Lever arm vector calibration method based on navigation system, controller and navigation system

Abstract

The invention discloses a lever arm vector calibration method based on a navigation system, a controller and the navigation system. The method comprises the following steps: controlling a second machine to rotate by taking an original point of a second coordinate system as a center; when the second electronic distance measurement equipment, the first electronic distance measurement equipment and the second inertial measurement unit are located on the same straight line, measuring a first minimum distance measurement value through the second electronic distance measurement equipment; controlling the first machine and the second machine to rotate through an iteration method so as to calibrate the relative position of the lever arm vector of the phase center of the second electronic distance measuring equipment in the second coordinate system; a second machine is controlled to rotate by a preset angle, and a second distance measurement value is measured through a second electronic distance measurement device; and obtaining the lever arm vector length of the phase center of the second electronic distance measurement equipment in the second coordinate system according to the first distance measurement value and the second distance measurement value. According to the embodiment of the invention, the measurement of the lever arm vector of the UWB phase center in the IMU coordinate system is realized, and the measurement cost and complexity are reduced.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a lever arm vector calibration method, a controller and a navigation system based on a navigation system. Background Art

[0002] With the rapid development of information technology, UWB (Ultra Wide Band) positioning technology has been widely used in various application scenarios. UWB positioning technology has the characteristics of high precision, high anti-interference, high penetration, high security and low power consumption.

[0003] Taking the application of UWB positioning technology in unmanned vehicle systems as an example, it is necessary to unify the coordinates of multiple sensors in the system. Among them, since UWB ranging obtains the distance between two UWB phase centers, rather than the distance between the origins of the carrier coordinate system, it is also necessary to measure the arm vector of the UWB phase center in the carrier coordinate system. However, since UWB is an electronic ranging device and its phase center is an electromagnetic center, there is no way to measure it directly with a ruler. Since the position of the UWB phase center cannot be measured directly, related technologies need to use more complex calibration techniques to determine the arm vector, which leads to additional equipment and manpower to deploy and maintain unmanned vehicle systems, increasing costs and resource consumption. Summary of the invention

[0004] The embodiments of the present application provide a lever arm vector calibration method, a controller and a navigation system based on a navigation system, which realize the measurement of the lever arm vector of the UWB phase center in the IMU coordinate system and reduce the measurement cost and complexity.

[0005] In a first aspect, an embodiment of the present application provides a lever arm vector calibration method based on a navigation system, wherein the navigation system includes a first electronic ranging device, a second electronic ranging device, a first inertial measurement unit, and a second inertial measurement unit, wherein the first electronic ranging device and the first inertial measurement unit are arranged on a first machine, and the second electronic ranging device and the second inertial measurement unit are arranged on a second machine; the lever arm vector calibration method includes:

[0006] controlling the second machine to rotate around the origin of a second coordinate system formed by the second inertial measurement unit;

[0007] When the second electronic distance measuring device, the first electronic distance measuring device and the second inertial measurement unit are in the same straight line, measuring a first minimum distance measurement value of the first electronic distance measuring device by the second electronic distance measuring device;

[0008] Controlling the first machine and the second machine to rotate by a preset iterative method to calibrate the relative position of the phase center of the second electronic distance measuring device to the arm vector in the second coordinate system based on the first minimum distance measurement value, and obtaining a current relative position and a first distance measurement value;

[0009] Control the second machine to rotate a preset angle based on the current relative position, and measure a second distance measurement value from the first electronic distance measuring device through the second electronic distance measuring device;

[0010] The arm vector length of the phase center of the second electronic distance measuring device in the second coordinate system is obtained according to the first distance measurement value and the second distance measurement value.

[0011] In some embodiments, controlling the first machine and the second machine to rotate by a preset iterative method to calibrate the relative position of the phase center of the second electronic ranging device in the second coordinate system based on the first minimum ranging value to obtain the current relative position and the first distance measurement value includes:

[0012] controlling the first machine to rotate around the origin of a first coordinate system formed by the first inertial measurement unit;

[0013] When the first electronic distance measuring device, the first inertial measurement unit and the second electronic distance measuring device are in the same straight line, the first electronic distance measuring device measures a second minimum distance measurement value of the second electronic distance measuring device;

[0014] When the second minimum distance measurement value is less than the first minimum distance measurement value, controlling the second machine to continue rotating around the origin of the second coordinate system until the first electronic distance measurement device, the second electronic distance measurement device, the first inertial measurement unit, and the second inertial measurement unit are at a preset position;

[0015] At the preset position, the second electronic distance measuring device measures a first distance measurement value from the first electronic distance measuring device, and calibrates the relative position of the phase center of the second electronic distance measuring device in the second coordinate system to obtain the current relative position.

