阅读说明：本技术 一种无人平台室内定位系统及定位方法 (Unmanned platform indoor positioning system and positioning method ) 是由 潘峰 夏伟光 张笛 常成 刘健 高岩 于 2019-08-09 设计创作，主要内容包括：本发明公开了一种无人平台室内定位系统及定位方法,定位系统包括视觉动态捕捉单元、信号处理单元及GPS模拟信号单元；视觉动态捕捉单元用于基于视觉动态捕捉得到无人平台在室内三维空间的位置信息；信号处理单元用于将无人平台在室内三维空间的位置信息变换为地心地固坐标系下的位置坐标；GPS模拟信号单元用于发射表示初始位置信息的伪GPS信号启动无人平台以及利用地心地固坐标系下的位置坐标更新无人平台实时位置发送给无人平台实现定位。本发明通用性强,能够模拟发射卫星定位信号实现定位。(the invention discloses an unmanned platform indoor positioning system and a positioning method, wherein the positioning system comprises a visual dynamic capturing unit, a signal processing unit and a GPS analog signal unit; the visual dynamic capturing unit is used for obtaining the position information of the unmanned platform in the indoor three-dimensional space based on visual dynamic capturing; the signal processing unit is used for converting the position information of the unmanned platform in the indoor three-dimensional space into position coordinates under a geocentric geostationary coordinate system; the GPS analog signal unit is used for transmitting a pseudo GPS signal representing initial position information to start the unmanned platform and updating the real-time position of the unmanned platform by utilizing the position coordinate under the geocentric geostationary coordinate system and transmitting the position to the unmanned platform to realize positioning. The invention has strong universality and can simulate and transmit satellite positioning signals to realize positioning.)

1. An unmanned platform indoor positioning system is characterized by comprising a visual dynamic capturing unit, a signal processing unit and a GPS analog signal unit;

the visual dynamic capturing unit is used for obtaining the position information of the unmanned platform in the indoor three-dimensional space based on visual dynamic capturing;

the signal processing unit is used for converting the position information of the unmanned platform in the indoor three-dimensional space into position coordinates under a geocentric coordinate system;

the GPS analog signal unit is used for transmitting a pseudo GPS signal representing initial position information to start the unmanned platform and updating the real-time position of the unmanned platform by utilizing the position coordinates under the geocentric geostationary coordinate system and transmitting the position updated by the pseudo GPS signal to the unmanned platform to realize positioning.

2. The unmanned-platform indoor positioning system of claim 1, wherein the visual dynamic capture unit comprises more than two motion capture cameras, a data switch and a kinetic-capture data processing module, the motion capture cameras are respectively connected with the corresponding data switches, and the data switches are connected with the kinetic-capture data processing module;

the motion capture camera is used for capturing a position image of the unmanned platform in real time;

the data switch is used for providing data transmission and power supply of the visual dynamic capturing unit;

and the dynamic capture data processing module is used for converting the position image captured by the motion capture camera into the position information of the unmanned platform in the indoor three-dimensional space.

3. the unmanned platform indoor positioning system of claim 1, wherein the GPS analog signal unit comprises a navigation signal analog module and an analog signal generator, the navigation signal analog module is configured to convert a position coordinate of the unmanned platform in a geocentric/geostationary coordinate system into a navigation information message; the analog signal generator is used for sending the navigation information message to the unmanned platform.

4. an indoor positioning method for an unmanned platform is characterized by comprising the following steps:

step one, establishing an indoor three-dimensional coordinate system;

step two, the GPS analog signal unit transmits a pseudo GPS signal representing initial position information to start the unmanned platform;

Capturing the unmanned platform by using a visual dynamic capturing unit to obtain the position information of the unmanned platform in an indoor three-dimensional coordinate system;

Step four, converting the position information of the unmanned platform in an indoor three-dimensional coordinate system into position coordinates in a geocentric geostationary coordinate system;

And fifthly, simulating satellite signals by using the position coordinates under the geocentric geostationary coordinate system and sending the satellite signals to the unmanned platform to realize positioning.

5. the unmanned-platform indoor positioning method as claimed in claim 4, wherein an indoor three-dimensional coordinate system is constructed using two or more motion-capturing cameras, and a position image of the unmanned platform is captured using the motion-capturing cameras.

6. The unmanned platform indoor positioning method of claim 4, wherein the position coordinates in the geocentric-geostationary coordinate system are packed and sent to a GPS analog signal unit through a network transmission protocol, and sent out after being processed into a navigation information message type.

Technical Field

The invention relates to the technical field of indoor positioning, in particular to an unmanned platform indoor positioning system and a positioning method.

