CN111829472A - Method and device for determining relative position between sensors by using total station - Google Patents
Method and device for determining relative position between sensors by using total station Download PDFInfo
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- CN111829472A CN111829472A CN201910308339.0A CN201910308339A CN111829472A CN 111829472 A CN111829472 A CN 111829472A CN 201910308339 A CN201910308339 A CN 201910308339A CN 111829472 A CN111829472 A CN 111829472A
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The application provides a method and a device for determining relative positions between sensors by using a total station, wherein the total station is used for measuring N known points on a first sensor to obtain the coordinates of each known point in a total station coordinate system; calculating a conversion relation between the total station coordinate system and the first sensor coordinate system according to the coordinates of each known point in the total station coordinate system and the coordinates of each known point in the first sensor coordinate system; measuring the central point of the second sensor by using the total station to obtain the coordinate of the central point of the second sensor in a total station coordinate system; and converting the coordinate of the central point of the second sensor in the total station coordinate system according to the conversion relation between the total station coordinate system and the first sensor coordinate system to obtain the coordinate of the central point of the second sensor in the first sensor coordinate system and further obtain the relative position between the first sensor and the second sensor.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a method and a device for measuring relative positions between sensors by using a total station.
Background
In the field of automatic driving, the position relation between some sensors is always inevitably required to be measured, but due to certain specific requirements, the coordinate systems between the sensors are difficult to unify, the installation positions are not on the same plane, even the position is shielded, and the measurement is time-consuming and has large errors.
In the prior art, a plurality of reference points are established, the coordinate origin points of two sensors are transferred to the same plane, the measuring tape is used for rough measurement, and the optimization is carried out through an algorithm in the later period. In the application process, the reference points are difficult to select, errors of the reference points can be accumulated to a final result, and the measurement precision is low.
Disclosure of Invention
In view of this, the present invention provides a method and an apparatus for determining a relative position between sensors by using a total station, which have the advantages of small environmental limitation, simple operation and high measurement accuracy.
In order to achieve the above purpose, the invention provides the following specific technical scheme:
a method of determining relative positions between sensors using a total station, comprising:
measuring N known points on a first sensor by using a total station to obtain the coordinates of each known point in a total station coordinate system, wherein N is not less than 3, and the N known points are not located in the same plane;
calculating a conversion relationship between the total station coordinate system and a first sensor coordinate system according to the coordinates of each of the known points in the total station coordinate system and the coordinates of each of the known points in the first sensor coordinate system;
measuring a central point of a second sensor by using the total station to obtain a coordinate of the central point of the second sensor in a coordinate system of the total station;
and converting the coordinates of the center point of the second sensor in the total station coordinate system according to the conversion relation between the total station coordinate system and the first sensor coordinate system to obtain the coordinates of the center point of the second sensor in the first sensor coordinate system, and further obtain the relative position between the first sensor and the second sensor.
Optionally, before the calculating a conversion relationship between the total station coordinate system and the first sensor coordinate system according to the coordinates of each of the known points in the total station coordinate system and the coordinates of each of the known points in the first sensor coordinate system, the method further includes:
selecting a first known point and a second known point from the N known points;
calculating a distance between the first known point and the second known point in the total station coordinate system in dependence on coordinates of the first known point and the second known point in the total station coordinate system;
calculating a difference between a distance between the first known point and the second known point in the total station coordinate system and a distance between the first known point and the second known point in the first sensor coordinate system;
judging whether the difference value is within a first preset range or not;
if yes, executing the conversion relation between the total station coordinate system and the first sensor coordinate system according to the coordinates of each known point in the total station coordinate system and the coordinates of each known point in the first sensor coordinate system;
and if not, returning to execute the measurement of the N known points on the first sensor by using the total station.
