Navigation system-based rod arm vector calibration method, controller and navigation system

Abstract

The application discloses a navigation system-based rod arm vector calibration method, a controller and a navigation system. The method comprises the following steps: controlling a second machine to rotate with the origin of a second coordinate system as the center; when a second electronic distance measuring device, a first electronic distance measuring device and a second inertial measurement unit are on the same straight line, measuring a first minimum distance value by the second electronic distance measuring device; controlling the first machine and the second machine to rotate by an iterative method to calibrate the relative position of the phase center of the second electronic distance measuring device in the rod arm vector in the second coordinate system; controlling the second machine to rotate by a preset angle, and measuring a second distance measurement value by the second electronic distance measuring device; and obtaining the length of the rod arm vector 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 embodiment of the application realizes the measurement of the rod arm vector of the UWB phase center in the IMU coordinate system, and reduces the measurement cost and complexity.

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 the multiple sensors in the system. Among them, because 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 directly measured, 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 the unmanned vehicle system, increasing costs and resource consumption. Summary of the Invention

[0004] The embodiments of the present application provide a lever arm vector calibration method, controller and 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, reducing 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 provided on a first machine, and the second electronic ranging device and the second inertial measurement unit are provided 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 value from the first electronic distance measuring device by the second electronic distance measuring device;

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

[0009] controlling the second machine to rotate by 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;

[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 rotation of the first machine and the second machine using a preset iterative method to calibrate the relative position of the phase center of the second electronic ranging device to the lever 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:

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

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

[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 by a preset angle based on the current relative position and measuring a second distance measurement value from the first electronic distance measurement device by the second electronic distance measurement device includes:

[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 a target angle by using a preset protractor, between the horizontal axis of the second coordinate system and a line connecting the first inertial measurement unit and the second inertial measurement unit;

[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 a second minimum distance measurement value from the second electronic ranging device by the first electronic ranging device, the lever arm vector calibration method further includes:

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

[0030] In some embodiments, controlling the second machine to continue rotating about 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 preset positions includes:

[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, measuring a third minimum distance value from the first electronic distance measuring device by the second 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 at 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 respectively fixedly connected to different machines. During the arm vector calibration process, 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 rotation of the first machine and the second machine 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 units are moved to converge on 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. This can accurately determine the relative position of the phase center and lever arm vector of the second electronic ranging device, 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. Thereafter, the second machine is controlled to rotate by a preset angle based on the current relative position, and the second electronic ranging device measures the second distance measurement value from the first electronic ranging device through the second electronic ranging device. The lever arm vector length of the phase center of the second electronic ranging device in the second coordinate system is then obtained based on the first and second distance measurements, achieving accurate measurement of the lever arm vector length, facilitating subsequent improvement of positioning accuracy. The embodiment of the present application uses an iterative method and rotation operation to continuously approach a straight line between the first electronic ranging device and the second electronic ranging device and the second inertial measurement unit on the second machine, so as to achieve a state that can be used for measurement. That is, the embodiment of the present application uses only 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 in part will become apparent from the description, or will be 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 a 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 This is a flowchart of a specific method of a rod arm vector calibration method based on a navigation system provided in an embodiment of the present application;

[0041] Figure 2 This is a specific flow chart for 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 This is a specific flow chart of step S104 provided in an embodiment of the present application;

[0043] Figure 4 This 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 This 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] Figure 9 This is a schematic diagram of the IMU and UWB provided in an example of this application;

[0049] Figure 10 This is a schematic diagram of a UWB2 distance feedback value provided in an example of this application when the distance feedback value is the minimum ranging value;