[0016] In some embodiments, controlling the second machine to rotate a preset angle based on the current relative position, and measuring a second distance measurement value from the first electronic distance measuring device through the second electronic distance measuring device, comprises:

[0017] Controlling the second machine to rotate 180 degrees based on the current relative position to obtain a target position;

[0018] At the target location, a second distance measurement value from the first electronic distance measuring device is measured by the second electronic distance measuring device.

[0019] In some embodiments, controlling the second machine to rotate a preset angle based on the current relative position, and measuring a second distance measurement value from the first electronic distance measuring device through the second electronic distance measuring device, comprises:

[0020] Controlling the second machine to rotate 180 degrees based on the current relative position to obtain a target position;

[0021] At the target location, a second distance measurement value from the first electronic distance measuring device is measured by the second electronic distance measuring device.

[0022] In some embodiments, obtaining the arm vector length of the phase center of the second electronic ranging device in the second coordinate system according to the first distance measurement value and the second distance measurement value includes:

[0023] subtracting the second distance measurement value from the first distance measurement value to obtain a subtraction result;

[0024] The arm vector length of the phase center of the second electronic ranging device in the second coordinate system is obtained according to the subtraction result.

[0025] In some embodiments, after obtaining the lever arm vector length of the phase center of the second electronic ranging device in the second coordinate system according to the first distance measurement value and the second distance measurement value, the lever arm vector calibration method further includes:

[0026] Measuring the horizontal axis of the second coordinate system and the line connecting the first inertial measurement unit and the second inertial measurement unit by a preset protractor to obtain a target angle;

[0027] The target angle is used as a deflection angle between the phase center of the second electronic ranging device and the horizontal axis.

[0028] In some embodiments, after measuring the second minimum distance measurement value of the second electronic distance measurement device by the first electronic distance measurement device, the lever arm vector calibration method further includes:

[0029] When the second minimum distance measurement value is greater than or equal to the first minimum distance measurement value, the first machine continues to rotate to update the second minimum distance measurement value.

[0030] In some embodiments, controlling the second machine to continue rotating around the origin of the second coordinate system until the first electronic ranging device, the second electronic ranging device, the first inertial measurement unit, and the second inertial measurement unit are at a preset position comprises:

[0031] Controlling the second machine to continue rotating around the origin of the second coordinate system;

[0032] When the second electronic distance measuring device, the first electronic distance measuring device and the second inertial measurement unit are in the same straight line, the second electronic distance measuring device measures a third minimum distance measurement value from the first electronic distance measuring device;

[0033] When the third minimum ranging value is less than the second minimum ranging value, the first machine is controlled to continue rotating around the origin of the first coordinate system until the first electronic ranging device, the second electronic ranging device, the first inertial measurement unit and the second inertial measurement unit are in preset positions.

[0034] In a second aspect, an embodiment of the present application further provides a controller, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the arm vector calibration method based on the navigation system as described in the first aspect is implemented.

[0035] In a third aspect, an embodiment of the present application further provides a navigation system, comprising a first electronic ranging device, a second electronic ranging device, a first inertial measurement unit, a second inertial measurement unit and a controller as described in the second aspect, wherein the first electronic ranging device and the first inertial measurement unit are arranged on a first machine, the second electronic ranging device and the second inertial measurement unit are arranged on a second machine, and the controller is connected to the first machine and the second machine respectively.

[0036] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the arm vector calibration method based on the navigation system as described in the first aspect.

[0037] The arm vector calibration method based on the navigation system provided in the embodiment of the present application has at least the following beneficial effects: the navigation system in the embodiment of the present application includes a first electronic ranging device, a second electronic ranging device, a first inertial measurement unit and a second inertial measurement unit, and the first electronic ranging device and the first inertial measurement unit are arranged on a first machine, and the second electronic ranging device and the second inertial measurement unit are arranged on a second machine, so that the electronic ranging device and the inertial measurement unit can be fixedly connected to different machines respectively. In the process of arm vector calibration, the embodiment of the present application first controls the second machine to rotate with the origin of the second coordinate system formed by the second inertial measurement unit as the center. Since the second electronic ranging device and the second inertial measurement unit are fixedly connected to the second machine, the distance between the second electronic ranging device and the second inertial measurement unit is fixed. At this time, the trajectory of the second ranging device is a circle. During the rotation process, when the second electronic ranging device, the first electronic ranging device and the second inertial measurement unit are in the same straight line, the second electronic ranging device measures the first minimum ranging value of the distance from the first electronic ranging device, and then controls the first machine and the second machine to rotate through a preset iterative method, so that the first electronic ranging device, the second electronic ranging device, the first inertial measurement unit and the second inertial measurement unit can be aligned. The measuring unit moves to the same straight line to calibrate the relative position of the lever arm vector of the phase center of the second electronic ranging device in the second coordinate system based on the first minimum ranging value, and can accurately determine the relative position of the phase center of the second electronic ranging device and the lever arm vector, reduce the speed error and position error caused by the lever arm error, and obtain the current relative position and the first distance measurement value. After that, the second machine is controlled to rotate by a preset angle based on the current relative position, and the second electronic ranging device is used to measure the second distance measurement value from the first electronic ranging device, and then the lever arm vector length of the phase center of the second electronic ranging device in the second coordinate system is obtained according to the first distance measurement value and the second distance measurement value, so as to achieve accurate measurement of the lever arm vector length, and facilitate subsequent improvement of positioning accuracy. The embodiment of the present application uses an iterative method and a rotation operation to make the first electronic ranging device and the first inertial measurement unit on the first machine, and the second electronic ranging device and the second inertial measurement unit on the second machine continuously approach a straight line, so as to achieve a situation that can be used for measurement in the end, that is, the embodiment of the present application only uses two UWBs to measure the lever arm vector of its phase center in the IMU coordinate system, which greatly reduces the equipment used and reduces the complexity of the calibration experiment.