Optionally, the measuring the center point of the second sensor by using the total station to obtain the coordinate of the center point of the second sensor in the total station coordinate system includes:
measuring M measuring points of the second sensor by using the total station to obtain coordinates of each measuring point in a total station coordinate system, wherein a central point of the second sensor is located on a plane where the M measuring points are located, and M is not less than 3;
calculating a measurement value of a preset line segment in the total station coordinate system according to a calculation relation between a coordinate of each measuring point in the total station coordinate system and a length of the preset line segment, wherein the preset line segment is a line segment in the second sensor, and an actual value of the preset line segment is known;
judging whether the difference value between the measured value of the preset line segment in the total station coordinate system and the actual value of the preset line segment is within a second preset range or not;
if so, calculating the coordinates of the center point of the second sensor according to the coordinates of each measuring point in the total station coordinate system, and determining the coordinates of the center point of the second sensor obtained by the current measurement as final coordinates of the center point of the second sensor in the total station coordinate system;
and if not, returning to execute the measurement of the M measuring points of the second sensor by using the total station.
Optionally, the first sensor is an inertial measurement unit, and the second sensor is a disk antenna.
Optionally, the preset line segment is a radius of the disc-shaped antenna, the disc-shaped antenna is an arc in a measurement view, and the M measurement points are three points on the arc that can form an inscribed triangle of the disc-shaped antenna.
An apparatus for determining relative position between sensors using a total station, comprising:
the system comprises a first measuring unit, a second measuring unit and a third measuring unit, wherein the first measuring unit is used for measuring N known points on a first sensor by using a total station to obtain the coordinates of each known point in a total station coordinate system, N is not less than 3, and the N known points are not located in the same plane;
a conversion relation calculation unit, configured to calculate a conversion relation between the total station coordinate system and a first sensor coordinate system according to coordinates of each of the known points in the total station coordinate system and coordinates of each of the known points in the first sensor coordinate system;
the second measuring unit is used for measuring a center point of a second sensor by using the total station to obtain a coordinate of the center point of the second sensor in a coordinate system of the total station;
and the coordinate conversion unit is used for converting the coordinate of the center point of the second sensor in the total station coordinate system according to the conversion relation between the total station coordinate system and the first sensor coordinate system to obtain the coordinate of the center point of the second sensor in the first sensor coordinate system, and further obtain the relative position between the first sensor and the second sensor.
Optionally, the apparatus further comprises:
the first measurement precision judging unit is used for selecting a first known point and a second known point from the N known points; calculating a distance between the first known point and the second known point in the total station coordinate system in dependence on coordinates of the first known point and the second known point in the total station coordinate system; calculating a difference between a distance between the first known point and the second known point in the total station coordinate system and a distance between the first known point and the second known point in the first sensor coordinate system; and judging whether the difference value is within a first preset range, if so, triggering the conversion relation calculation unit, and if not, triggering the first measurement unit.
Optionally, the second measurement unit is specifically configured to measure, by using the total station, M measurement points of the second sensor, and obtain coordinates of each measurement point in a coordinate system of the total station, where a center point of the second sensor is located on a plane where the M measurement points are located, and M is not less than 3; calculating a measurement value of a preset line segment in the total station coordinate system according to a calculation relation between a coordinate of each measuring point in the total station coordinate system and a length of the preset line segment, wherein the preset line segment is a line segment in the second sensor, and an actual value of the preset line segment is known; judging whether the difference value between the measured value of the preset line segment in the total station coordinate system and the actual value of the preset line segment is within a second preset range or not; if so, calculating the coordinates of the center point of the second sensor according to the coordinates of each measuring point in the total station coordinate system, and determining the coordinates of the center point of the second sensor obtained by the current measurement as final coordinates of the center point of the second sensor in the total station coordinate system; and if not, returning to execute the measurement of the M measuring points of the second sensor by using the total station.
Optionally, the first sensor is an inertial measurement unit, and the second sensor is a disk antenna.
Optionally, the preset line segment is a radius of the disc-shaped antenna, the disc-shaped antenna is an arc in a measurement view, and the M measurement points are three points on the arc that can form an inscribed triangle of the disc-shaped antenna.