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

[0051] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0052] It should be noted that although the device schematics illustrate functional module divisions and the flowcharts illustrate logical sequences, in certain circumstances, the steps shown or described may be performed in a sequence that differs from the module divisions in the device or the sequence in the flowcharts. The terms "first," "second," and so on, in the specification, claims, and drawings, are used to distinguish similar items and are not necessarily used to describe a specific sequence or precedence.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as 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, tablet computer, laptop computer, desktop computer or smart watch, etc.; the server side can be configured as an independent physical server, or as a server cluster or distributed system composed of multiple physical servers, or 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 delivery networks (CDNs), 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, and the like. 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, and the like 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 via 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 is 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] It is necessary to unify the coordinates of multiple sensors in the system when UWB positioning technology is applied to unmanned machine systems. Since the UWB ranging results are the distances between two UWB phase centers, not the distances between the origins of the carrier coordinate system, the arm vector of the UWB phase center in the carrier coordinate system also needs to be determined. However, since UWB is an electronic ranging device, its phase center is an electromagnetic center, so it is not possible to directly measure it with a ruler. Since the position of the UWB phase center cannot be directly measured, related technologies need to use more complex calibration techniques to determine the arm vector, which results in additional equipment and manpower to deploy and maintain unmanned machine 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. During the arm vector calibration process, 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 rotation of the first machine and the second machine 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 units are moved to converge on 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. This can accurately determine the relative position of the phase center and lever arm vector of the second electronic ranging device, 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. Thereafter, the second machine is controlled to rotate by a preset angle based on the current relative position, and the second electronic ranging device measures the second distance measurement value from the first electronic ranging device through the second electronic ranging device. The lever arm vector length of the phase center of the second electronic ranging device in the second coordinate system is then obtained based on the first and second distance measurements, achieving accurate measurement of the lever arm vector length, facilitating subsequent improvement of positioning accuracy. The embodiment of the present application uses an iterative method and rotation operation to continuously approach a straight line between the first electronic ranging device and the second electronic ranging device and the second inertial measurement unit on the second machine, so as to achieve a state that can be used for measurement. That is, the embodiment of the present application uses only 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 Flowchart of a specific method of the lever arm vector calibration method based on the navigation system provided by 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 comprises a first electronic distance measuring device, a second electronic distance measuring device, a first inertial measurement unit and a second inertial measurement unit, the first electronic distance measuring device and the first inertial measurement unit are arranged on the first machine, and the second electronic distance measuring device and the second inertial measurement unit are arranged on the second machine.

[0061] It can be understood that the first electronic distance measuring device and the second electronic distance measuring device are UWB devices, and the first inertial measurement unit and the second inertial measurement unit are 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] In step S101, the second machine is controlled to rotate around the origin of the second coordinate system formed by the 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 around the origin of the second coordinate system for one revolution. Since the second electronic distance measuring device and the second inertial measurement unit are fixedly connected to the second machine, the distance between them is fixed, and at this time the trajectory of the second inertial measurement unit is a circle.

[0064] In step S102, when the second electronic distance measuring device, the first electronic distance measuring device and the second inertial measurement unit are on the same straight line, the first minimum distance measuring value from the first electronic distance measuring device is measured by the second electronic distance measuring device.

[0065] In step S102 of some embodiments, when the second electronic distance measuring device, the first electronic distance measuring device and the second inertial measurement unit are on the same straight line, that is, the second electronic distance measuring device, the first electronic distance measuring device and the second inertial measurement unit are collinear, at this time the second electronic distance measuring device will measure the minimum value and the maximum value from the first electronic distance measuring device. The first minimum distance measuring value from the first electronic distance measuring device is measured by the second electronic distance measuring device in the embodiment of the application, so as to realize preliminary adjustment and fixation of the position of the second electronic distance measuring device, and facilitate subsequent iterative approximation of different devices.

[0066] In step S103, the first machine and the second machine are controlled to rotate by a preset iterative method, so as 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 measuring value, and obtain the current relative position and the first distance measuring 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: Control the second machine to rotate by a preset angle based on the current relative position, and measure 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 ranging device is measured by the second electronic ranging device, thereby achieving accurate measurement of the distance between the first electronic ranging device and the second electronic ranging 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 based on 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 lowering the complexity of the calibration experiment.

[0072] Reference Figure 2 , Figure 2 This 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. In some embodiments, 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 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 a second minimum ranging value from the second electronic ranging device.

[0075] In step S203, when the second minimum ranging value is less than the first minimum ranging value, the second machine is controlled 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 a preset position, a first distance measurement value from the first electronic distance measuring device is measured by a second electronic distance measuring device, and the relative position of the arm vector of the phase center of the second electronic distance measuring device in the second coordinate system is calibrated to obtain a current relative position.