[0038] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained through the structures particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings are used to provide further understanding of the technical solution of the present application and constitute a part of the specification. Together with the examples of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0040] Figure 1 It is a flowchart of a specific method of the lever arm vector calibration method based on the navigation system provided in an embodiment of the present application;

[0041] Figure 2 is a specific flow chart of calibrating the relative position of the arm vector of the phase center of the second electronic ranging device in the second coordinate system provided by an embodiment of the present application;

[0042] Figure 3 is a specific flow chart of step S104 provided in an embodiment of the present application;

[0043] Figure 4 is a specific flow chart of step S105 provided in an embodiment of the present application;

[0044] Figure 5 is a specific flow chart of a method for calibrating a lever arm vector based on a navigation system provided in another embodiment of the present application;

[0045] Figure 6 is a specific flow chart of a method for calibrating a lever arm vector based on a navigation system provided in another embodiment of the present application;

[0046] Figure 7 is a specific flow chart of step S203 provided in an embodiment of the present application;

[0047] Figure 8 The hardware structure of the controller provided in the embodiment of the present application is illustrated;

[0048] Fig. 9 is a schematic diagram of IMU and UWB provided in an example of this application;

[0049] Fig.10 This is a schematic diagram of a UWB2 distance feedback value provided in an example of the present application when the distance feedback value is the minimum distance measurement value;

[0050] Figures 11a to 11d It is a schematic diagram of an iterative method provided in an example of the present application for calibrating the relative position of the UWB2 phase center in the IMU2 coordinate system. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0054] The arm vector calibration method based on the navigation system provided in the embodiment of the present application can be applied to the terminal, can also be applied to the server side, and can also be software running in the terminal or the server side. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer or a smart watch, etc.; the server side can be configured as an independent physical server, or a server cluster or distributed system composed of multiple physical servers, and can also be configured as a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content distribution networks (Content De l ivery Network, CDN) and big data and artificial intelligence platforms; the software can be an application that implements the above method, etc., but is not limited to the above forms.

[0055] Embodiments of the present application can be used in numerous general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer computer devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0056] With the rapid development of information technology, UWB (Ultra Wide Band) positioning technology has been widely used in various application scenarios. UWB positioning technology has the characteristics of high precision, high anti-interference, high penetration, high security and low power consumption.

[0057] Taking the application of UWB positioning technology in unmanned vehicle systems as an example, it is necessary to unify the coordinates of multiple sensors in the system. Among them, since UWB ranging obtains the distance between two UWB phase centers, rather than the distance between the origins of the carrier coordinate system, it is also necessary to measure the arm vector of the UWB phase center in the carrier coordinate system. However, since UWB is an electronic ranging device and its phase center is an electromagnetic center, there is no way to measure it directly with a ruler. Since the position of the UWB phase center cannot be measured directly, related technologies need to use more complex calibration techniques to determine the arm vector, which leads to additional equipment and manpower to deploy and maintain unmanned vehicle systems, increasing costs and resource consumption.