Compared with the prior art, the invention has the following beneficial effects:
the method and the device for determining the relative position between the sensors by using the total station can complete the determination of the relative position between the sensors by using only one instrument of the total station, thereby reducing the measurement cost. In the measuring process, firstly, a total station is utilized to measure N known points on a first sensor, then, the coordinate of each known point in a total station coordinate system and the coordinate of each known point in a first sensor coordinate system obtained by measurement are utilized to calculate the conversion relation between the total station coordinate system and the first sensor coordinate system, then, the total station is utilized to measure the central point of a second sensor, and finally, the coordinate of the central point of the second sensor in the total station coordinate system is converted according to the conversion relation between the total station coordinate system and the first sensor coordinate system to obtain the coordinate of the central point of the second sensor in the first sensor coordinate system, so that the relative position between the first sensor and the second sensor is obtained, the measuring process is simplified, and the coordinate origins of the two sensors are transferred to the same plane without additionally establishing a reference point, the influence of the reference point error on the measurement result is reduced, and the accuracy of the measurement result of the relative position between the sensors is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic flow chart illustrating a method for determining a relative position between sensors by using a total station according to an embodiment of the present invention;
fig. 2 is a schematic flow chart illustrating another method for determining a relative position between sensors by using a total station according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a method for measuring a center point of a second sensor according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an apparatus for determining a relative position between sensors by using a total station according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In this embodiment, a method for determining a relative position between sensors by using a total station is disclosed, where before starting measurement, a total station needs to be installed at a suitable position, and when the method is applied to determining a relative position between sensors of a vehicle, the total station is installed at a position where two sensors can be measured simultaneously, and then the determination of the relative position between the sensors is started, specifically, referring to fig. 1, the method for determining a relative position between sensors by using a total station disclosed in this embodiment includes the following steps:
s101: measuring N known points on a first sensor by using a total station to obtain the coordinate of each known point in a total station coordinate system;
wherein N is not less than 3, and the N known points are not located in the same plane.
It should be noted that the N known points are distributed on different planes, that is, the N known points are distributed in the three-dimensional coordinate system of the total station.
S102: calculating a conversion relationship between the total station coordinate system and a first sensor coordinate system according to the coordinates of each of the known points in the total station coordinate system and the coordinates of each of the known points in the first sensor coordinate system;
the first sensor coordinate system is pre-calibrated.
The conversion relationship between the total station coordinate system and the first sensor coordinate system is essentially a process of performing a rotational translation of the total station coordinate system.
Wherein x isnewRotating and translating a total station coordinate system to obtain a first sensor coordinate system;
xoriginalis a total station coordinate system;
R3×3a rotation matrix which is a coordinate system;
t3×1is a translation matrix of a coordinate system.
S103: measuring a central point of a second sensor by using the total station to obtain a coordinate of the central point of the second sensor in a coordinate system of the total station;
s104: and converting the coordinates of the center point of the second sensor in the total station coordinate system according to the conversion relation between the total station coordinate system and the first sensor coordinate system to obtain the coordinates of the center point of the second sensor in the first sensor coordinate system, and further obtain the relative position between the first sensor and the second sensor.
Further, in order to improve the measurement accuracy and achieve verifiable measurement accuracy during the measurement process, the embodiment discloses another method for determining the relative position between sensors by using a total station, please refer to fig. 2, and the method specifically includes the following steps:
s201: measuring N known points on a first sensor by using a total station to obtain the coordinate of each known point in a total station coordinate system;
s202: selecting a first known point and a second known point from the N known points;
s203: calculating a distance between the first known point and the second known point in the total station coordinate system in dependence on coordinates of the first known point and the second known point in the total station coordinate system;
s204: calculating a difference between a distance between the first known point and the second known point in the total station coordinate system and a distance between the first known point and the second known point in the first sensor coordinate system;
s205: judging whether the difference value is within a first preset range or not;
if not, returning to execute S201;
if yes, go to step S206: calculating a conversion relationship between the total station coordinate system and a first sensor coordinate system according to the coordinates of each of the known points in the total station coordinate system and the coordinates of each of the known points in the first sensor coordinate system;
s207: measuring a central point of a second sensor by using the total station to obtain a coordinate of the central point of the second sensor in a coordinate system of the total station;
s208: and converting the coordinates of the center point of the second sensor in the total station coordinate system according to the conversion relation between the total station coordinate system and the first sensor coordinate system to obtain the coordinates of the center point of the second sensor in the first sensor coordinate system, and further obtain the relative position between the first sensor and the second sensor.