[0077] In some embodiments, in steps S201 to S204, in the process of calibrating the relative position of the 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 at this time the second machine is fixed. 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. 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 on the same straight line. Thereafter, 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 on the same line, thereby achieving accurate measurement of the distance between the first electronic ranging device and the second electronic ranging device, being able to measure the shortest distance value between the two devices, and calibrating the relative position of the phase center of the second electronic ranging device and the lever arm vector in the second coordinate system, being able to accurately determine the relative position of the phase center of the second electronic ranging device and the lever arm vector, reducing the speed error and position error caused by the lever arm error, and obtaining the current relative position of the second electronic ranging device, facilitating subsequent measurement of the lever arm vector.

[0078] Reference Figure 3 , Figure 3is a specific flowchart of step S104 provided by the embodiment of the present application. In some embodiments, step S104 specifically includes but is not limited to steps S301 to S302.

[0079] In step S301, the second machine is controlled to rotate one hundred and eighty degrees based on the current relative position to obtain a target position.

[0080] In step S302, a second distance measurement value from the first electronic distance measuring device is measured by the second electronic distance measuring device at the target position.

[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 a target position, thereby zooming out the distance between the first electronic distance measuring device and the second electronic distance measuring device. Then, at the target position, a second distance measurement value from the first electronic distance measuring device is measured by the second electronic distance measuring device, realizing accurate measurement of the distance between the first electronic distance measuring device and the second electronic distance measuring device, and the distance value of the two devices in different positions can be accurately measured.

[0082] Referring to Figure 4 , Figure 4 is a specific flowchart of step S105 provided by the embodiment of the present application. In some embodiments, step S105 specifically includes but is not limited to steps S401 and S402.

[0083] In step S401, the second distance measurement value is subtracted from the first distance measurement value to obtain a subtraction result.

[0084] In step S402, a length of a boom vector of the phase center of the second electronic distance measuring device in the second coordinate system is obtained according to the subtraction result.

[0085] In steps S401 to S402 of some embodiments, in the process of obtaining the length of the boom vector 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 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 length of the boom vector of the phase center of the second electronic distance measuring device in the second coordinate system according to the subtraction result, so as to realize accurate measurement of the length of the boom vector without increasing external equipment, greatly reducing the used equipment and the complexity of calibration experiments.

[0086] Referring to Figure 5 , Figure 55. This 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. In some embodiments, the method includes but is not limited to step S501 and step S502.

[0087] It should be noted that steps S501 to 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: Using 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 precise measurement of the deflection angle.

[0091] Reference Figure 6 , Figure 6 FIG6 is a specific flow chart of a method for calibrating a lever arm vector based on a navigation system according to another embodiment of the present invention. 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 value from the second electronic distance measuring device.

[0093] Step S601: When the second minimum distance value is greater than or equal to the first minimum distance value, continue to rotate the first device to update the second minimum distance 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 indicates 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 rotating 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 7 203. In some embodiments, step S203 specifically includes but is not limited to step S701 and step S703.

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

[0097] Step S702: 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 a third minimum ranging value from the first electronic ranging device.

[0098] In step S703, 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 at a preset position.

[0099] In steps S701 to S703 of some embodiments, while controlling the second machine to continue rotating around the origin of the second coordinate system, 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 indicates that the four devices are gradually converging to the same straight line. 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, thereby making the first electronic ranging device, the second electronic ranging device, the first inertial measurement unit, and the second inertial measurement unit converging to 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. The controller includes:

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

[0102] The memory 902 can 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 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 902 and is called by the processor 901 to execute the arm vector calibration method based on the navigation system of the embodiment of the present application;

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

[0104] Communication interface 904, used to implement communication interaction between this device and other devices, which can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, Wi-Fi, Bluetooth, etc.);

[0105] Bus 905 , which transmits information between various components of the device (e.g., processor 901 , memory 902 , input / output interface 903 , and 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 includes 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 is provided, wherein the first electronic distance measuring device and the first inertial measurement unit are provided on the first machine, the second electronic distance measuring device and the second inertial measurement unit are provided on the 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. Its specific processing process is the same as the lever arm vector calibration method based on the navigation system in the above embodiment, and 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, it implements the above-mentioned arm vector calibration method based on the navigation system.