[0058] In order to solve the above problems, an embodiment of the present application provides a lever arm vector calibration method based on a navigation system. First, the navigation system in the embodiment of the present application includes a first electronic ranging device, a second electronic ranging device, a first inertial measurement unit and a second inertial measurement unit, and the first electronic ranging device and the first inertial measurement unit are arranged on a first machine, and the second electronic ranging device and the second inertial measurement unit are arranged on a second machine, so that the electronic ranging device and the inertial measurement unit can be respectively fixedly connected to different machines. In the process of arm vector calibration, the embodiment of the present application first controls the second machine to rotate with the origin of the second coordinate system formed by the second inertial measurement unit as the center. Since the second electronic ranging device and the second inertial measurement unit are fixedly connected to the second machine, the distance between the second electronic ranging device and the second inertial measurement unit is fixed. At this time, the trajectory of the second ranging device is a circle. During the rotation process, when the second electronic ranging device, the first electronic ranging device and the second inertial measurement unit are in the same straight line, the second electronic ranging device measures the first minimum ranging value of the distance from the first electronic ranging device, and then controls the first machine and the second machine to rotate through a preset iterative method, so that the first electronic ranging device, the second electronic ranging device, the first inertial measurement unit and the second inertial measurement unit can be aligned. The measuring unit moves to the same straight line to calibrate the relative position of the lever arm vector of the phase center of the second electronic ranging device in the second coordinate system based on the first minimum ranging value, and can accurately determine the relative position of the phase center of the second electronic ranging device and the lever arm vector, reduce the speed error and position error caused by the lever arm error, and obtain the current relative position and the first distance measurement value. After that, the second machine is controlled to rotate by a preset angle based on the current relative position, and the second electronic ranging device is used to measure the second distance measurement value from the first electronic ranging device, and then the lever arm vector length of the phase center of the second electronic ranging device in the second coordinate system is obtained according to the first distance measurement value and the second distance measurement value, so as to achieve accurate measurement of the lever arm vector length, and facilitate subsequent improvement of positioning accuracy. The embodiment of the present application uses an iterative method and a rotation operation to make the first electronic ranging device and the first inertial measurement unit on the first machine, and the second electronic ranging device and the second inertial measurement unit on the second machine continuously approach a straight line, so as to achieve a situation that can be used for measurement in the end, that is, the embodiment of the present application only uses two UWBs to measure the lever arm vector of its phase center in the IMU coordinate system, which greatly reduces the equipment used and reduces the complexity of the calibration experiment.

[0059] Reference Figure 1 , Figure 1 4 is a flowchart of a specific method of the lever arm vector calibration method based on the navigation system provided in an embodiment of the present application. In some embodiments, the lever arm vector calibration method based on the navigation system includes but is not limited to steps S101 to S105.

[0060] It should be noted that the navigation system includes a first electronic ranging device, a second electronic ranging device, a first inertial measurement unit and a second inertial measurement unit. The first electronic ranging device and the first inertial measurement unit are arranged on the first machine, and the second electronic ranging device and the second inertial measurement unit are arranged on the second machine.

[0061] It can be understood that the first electronic ranging device and the second electronic ranging device are both UWB devices, and the first inertial measurement unit and the second inertial measurement unit are both IMU devices, wherein the first inertial measurement unit can form a first coordinate system and the second inertial measurement unit can form a second coordinate system.

[0062] Step S101 : controlling the second machine to rotate around the origin of a second coordinate system formed by a second inertial measurement unit.

[0063] In step S101 of some embodiments, the second machine is controlled to rotate around the origin of the second coordinate system formed by the second inertial measurement unit. Specifically, the second machine is controlled to rotate one circle around the origin of the second coordinate system. Since the second electronic ranging device and the second inertial measurement unit are fixedly connected to the second machine, the distance between the two is fixed. At this time, the trajectory of the second inertial measurement unit is a circle.

[0064] Step S102: When the second electronic distance measuring device, the first electronic distance measuring device and the second inertial measurement unit are in the same straight line, the second electronic distance measuring device measures a first minimum distance measurement value from the first electronic distance measuring device.

[0065] In step S102 of some embodiments, when the second electronic ranging device, the first electronic ranging device and the second inertial measurement unit are in the same straight line, that is, the second electronic ranging device, the first electronic ranging device and the second inertial measurement unit are in a collinear line, the second electronic ranging device will measure the minimum and maximum values ​​of the distance from the first electronic ranging device. In the embodiment of the present application, the second electronic ranging device measures the first minimum ranging value of the distance from the first electronic ranging device by the second electronic ranging device, thereby achieving preliminary adjustment and fixation of the position of the second electronic ranging device, which is convenient for subsequent iterative approximation of different devices.

[0066] Step S103, controlling the rotation of the first machine and the second machine through a preset iterative method to calibrate the relative position of the arm vector of the phase center of the second electronic ranging device in the second coordinate system based on the first minimum ranging value, and obtaining the current relative position and the first distance measurement value.

[0067] In step S103 of some embodiments, the first machine and the second machine are controlled to rotate through a preset iterative method, so that the first electronic ranging device, the second electronic ranging device, the first inertial measurement unit and the second inertial measurement unit continuously approach a straight line, so as to calibrate the relative position of the phase center of the second electronic ranging device and the lever arm vector in the second coordinate system based on the first minimum ranging value, and obtain the current relative position and the first distance measurement value, so as to accurately determine the relative position of the phase center of the second electronic ranging device and the lever arm vector, reduce the speed error and position error caused by the lever arm error, obtain the current relative position of the second electronic ranging device, and facilitate the subsequent measurement of the lever arm vector.

[0068] Step S104, controlling the second machine to rotate a preset angle based on the current relative position, and measuring a second distance measurement value from the first electronic distance measuring device through a second electronic distance measuring device.

