system followed the unmanned system under test into the underground confined space. Based on the model library established by obtaining information about obstacles or landmarks in the confined space in advance, it matched the information collected at the test site. Through multi-source sensor data fusion processing, the multi-source sensor navigation and positioning were selectively corrected to achieve accurate positioning of the tracking and positioning measurement system. Step 4: Obtain the location of the unmanned system under test; A marker with identification features is attached to the tail or side of the unmanned system being tested. The left side of the marker consists of a circle composed of red hexagonal concave-convex microstructures, and the right side consists of a circle composed of green quadrilateral concave-convex microstructures. The tracking and positioning measurement system uses 3D laser radar and RGB-D visual cameras to identify the marker of the unmanned system being tested, and measures the distance and angle information between the marker of the unmanned system being tested and itself. After dynamic coordinate system conversion and distance correction, the position information of the center of the unmanned system being tested in the same coordinate system is obtained. Step 5: accompanying tracking control; By comparing the radar wave signals transmitted and received by the onboard 3D laser radar, the system obtains information on the distance, direction, attitude and speed change between itself and the unmanned system under test. Based on the distortion of the image of the marker when the unmanned system is driving straight or turning, the system can be judged and stably tracked. The speed and direction of the tracking and positioning measurement system can be adjusted in real time according to the changes in the speed and direction of the unmanned system under test. Step 6: Upload positioning information; During the test, the tracking and positioning measurement system transmits the obtained positioning and image information to the command and control center via wired / wireless means for situation display.

2. The underground confined space accompanying target tracking and positioning test method according to claim 1 is characterized in that: The measurement radius of the 3D laser radar is 0.15m to 12m, and the sampling frequency is 8000Hz.

3. The underground confined space accompanying target tracking and positioning test method according to claim 1, characterized in that: There are two 3D laser radars, one of which collects obstacles with known positions and markers with depth information in the underground confined space, and the other obtains the position information of the unmanned system under test.

4. The underground confined space accompanying target tracking and positioning test method according to claim 1, characterized in that: The RGB-D vision camera has a resolution of 1080p, a 30x optical zoom, and infrared and night vision capabilities.

5. A computer program, characterized in that The computer program enables a computer to execute the method according to any one of claims 1 to 4.

6. An electronic device, characterized in that: include: processor and memory; The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device performs the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

8. A chip, characterized in that: include: A processor, configured to call and run a computer program from a memory, so that a device equipped with the chip executes the method according to any one of claims 1 to 4.

9. A computer program product, characterized in that The computer program product comprises a computer storage medium storing a computer program, wherein the computer program comprises instructions executable by at least one processor, and when the instructions are executed by the at least one processor, the method according to any one of claims 1 to 4 is implemented.

Images