[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 arranged 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 illustrate the arm vector calibration method based on the navigation system in an 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 Figure 9 , Figure 9 This is a schematic diagram of IMU and UWB provided in an example of this application.

[0115] In some embodiments, the present invention first couples UWB1 and IMU1 to a first device, and UWB2 and IMU2 to a second device. The second device then rotates around the origin of IMU2's coordinate system. Because UWB2 and IMU2 are fixed to device 2 and their distance from each other is fixed, UWB2's trajectory forms a circle.

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

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

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

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

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

[0121] exist Figure 11c In the UWB2 distance measurement, the value is L1 = l; in Figure 11d In the UWB2 distance measurement, the 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 line connecting the x-axis and the two IMUs to measure the deflection angle of the UWB2 phase center and the x-axis.

[0123] Compared to existing methods, this method uses only two UWBs to measure the arm vector of their phase center in the IMU coordinate system, significantly reducing the number of devices used and the complexity of the calibration experiment. Furthermore, an iterative method uses rotation operations to continuously approximate the four devices on the two machines to a straight line, ultimately achieving a state that can be used for measurement.

[0124] The embodiments described in the embodiments of this application are intended to more clearly illustrate the technical solutions of the embodiments of this application and do not constitute a limitation on the technical solutions provided by the embodiments of this 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 this application are also applicable to similar technical problems.

[0125] It will 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 embodiment described above is merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0127] Those skilled in the art will appreciate that all or some of the steps in the methods, systems, and functional modules / units in the devices disclosed above may be implemented as software, firmware, hardware, or appropriate combinations 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 sequential order. 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 variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes 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 this 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 previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items 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 this 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 merely illustrative. For example, the division of the above units is merely a logical function division. In actual implementation, there may be other division methods, 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 separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0132] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or 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 for enabling 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 (ROM), random access memory (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 are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope of the present invention.

Claims

1. A method for calibrating arm vectors 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 includes: 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 value from the first electronic distance measuring device by the second electronic distance measuring device; Controlling the rotation of the first machine and the second machine by a preset iterative method to calibrate the relative position of the phase center of the second electronic ranging device to the lever arm vector in the second coordinate system based on the first minimum ranging value, thereby obtaining a current relative position and a first distance measurement value; controlling the second machine to rotate by 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; 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 arm vectors based on a navigation system according to claim 1, characterized in that: The step of controlling the rotation of the first machine and the second machine by a preset iterative method to calibrate the relative position of the phase center of the second electronic ranging device to the lever arm vector in the second coordinate system based on the first minimum ranging value to obtain a current relative position and a 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, measuring a second minimum distance value from the second electronic distance measuring device by the first 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 ranging device measures a first distance measurement value from the first electronic ranging device, and calibrates the relative position of the phase center of the second electronic ranging device in the second coordinate system to obtain a current relative position.

3. The method for calibrating arm vectors based on a 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 includes: 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 arm vectors based on a 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 ranging 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 arm vector based on navigation system according to claim 1, characterized in that: 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: Measuring a target angle by using a preset protractor, between the horizontal axis of the second coordinate system and a line connecting the first inertial measurement unit and the second inertial measurement unit; 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 arm vectors based on a navigation system according to claim 2, characterized in that: After measuring a second minimum distance value from the second electronic distance measuring device by the first electronic distance measuring device, the lever arm vector calibration method further includes: When the second minimum distance value is greater than or equal to the first minimum distance value, the first machine continues to rotate to update the second minimum distance value.

7. The method for calibrating arm vectors based on a navigation system according to claim 2, characterized in that: The controlling the second machine to continue rotating about 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 preset positions includes: 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, measuring a third minimum distance value from the first electronic distance measuring device by the second 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 at 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 according to 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 according to any one of claims 1 to 7.

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