[0069] In step S104 of some embodiments, the second machine is controlled to rotate a preset angle based on the current relative position, and a second distance measurement value from the first electronic distance measuring device is measured by a second electronic distance measuring device, thereby achieving accurate measurement of the distance between the first electronic distance measuring device and the second electronic distance measuring device, and being able to accurately measure the distance value between the two devices in different positions.

[0070] Step S105: Obtain the arm vector length of the phase center of the second electronic distance measuring device in the second coordinate system according to the first distance measurement value and the second distance measurement value.

[0071] In step S105 of some embodiments, the arm vector length of the phase center of the second electronic ranging device in the second coordinate system is obtained according to the first distance measurement value and the second distance measurement value, thereby enabling accurate measurement of the arm vector length without adding external equipment, greatly reducing the equipment used and reducing the complexity of the calibration experiment.

[0072] Reference Figure 2 , Figure 2 The method includes but is not limited to steps S201 to S204.

[0073] Step S201 : controlling a first machine to rotate around an origin of a first coordinate system formed by a first inertial measurement unit.

[0074] Step S202: When the first electronic distance measuring device, the first inertial measurement unit, and the second electronic distance measuring device are in the same straight line, the first electronic distance measuring device measures a second minimum distance measurement value from the second electronic distance measuring device.

[0075] Step S203, when the second minimum ranging value is less than the first minimum ranging value, control the second machine to continue rotating around the origin of the second coordinate system until the first electronic ranging device, the second electronic ranging device, the first inertial measurement unit and the second inertial measurement unit are at a preset position.

[0076] Step S204, at the preset position, the second electronic distance measuring device measures a first distance measurement value from the first electronic distance measuring device, and calibrates the relative position of the arm vector of the phase center of the second electronic distance measuring device in the second coordinate system to obtain the current relative position.

[0077] In steps S201 to S204 of some embodiments, in the process of calibrating the relative position of the lever arm vector of the phase center of the second electronic ranging device in the second coordinate system, the embodiment of the present application first controls the first machine to rotate around the origin of the first coordinate system formed by the first inertial measurement unit, that is, controls the first machine to rotate around the origin of the first coordinate system, and the second machine is fixed at this time. When the first electronic ranging device, the first inertial measurement unit and the second electronic ranging device are in the same straight line, the first electronic ranging device measures the second minimum ranging value of the distance from the second electronic ranging device through the first electronic ranging device. When the second minimum ranging value is less than the first minimum ranging value, it indicates that the operation is correct, and the first electronic ranging device, the second electronic ranging device, the first inertial measurement unit and the second inertial measurement unit are constantly approaching. At this time, the second machine is controlled to continue to rotate around the origin of the second coordinate system until the first electronic ranging device, the second electronic ranging device, the first inertial measurement unit and the second inertial measurement unit are in A preset position, wherein the preset position is a position where the first electronic ranging device, the second electronic ranging device, the first inertial measurement unit and the second inertial measurement unit converge to the same straight line. Afterwards, at the preset position, the second electronic ranging device measures a first distance measurement value from the first electronic ranging device, that is, the distance between the first electronic ranging device and the second electronic ranging device when the four devices, namely, the first electronic ranging device, the second electronic ranging device, the first inertial measurement unit and the second inertial measurement unit converge to the same line, so as to achieve accurate measurement of the distance between the first electronic ranging device and the second electronic ranging device, measure the shortest distance value between the two devices, calibrate the relative position of the phase center of the second electronic ranging device and the lever arm vector in the second coordinate system, accurately determine the relative position of the phase center of the second electronic ranging device and the lever arm vector, reduce the speed error and position error caused by the lever arm error, obtain the current relative position of the second electronic ranging device, and facilitate the subsequent measurement of the lever arm vector.

[0078] Reference Figure 3 , Figure 31 is a specific flow chart of step S104 provided in an embodiment of the present application. In some embodiments, step S104 specifically includes but is not limited to step S301 to step S302.

[0079] Step S301, controlling the second machine to rotate 180 degrees based on the current relative position to obtain a target position.

[0080] Step S302: At the target location, a second distance measurement value from the first electronic distance measuring device is measured by a second electronic distance measuring device.

[0081] In steps S301 to S302 of some embodiments, in the process of controlling the second machine to rotate a preset angle based on the current relative position, the embodiment of the present application first controls the second machine to rotate one hundred and eighty degrees based on the current relative position, and the first machine remains stationary to obtain the target position, thereby increasing the distance between the first electronic ranging device and the second electronic ranging device. Afterwards, at the target position, the second electronic ranging device measures a second distance measurement value from the first electronic ranging device, thereby achieving accurate measurement of the distance between the first electronic ranging device and the second electronic ranging device, and can accurately measure the distance values ​​of the two devices in different positions.

[0082] Reference Figure 4 , Figure 4 401 and 402. FIG. 402 is a specific flow chart of step S105 provided in an embodiment of the present application. In some embodiments, step S105 specifically includes but is not limited to step S401 and step S402.

[0083] Step S401: subtract the second distance measurement value from the first distance measurement value to obtain a subtraction result.