Further, in order to realize verifiable measurement accuracy in the process of measuring the center point of the second sensor, referring to fig. 3, the total station is used to measure the center point of the second sensor, and obtain the coordinate of the center point of the second sensor in the coordinate system of the total station, which specifically includes the following steps:
s301: measuring the M measuring points of the second sensor by using the total station to obtain the coordinate of each measuring point in a total station coordinate system;
because the plane where the center point of the second sensor is located can be determined by at least 3 measuring points, M is not less than 3, and the center point of the second sensor is located on the plane where the M measuring points are located.
S302: calculating the measurement value of the preset line segment in the total station coordinate system according to the calculation relation between the coordinate of each measurement point in the total station coordinate system and the length of the preset line segment;
the preset line segment is a known line segment in the second sensor, an actual value of the preset line segment is known, and when the second sensor is the disc-shaped antenna, the preset line segment can be the radius of the disc-shaped antenna.
The second sensor can be any one sensor on the market, the sensors are different, the selection of the preset line segment is also different, the measuring point can be on the preset line segment or not, but the measuring value of the preset line segment can be calculated based on the coordinate of each measuring point.
S303: judging whether the difference value between the measured value of the preset line segment and the actual value of the preset line segment in the total station coordinate system is within a second preset range or not;
if yes, S304: calculating the coordinates of the center point of the second sensor according to the coordinates of each measuring point in the total station coordinate system, and determining the coordinates of the center point of the second sensor obtained by the current measurement as the final coordinates of the center point of the second sensor in the total station coordinate system;
if not, the process returns to the step S301.
It can be understood that the selection principle of the M measurement points in the second sensor is as follows:
1. the central point of the second sensor is positioned on the plane where the M measuring points are positioned;
2. the coordinates of the central point of the second sensor can be calculated by using the coordinates of the M measuring points;
3. the coordinates of the M measuring points are used for calculating the measured value of the preset line segment.
To further describe the method for determining the relative position between sensors by using a total station disclosed in the above embodiments, a lever arm between an Inertial Measurement Unit (IMU) and a disk-shaped antenna is taken as an example, where the IMU is a first sensor and the disk-shaped antenna is a second sensor, and the current layout of the autonomous vehicle is that the antennas are located on the roof and the IMU is located inside the vehicle.
Firstly, a total station is erected at a proper position, so that the total station can simultaneously measure coordinates of N known points on the IMU in a total station coordinate system and coordinates of a central point of the disc-shaped antenna in the total station coordinate system.
Secondly, measuring N known points on the IMU by using the total station to obtain the coordinates of each known point in a total station coordinate system, wherein the IMU coordinate system is calibrated in advance, and the coordinates of each known point on the IMU in the IMU coordinate system are known.
Thirdly, randomly selecting two points from the N known points on the IMU, calculating the distance between the two points in the total station coordinate system, calculating the difference between the distance between the two points in the total station coordinate system and the distance in the IMU coordinate system because the coordinate of each known point on the IMU in the IMU coordinate system is known, when the difference is in a first preset range, the total station measurement is considered to be accurate, continuously executing the following steps, and if the difference is not in the first preset range, the total station measurement is considered to be inaccurate, and carrying out retesting.
Fourthly, calculating a conversion relation between the total station coordinate system and the IMU coordinate system according to the coordinates of each known point in the total station coordinate system and the coordinates of each known point in the IMU coordinate system.
Fifthly, measuring three measuring points on the disc-shaped antenna by using a total station, wherein the disc-shaped antenna is arc-shaped in a visual field in the measuring process, theoretically, the M measuring points can be three points which can form an inscribed triangle of the disc-shaped antenna on the arc respectively, and the central point of the disc-shaped antenna and the radius of the disc-shaped antenna can be obtained by calculating the center of a circumscribed circle of the inscribed triangle. In practice, in order to improve the calculation efficiency, the three measurement points are respectively the end points at two sides of the circular arc and the central point of the circular arc, wherein the line segment between the end points at two sides of the circular arc is the diameter of the disc-shaped antenna, the three measurement points form an equilateral triangle, the circle center of the circumscribed circle is easily obtained through the equilateral triangle, and further the central point of the disc-shaped antenna and the radius of the disc-shaped antenna can be obtained.
