Portable Reference Sensor Calibration Across Multiple Vehicles
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Solution Overview
Problem
Current methods for calibrating portable reference sensor systems are time-consuming and resource-intensive, requiring external calibration devices and limiting the ability to efficiently switch between vehicles, especially in large fleets where precise sensor data comparison is necessary for autonomous driving systems.
Innovation Solution
A method involving optical sensors and position sensors to calibrate a portable reference sensor system by determining rotation and translation matrices using external calibration objects and position markers, allowing the system to be calibrated independently of a specific vehicle and reused without external calibration devices.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If external calibration devices are used to calibrate the reference sensor system to the vehicle, then measurement precision is maintained, but calibration time and resource consumption increase significantly
Solution Approach 1:
The reference sensor system performs self-calibration by using its own optical sensors to detect calibration objects and determine its position relative to the vehicle, eliminating the need for external calibration devices. The system autonomously calculates rotation and translation matrices through coordinate system transformations based on detected calibration object positions.
Solution Approach 2:
The calibration objects are pre-positioned at known locations in the vehicle environment before the reference sensor system is installed. This preliminary setup allows the system to perform rapid calibration by simply detecting the pre-placed objects, avoiding time-consuming external calibration procedures.
2Measurement precision
If external calibration devices are used for calibration, then accurate position determination is achieved, but device complexity and resource requirements increase
Solution Approach 1:
The reference sensor system uses its own optical sensors and processing capabilities to perform calibration, eliminating the need for complex external calibration devices. The system self-determines its position by detecting calibration objects and performing coordinate transformations using its onboard computational resources.
Solution Approach 2:
Calibration objects serve as intermediaries between the reference sensor system and the vehicle environment. These objects provide known reference points that enable the system to determine its position without requiring complex external calibration equipment.
3Measurement precision
If the reference sensor system is recalibrated using external devices when switching vehicles, then measurement accuracy is maintained, but productivity and efficiency decrease
Solution Approach 1:
The reference sensor system is designed with universal calibration capabilities that work across different vehicles. By using calibration objects and self-calibration methods, the system can be rapidly deployed to multiple vehicles in the fleet without requiring vehicle-specific external calibration equipment or procedures.
Solution Approach 2:
Calibration objects are pre-positioned in the vehicle environment, enabling rapid calibration when the reference sensor system is transferred to a new vehicle. This preliminary setup eliminates the need for time-consuming recalibration procedures when switching between vehicles in the fleet.
4Measurement precision
If external calibration devices are required for calibration, then coordinate system alignment is achieved, but ease of operation deteriorates
Solution Approach 1:
The reference sensor system autonomously performs coordinate system alignment by detecting calibration objects and automatically calculating transformation matrices. The system eliminates the need for operators to manage complex external calibration devices or perform manual alignment procedures.
Solution Approach 2:
Calibration objects serve as simple intermediaries that facilitate coordinate system alignment. These objects provide easily detectable reference points that enable automatic coordinate transformation without requiring complex external calibration equipment or skilled operators.
Data Source
AI summary
Method for calibrating a portable reference sensor system with optical sensors and at least one position sensor, comprising the method steps ofa) calibrating the optical sensors of the reference sensor system to a predetermined reference coordinate system by determining a rotation matrix and/or translation matrix of each sensor so that a coordinate system of each sensor is calibrated to the reference coordinate system, wherein the respective rotation matrices and/or translation matrices are determined by detecting external calibration objects;b) calibrating the position sensor to the reference coordinate system by detecting position markers, thereby performing a calibration of a coordinate system of the position sensor to a vehicle coordinate system by determining a rotation matrix and/or translation matrix.