[0084] Step S402: Obtain the arm vector length of the phase center of the second electronic distance measuring device in the second coordinate system according to the subtraction result.

[0085] In steps S401 to S402 of some embodiments, in the process of obtaining the arm vector length of the phase center of the second electronic ranging device in the second coordinate system according to the first distance measurement value and the second distance measurement value, the embodiment of the present application first subtracts the second distance measurement value from the first distance measurement value to obtain a subtraction result, and then obtains the arm vector length of the phase center of the second electronic ranging device in the second coordinate system according to the subtraction result, thereby being able to achieve accurate measurement of the arm vector length without adding external equipment, greatly reducing the equipment used and reducing the complexity of the calibration experiment.

[0086] Reference Figure 5 , Figure 5It is a specific flow chart of a method for calibrating a lever arm vector based on a navigation system provided by another embodiment of the present application. In some embodiments, the method includes but is not limited to step S501 and step S502.

[0087] It should be noted that step S501 to step S502 occur after the arm vector length of the phase center of the second electronic distance measuring device in the second coordinate system is obtained according to the first distance measurement value and the second distance measurement value.

[0088] Step S501, measuring the horizontal axis of the second coordinate system and the line connecting the first inertial measurement unit and the second inertial measurement unit by a preset protractor to obtain a target angle.

[0089] Step S502: taking the target angle as the deflection angle between the phase center of the second electronic ranging device and the horizontal axis.

[0090] In steps S501 to S502 of some embodiments, after obtaining the arm vector length of the phase center of the second electronic ranging device in the second coordinate system, the embodiments of the present application will also measure the horizontal axis of the second coordinate system and the connection line between the first inertial measurement unit and the second inertial measurement unit through a preset protractor to obtain the target angle. The use of a protractor can reduce measurement inaccuracies caused by human estimation or visual errors, thereby more accurately determining the direction of the UWB phase center relative to the IMU coordinate system, and then using the target angle as the deflection angle between the phase center of the second electronic ranging device and the horizontal axis to achieve accurate measurement of the deflection angle.

[0091] Reference Figure 6 , Figure 6 It is a specific flow chart of a method for calibrating a lever arm vector based on a navigation system provided by another embodiment of the present application. In some embodiments, the method includes but is not limited to step S601.

[0092] It should be noted that step S601 occurs after the first electronic distance measuring device measures the second minimum distance measurement value of the second electronic distance measuring device.

[0093] Step S601: when the second minimum distance measurement value is greater than or equal to the first minimum distance measurement value, continue to rotate the first machine to update the second minimum distance measurement value.

[0094] In step S601 of some embodiments, when the second minimum ranging value is greater than or equal to the first minimum ranging value, it means that the first electronic ranging device, the first inertial measurement unit and the second electronic ranging device are not in the same straight line, and it is necessary to continue to rotate the first machine so that the first electronic ranging device, the first inertial measurement unit and the second electronic ranging device are in the same straight line, and update the second minimum ranging value.

[0095] Reference Figure 7 , Figure 7 It is a specific flow chart of step S203 provided in an embodiment of the present application. In some embodiments, step S203 specifically includes but is not limited to step S701 and step S703.

[0096] Step S701, controlling the second machine to continue rotating around the origin of the second coordinate system.

[0097] Step S702: When the second electronic distance measuring device, the first electronic distance measuring device and the second inertial measurement unit are in the same straight line, the second electronic distance measuring device measures a third minimum distance measurement value from the first electronic distance measuring device.

[0098] Step S703, when the third minimum ranging value is less than the second minimum ranging value, control the first machine to continue rotating around the origin of the first coordinate system until the first electronic ranging device, the second electronic ranging device, the first inertial measurement unit and the second inertial measurement unit are at a preset position.

[0099] In steps S701 to S703 of some embodiments, in the process of controlling the second machine to continue to rotate with the origin of the second coordinate system as the center, the embodiment of the present application keeps the first machine stationary and only rotates the second machine. When the second electronic ranging device, the first electronic ranging device and the second inertial measurement unit are in the same straight line, the second electronic ranging device measures the third minimum ranging value of the distance from the first electronic ranging device. When the third minimum ranging value is less than the second minimum ranging value, it means that the four devices are gradually approaching the same straight line. The first machine is controlled to continue to rotate with the origin of the first coordinate system as the center until the first electronic ranging device, the second electronic ranging device, the first inertial measurement unit and the second inertial measurement unit are in a preset position, so that the first electronic ranging device, the second electronic ranging device, the first inertial measurement unit and the second inertial measurement unit are approaching a straight line.