Sixthly, calculating a difference value between a measured value and an actual value of the radius of the disc-shaped antenna obtained through measurement because the radius of the disc-shaped antenna is known, when the difference value is within a second preset range, considering that the measurement of the disc-shaped antenna by the total station is accurate, continuously executing the following steps, and if the difference value is not within the second preset range, performing the retest when the measurement of the total station is not accurate.
And seventhly, converting the coordinates of the central point of the disc-shaped antenna in the total station coordinate system according to the conversion relation between the total station coordinate system and the IMU coordinate system to obtain the coordinates of the central point of the disc-shaped antenna in the IMU coordinate system, further obtaining the relative position between the IMU and the disc-shaped antenna, and obtaining the distance between the lever arms of the IMU and the disc-shaped antenna.
Therefore, according to the method for determining the relative position between the sensors by using the total station disclosed by the embodiment, the relative position between the sensors can be determined by using only one total station, so that the measurement cost is reduced.
In the method for determining the relative position between the sensors by using the total station, during the measurement, the total station is firstly used for measuring N known points on the first sensor, then, the conversion relation between the total station coordinate system and the first sensor coordinate system is calculated by utilizing the measured coordinates of each known point in the total station coordinate system and the coordinates of each known point in the first sensor coordinate system, the total station is utilized to measure the central point of the second sensor, and finally, according to the conversion relation between the total station coordinate system and the first sensor coordinate system, converting the coordinates of the central point of the second sensor in the total station coordinate system to obtain the coordinates of the central point of the second sensor in the first sensor coordinate system, and further, the relative position between the first sensor and the second sensor is obtained, and the measuring process is simplified. Experiments show that when the relative position between the IMU and the disc-shaped antenna is measured, the whole measurement process can be completed in only 10 minutes, and compared with the prior art, the measurement time is greatly reduced.
According to the method for determining the relative position between the sensors by using the total station disclosed by the embodiment, the reference point does not need to be additionally established, and the coordinate origin points of the two sensors are moved to the same plane, so that errors caused by additionally establishing the reference point are avoided, the influence of the reference point errors on the determination result is reduced, and the accuracy of the determination result of the relative position between the sensors is improved.
In addition, the method for determining the relative position between the sensors by using the total station disclosed by the embodiment does not need a large number of algorithms for optimization in the later period, thereby reducing the complexity of the measurement process and shortening the measurement time.
Based on the method for determining the relative position between the sensors by using the total station disclosed in the above embodiments, this embodiment correspondingly discloses a device for determining the relative position between the sensors by using the total station, please refer to fig. 4, and the device specifically includes:
a first measuring unit 401, configured to measure, by using a total station, N known points on a first sensor, to obtain coordinates of each of the known points in a total station coordinate system, where N is not less than 3, and the N known points are not located in the same plane;
a conversion relation calculation unit 402 configured to calculate a conversion relation between the total station coordinate system and the first sensor coordinate system according to coordinates of each of the known points in the total station coordinate system and coordinates of each of the known points in the first sensor coordinate system;
a second measuring unit 403, configured to measure a center point of a second sensor by using the total station, so as to obtain a coordinate of the center point of the second sensor in a coordinate system of the total station;
a coordinate conversion unit 404, configured to convert, according to a conversion relationship between the total station coordinate system and the first sensor coordinate system, a coordinate of the center point of the second sensor in the total station coordinate system, to obtain a coordinate of the center point of the second sensor in the first sensor coordinate system, and further obtain a relative position between the first sensor and the second sensor.
Optionally, the apparatus further comprises:
the first measurement precision judging unit is used for selecting a first known point and a second known point from the N known points; calculating a distance between the first known point and the second known point in the total station coordinate system in dependence on coordinates of the first known point and the second known point in the total station coordinate system; calculating a difference between a distance between the first known point and the second known point in the total station coordinate system and a distance between the first known point and the second known point in the first sensor coordinate system; and judging whether the difference value is within a first preset range, if so, triggering the conversion relation calculation unit, and if not, triggering the first measurement unit.
Optionally, the second measuring unit 403 is specifically configured to measure, by using the total station, M measuring points of the second sensor, and obtain coordinates of each measuring point in a coordinate system of the total station, where a center point of the second sensor is located on a plane where the M measuring points are located, and M is not less than 3; calculating a measurement value of a preset line segment in the total station coordinate system according to a calculation relation between a coordinate of each measuring point in the total station coordinate system and a length of the preset line segment, wherein the preset line segment is a line segment in the second sensor, and an actual value of the preset line segment is known; judging whether the difference value between the measured value of the preset line segment in the total station coordinate system and the actual value of the preset line segment is within a second preset range or not; if so, calculating the coordinates of the center point of the second sensor according to the coordinates of each measuring point in the total station coordinate system, and determining the coordinates of the center point of the second sensor obtained by the current measurement as final coordinates of the center point of the second sensor in the total station coordinate system; and if not, returning to execute the measurement of the M measuring points of the second sensor by using the total station.
Optionally, the first sensor is an inertial measurement unit, and the second sensor is a disk antenna.
Optionally, the preset line segment is a radius of the disc-shaped antenna, the disc-shaped antenna is an arc in a measurement view, and the M measurement points are three points on the arc that can form an inscribed triangle of the disc-shaped antenna.
According to the device for determining the relative position between the sensors by using the total station, disclosed by the embodiment, the relative position between the sensors can be determined by using only one instrument of the total station, so that the measurement cost is reduced. In the measuring process, firstly, a total station is utilized to measure N known points on a first sensor, then, the coordinate of each known point in a total station coordinate system and the coordinate of each known point in a first sensor coordinate system obtained by measurement are utilized to calculate the conversion relation between the total station coordinate system and the first sensor coordinate system, then, the total station is utilized to measure the central point of a second sensor, and finally, the coordinate of the central point of the second sensor in the total station coordinate system is converted according to the conversion relation between the total station coordinate system and the first sensor coordinate system to obtain the coordinate of the central point of the second sensor in the first sensor coordinate system, so that the relative position between the first sensor and the second sensor is obtained, the measuring process is simplified, and the coordinate origins of the two sensors are transferred to the same plane without additionally establishing a reference point, the influence of the reference point error on the measurement result is reduced, and the accuracy of the measurement result of the relative position between the sensors is improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of determining relative positions between sensors using a total station, comprising:
measuring N known points on a first sensor by using a total station to obtain the coordinates of each known point in a total station coordinate system, wherein N is not less than 3, and the N known points are not located in the same plane;
calculating a conversion relationship between the total station coordinate system and a first sensor coordinate system according to the coordinates of each of the known points in the total station coordinate system and the coordinates of each of the known points in the first sensor coordinate system;
measuring a central point of a second sensor by using the total station to obtain a coordinate of the central point of the second sensor in a coordinate system of the total station;
and converting the coordinates of the center point of the second sensor in the total station coordinate system according to the conversion relation between the total station coordinate system and the first sensor coordinate system to obtain the coordinates of the center point of the second sensor in the first sensor coordinate system, and further obtain the relative position between the first sensor and the second sensor.
2. The method of claim 1, wherein, prior to said calculating a conversion relationship between said total station coordinate system and said first sensor coordinate system from coordinates of each said known point in said total station coordinate system and coordinates of each said known point in said first sensor coordinate system, said method further comprises:
selecting a first known point and a second known point from the N known points;
calculating a distance between the first known point and the second known point in the total station coordinate system in dependence on coordinates of the first known point and the second known point in the total station coordinate system;
calculating a difference between a distance between the first known point and the second known point in the total station coordinate system and a distance between the first known point and the second known point in the first sensor coordinate system;
judging whether the difference value is within a first preset range or not;
if yes, executing the conversion relation between the total station coordinate system and the first sensor coordinate system according to the coordinates of each known point in the total station coordinate system and the coordinates of each known point in the first sensor coordinate system;
and if not, returning to execute the measurement of the N known points on the first sensor by using the total station.