[0100] See also Figure 8 , Figure 8 The hardware structure of the controller provided in the embodiment of the present application is illustrated, and the controller includes:

[0101] The processor 901 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0102] The memory 902 may be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 902 may store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 902, and the processor 901 calls and executes the arm vector calibration method based on the navigation system of the embodiment of this application;

[0103] Input / output interface 903, used to implement information input and output;

[0104] Communication interface 904, used to realize communication interaction between the device and other devices, which can be realized through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WI FI, Bluetooth, etc.);

[0105] A bus 905 that transmits information between the various components of the device (e.g., the processor 901, the memory 902, the input / output interface 903, and the communication interface 904);

[0106] The processor 901 , the memory 902 , the input / output interface 903 and the communication interface 904 are connected to each other in communication within the device via a bus 905 .

[0107] In some embodiments, the present application also provides a navigation system, the navigation system comprising a first electronic distance measuring device, a second electronic distance measuring device, a first inertial measurement unit, a second inertial measurement unit and a Figure 8 A controller, a first electronic distance measuring device and a first inertial measurement unit are arranged on a first machine, a second electronic distance measuring device and a second inertial measurement unit are arranged on a second machine, and the controller is connected to the first machine and the second machine respectively.

[0108] The navigation system of the embodiment of the present application is used to execute the lever arm vector calibration method based on the navigation system in the above embodiment, and its specific processing process is the same as the lever arm vector calibration method based on the navigation system in the above embodiment, which will not be repeated here.

[0109] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned arm vector calibration method based on the navigation system is implemented.

[0110] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0111] In order to more clearly explain the arm vector calibration method based on the navigation system of the embodiment of the present application, a specific example is given below.

[0112] Example 1:

[0113] Example 1 is explained by taking the navigation system as an unmanned vehicle system as an example.

[0114] See also Fig. 9 , Fig. 9 It is a schematic diagram of IMU and UWB provided in an example of this application.

[0115] In some embodiments, the embodiment of the present application firstly connects UWB1 and IMU1 to the first machine, and connects UWB2 and IMU2 to the second machine. Then the second machine rotates one circle with the origin of the IMU2 coordinate system as the center. Since UWB2 and IMU2 are connected to machine 2 and the distance between them is fixed, the trajectory of UWB2 is a circle.

[0116] See also Fig.10 , Fig.10 This is a schematic diagram of a UWB2 distance feedback value provided in an example of the present application when the distance feedback value is the minimum ranging value.

[0117] During the rotation process, when UWB2, UWB1, and IMU2 are collinear, UWB2 will have a maximum ranging value or a minimum ranging value. Here, the embodiment of the present application mainly utilizes the situation where the minimum ranging value appears, such as Fig. 9 shown.

[0118] See also Figures 11a to 11d , Figures 11a to 11d It is a schematic diagram of an iterative method provided in an example of the present application for calibrating the relative position of the UWB2 phase center in the IMU2 coordinate system.

[0119] In some embodiments, after the minimum ranging value appears in UWB2, the embodiment of the present application rotates the first machine around IMU1 again, and stops rotating when the minimum ranging value appears. Fig.11a As shown, and again machine 2 performs the operation, as Fig.11bAs shown in Figure 2, after multiple rounds of operation, the four points IMU1, UWB1, IMU2, and UWB2 will approach the same straight line. This process is as follows: Fig.11c shown.

[0120] Afterwards, in Fig.11c Based on the second machine, rotate 180°, such as Fig.11d shown.

[0121] exist Fig.11c In the UWB2 distance measurement, the value is L1 = l; Fig.11d In the calculation, the UWB2 distance measurement value is L2=l+2r2; finally, the arm vector length of the UWB2 phase center in the carrier coordinate system is obtained as

[0122] In addition, the embodiment of the present application can also directly use a protractor to measure the connection line between the x-axis and the two IMUs to measure the deflection angle of the UWB2 phase center and the x-axis.

[0123] Compared with the existing methods, this method uses only two UWBs to measure the arm vector of its phase center in the IMU coordinate system, greatly reducing the equipment used and the complexity of the calibration experiment. And the iterative method is used to make the four devices on the two machines approach a straight line through rotation operations, so that the final measurement can be achieved.

[0124] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0125] It can be understood by those skilled in the art that Figure 1-1 The technical solution shown in 1 does not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figure, or a combination of certain steps, or different steps.

[0126] The system embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0127] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0128] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0129] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0130] In the several embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.

[0131] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0132] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0133] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or 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 multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0134] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A method for calibrating arm vector based on a navigation system, characterized in that: The navigation system includes a first electronic distance measuring device, a second electronic distance measuring device, a first inertial measurement unit and a second inertial measurement unit, wherein the first electronic distance measuring device and the first inertial measurement unit are arranged on a first machine, and the second electronic distance measuring device and the second inertial measurement unit are arranged on a second machine; The lever arm vector calibration method comprises: controlling the second machine to rotate around the origin of a second coordinate system formed by the second inertial measurement unit; When the second electronic distance measuring device, the first electronic distance measuring device and the second inertial measurement unit are in the same straight line, measuring a first minimum distance measurement value of the first electronic distance measuring device by the second electronic distance measuring device; Controlling the first machine and the second machine to rotate by a preset iterative method to calibrate the relative position of the phase center of the second electronic distance measuring device to the arm vector in the second coordinate system based on the first minimum distance measurement value, and obtaining a current relative position and a first distance measurement value; Control the second machine to rotate a preset angle based on the current relative position, and measure a second distance measurement value from the first electronic distance measuring device through the second electronic distance measuring device; The arm vector length of the phase center of the second electronic distance measuring device in the second coordinate system is obtained according to the first distance measurement value and the second distance measurement value.