3. The method of claim 1, wherein said measuring a center point of a second sensor with said total station, obtaining coordinates of said center point of said second sensor in said total station coordinate system, comprises:
measuring M measuring points of the second sensor by using the total station to obtain coordinates of each measuring point in a total station coordinate system, wherein a central point of the second sensor is located on a plane where the M measuring points are located, and M is not less than 3;
calculating a measurement value of a preset line segment in the total station coordinate system according to a calculation relation between a coordinate of each measuring point in the total station coordinate system and a length of the preset line segment, wherein the preset line segment is a line segment in the second sensor, and an actual value of the preset line segment is known;
judging whether the difference value between the measured value of the preset line segment in the total station coordinate system and the actual value of the preset line segment is within a second preset range or not;
if so, calculating the coordinates of the center point of the second sensor according to the coordinates of each measuring point in the total station coordinate system, and determining the coordinates of the center point of the second sensor obtained by the current measurement as final coordinates of the center point of the second sensor in the total station coordinate system;
and if not, returning to execute the measurement of the M measuring points of the second sensor by using the total station.
4. The method of claim 1, wherein the first sensor is an inertial measurement unit and the second sensor is a discoid antenna.
5. The method as claimed in claims 3 and 4, wherein the predetermined line segment is a radius of the disk antenna, the disk antenna is an arc in a measurement field of view, and the M measurement points are three points on the arc that can form an inscribed triangle of the disk antenna.
6. An apparatus for determining relative position between sensors using a total station, comprising:
the system comprises a first measuring unit, a second measuring unit and a third measuring unit, wherein the first measuring unit is used for measuring N known points on a first sensor by using a total station to obtain the coordinates of each known point in a total station coordinate system, N is not less than 3, and the N known points are not located in the same plane;
a conversion relation calculation unit, configured to calculate a conversion relation between the total station coordinate system and a first sensor coordinate system according to coordinates of each of the known points in the total station coordinate system and coordinates of each of the known points in the first sensor coordinate system;
the second measuring unit is used for measuring a center point of a second sensor by using the total station to obtain a coordinate of the center point of the second sensor in a coordinate system of the total station;
and the coordinate conversion unit is used for converting the coordinate of the center point of the second sensor in the total station coordinate system according to the conversion relation between the total station coordinate system and the first sensor coordinate system to obtain the coordinate of the center point of the second sensor in the first sensor coordinate system, and further obtain the relative position between the first sensor and the second sensor.
7. The apparatus of claim 6, further comprising:
the first measurement precision judging unit is used for selecting a first known point and a second known point from the N known points; calculating a distance between the first known point and the second known point in the total station coordinate system in dependence on coordinates of the first known point and the second known point in the total station coordinate system; calculating a difference between a distance between the first known point and the second known point in the total station coordinate system and a distance between the first known point and the second known point in the first sensor coordinate system; and judging whether the difference value is within a first preset range, if so, triggering the conversion relation calculation unit, and if not, triggering the first measurement unit.
8. The arrangement according to claim 6, wherein said second measuring unit, in particular for measuring M measuring points of said second sensor with said total station, results in coordinates of each of said measuring points in said total station coordinate system, wherein a center point of said second sensor is located on a plane on which M of said measuring points are located, and M is not less than 3; calculating a measurement value of a preset line segment in the total station coordinate system according to a calculation relation between a coordinate of each measuring point in the total station coordinate system and a length of the preset line segment, wherein the preset line segment is a line segment in the second sensor, and an actual value of the preset line segment is known; judging whether the difference value between the measured value of the preset line segment in the total station coordinate system and the actual value of the preset line segment is within a second preset range or not; if so, calculating the coordinates of the center point of the second sensor according to the coordinates of each measuring point in the total station coordinate system, and determining the coordinates of the center point of the second sensor obtained by the current measurement as final coordinates of the center point of the second sensor in the total station coordinate system; and if not, returning to execute the measurement of the M measuring points of the second sensor by using the total station.
9. The apparatus of claim 6, wherein the first sensor is an inertial measurement unit and the second sensor is a disk antenna.
10. The apparatus as claimed in claims 8 and 9, wherein the predetermined line is a radius of the disk antenna, the disk antenna is an arc in a measurement field of view, and the M measurement points are three points on the arc that can form an inscribed triangle of the disk antenna.
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