2. The method for calibrating the arm vector based on the navigation system according to claim 1, characterized in that: The controlling the first machine and the second machine to rotate by a preset iteration method to calibrate the relative position of the phase center of the second electronic ranging device to the arm vector in the second coordinate system based on the first minimum ranging value to obtain the current relative position and the first distance measurement value includes: controlling the first machine to rotate around the origin of a first coordinate system formed by the first inertial measurement unit; When the first electronic distance measuring device, the first inertial measurement unit and the second electronic distance measuring device are in the same straight line, the first electronic distance measuring device measures a second minimum distance measurement value of the second electronic distance measuring device; When the second minimum distance measurement value is less than the first minimum distance measurement value, controlling the second machine to continue rotating around the origin of the second coordinate system until the first electronic distance measurement device, the second electronic distance measurement device, the first inertial measurement unit, and the second inertial measurement unit are at a preset position; At the preset position, the second electronic distance measuring device measures a first distance measurement value from the first electronic distance measuring device, and calibrates the relative position of the phase center of the second electronic distance measuring device in the second coordinate system to obtain the current relative position.

3. The method for calibrating the arm vector based on the navigation system according to claim 1, characterized in that: The controlling the second machine to rotate a preset angle based on the current relative position and measuring a second distance measurement value from the first electronic distance measuring device by the second electronic distance measuring device comprises: Controlling the second machine to rotate 180 degrees based on the current relative position to obtain a target position; At the target location, a second distance measurement value from the first electronic distance measuring device is measured by the second electronic distance measuring device.

4. The method for calibrating the arm vector based on the navigation system according to claim 1, characterized in that: The step of obtaining the arm vector length of the phase center of the second electronic distance measuring device in the second coordinate system according to the first distance measurement value and the second distance measurement value comprises: subtracting the second distance measurement value from the first distance measurement value to obtain a subtraction result; The arm vector length of the phase center of the second electronic ranging device in the second coordinate system is obtained according to the subtraction result.

5. The method for calibrating the arm vector based on the navigation system according to claim 1, characterized in that: After obtaining the lever arm vector length of the phase center of the second electronic distance measuring device in the second coordinate system according to the first distance measurement value and the second distance measurement value, the lever arm vector calibration method further includes: Measuring the horizontal axis of the second coordinate system and the line connecting the first inertial measurement unit and the second inertial measurement unit by a preset protractor to obtain a target angle; The target angle is used as a deflection angle between the phase center of the second electronic ranging device and the horizontal axis.

6. The method for calibrating the arm vector based on the navigation system according to claim 2, characterized in that: After measuring the second minimum distance measurement value of the second electronic distance measurement device by the first electronic distance measurement device, the lever arm vector calibration method further includes: When the second minimum distance measurement value is greater than or equal to the first minimum distance measurement value, the first machine continues to rotate to update the second minimum distance measurement value.

7. The method for calibrating the arm vector based on the navigation system according to claim 2, characterized in that: The controlling the second machine to continue rotating around the origin of the second coordinate system until the first electronic distance measuring device, the second electronic distance measuring device, the first inertial measurement unit, and the second inertial measurement unit are at a preset position comprises: Controlling the second machine to continue rotating around the origin of the second coordinate system; When the second electronic distance measuring device, the first electronic distance measuring device and the second inertial measurement unit are in the same straight line, the second electronic distance measuring device measures a third minimum distance measurement value from the first electronic distance measuring device; When the third minimum ranging value is less than the second minimum ranging value, the first machine is controlled to continue rotating around the origin of the first coordinate system until the first electronic ranging device, the second electronic ranging device, the first inertial measurement unit and the second inertial measurement unit are in preset positions.

8. A controller, characterized in that: The controller includes a memory and a processor, the memory stores a computer program, and the processor implements the arm vector calibration method based on the navigation system as described in any one of claims 1 to 7 when executing the computer program.

9. A navigation system, characterized in that: The invention comprises a first electronic ranging device, a second electronic ranging device, a first inertial measurement unit, a second inertial measurement unit and a controller as claimed in claim 8, wherein the first electronic ranging device and the first inertial measurement unit are arranged on a first machine, the second electronic ranging device and the second inertial measurement unit are arranged on a second machine, and the controller is connected to the first machine and the second machine respectively.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the arm vector calibration method based on the navigation system as described in any one of claims 1 to 7.

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