Background

Currently, the indoor positioning technology of unmanned platforms such as unmanned aerial vehicles, Automated Guided Vehicles (AGVs) and other moving bodies mostly adopts technical means such as optical flow, visual odometers, visual SLAMs (robots simultaneously position and map building), and the like. In an outdoor environment, the unmanned platform is generally controlled by sending GPS coordinates through a planned air route or manually; in an indoor environment, due to space constraint and signal attenuation or shielding, the unmanned platform cannot receive GPS coordinates, and the positioning navigation scheme cannot adopt an outdoor positioning mode based on GPS or Beidou signals. Meanwhile, due to the problems of environment diversity, technology maturity, hardware, cost and the like, the positioning scheme of the indoor unmanned platform, especially the application in the professional field, is short of a technical scheme with strong universality.

disclosure of Invention

In view of this, the invention provides an unmanned platform indoor positioning system and a positioning method, which have strong universality and can simulate and transmit satellite positioning signals to realize positioning.

the technical scheme adopted by the invention is as follows:

an unmanned platform indoor positioning system comprises a visual dynamic capturing unit, a signal processing unit and a GPS analog signal unit;

the visual dynamic capturing unit is used for obtaining the position information of the unmanned platform in the indoor three-dimensional space based on visual dynamic capturing;

The signal processing unit is used for converting the position information of the unmanned platform in the indoor three-dimensional space into position coordinates under a geocentric coordinate system;

The GPS analog signal unit is used for transmitting a pseudo GPS signal representing initial position information to start the unmanned platform and updating the real-time position of the unmanned platform by utilizing the position coordinates under the geocentric geostationary coordinate system and transmitting the position updated by the pseudo GPS signal to the unmanned platform to realize positioning.

Furthermore, the visual dynamic capturing unit comprises more than two motion capturing cameras, data switches and a dynamic capturing data processing module, wherein the motion capturing cameras are respectively connected with the corresponding data switches, and the data switches are connected with the dynamic capturing data processing module;

The motion capture camera is used for capturing a position image of the unmanned platform in real time;

The data switch is used for providing data transmission and power supply of the visual dynamic capturing unit;

And the dynamic capture data processing module is used for converting the position image captured by the motion capture camera into the position information of the unmanned platform in the indoor three-dimensional space.

furthermore, the GPS analog signal unit comprises a navigation signal analog module and an analog signal generator, wherein the navigation signal analog module is used for converting the position coordinate of the unmanned platform under the geocentric geostationary coordinate system into a navigation information message; the analog signal generator is used for sending the navigation information message to the unmanned platform.

An unmanned platform indoor positioning method comprises the following steps:

Step one, establishing an indoor three-dimensional coordinate system;

step two, the GPS analog signal unit transmits a pseudo GPS signal representing initial position information to start the unmanned platform;

capturing the unmanned platform by using a visual dynamic capturing unit to obtain the position information of the unmanned platform in an indoor three-dimensional coordinate system;

Step four, converting the position information of the unmanned platform in an indoor three-dimensional coordinate system into position coordinates in a geocentric geostationary coordinate system;

and fifthly, simulating satellite signals by using the position coordinates under the geocentric geostationary coordinate system and sending the satellite signals to the unmanned platform to realize positioning.

further, an indoor three-dimensional coordinate system is constructed by using more than two motion capture cameras, and a position image of the unmanned platform is captured by using the motion capture cameras.

Further, the position coordinates under the geocentric geostationary coordinate system are packaged and sent to the GPS analog signal unit through a network transmission protocol, and are sent out after being processed into the navigation information message type.

has the advantages that:

The invention can accurately capture the indoor position of the unmanned platform by utilizing the visual dynamic capture unit, processes the indoor position information of the unmanned platform into a signal type which can be received by the unmanned platform by combining the signal processing unit and the GPS analog signal unit, realizes positioning, enables the unmanned platform positioned by the receiver to get rid of the defect that the unmanned platform cannot be positioned indoors, and provides the indoor high-precision positioning capability; and secondly, the invention adopts the visual dynamic capturing unit to provide millimeter-level position information, so that the position can not drift and diverge along with time, and the performance is reliable.

drawings

FIG. 1 is a schematic diagram of a positioning system according to the present invention;

FIG. 2 is a schematic flow chart of a positioning method according to the present invention;

FIG. 3 is a schematic diagram of signal transmission between units;

the system comprises a 1-visual dynamic capturing unit, a 2-signal processing unit, a 3-GPS analog signal unit and a 4-unmanned platform.

Detailed Description

The invention is described in detail below by way of example with reference to the accompanying drawings.

The present embodiment provides an unmanned platform indoor positioning system, as shown in fig. 1, including a visual dynamic capturing unit 1, a signal processing unit 2, and a GPS analog signal unit 3.

the visual dynamic capture unit 1 includes eight motion capture cameras, a data switch, and a motion capture data processing module. The motion capture cameras are respectively connected with corresponding data exchangers, and the data exchangers are connected with the capture data processing module. The motion capture camera is based on a passive optical principle, supports the simultaneous capture of a plurality of target objects, and has the characteristics of infrared illumination enhancement, full scene coverage, high-speed acquisition and high image resolution. The spatial three-degree-of-freedom position accuracy of the target object can reach 0.1mm and the angular accuracy can reach 0.1 degree through the visual dynamic capturing unit 1. The data switch provides data transmission and power supply for the visual motion capture unit 1. The motion capture camera and the motion capture data processing unit perform data interaction with the data exchanger through a network cable, and the speed can reach 360 FPS.

The motion capture camera is used to capture images of the position of the unmanned platform 4 in real time. The data switch is used to provide data transmission and power supply for the visual motion capture unit 1. And the motion capture data processing module is used for converting the position image captured by the motion capture camera into the position information of the unmanned platform 4 in the indoor three-dimensional space. Firstly, capturing real-time attitude point cloud data of the unmanned platform 4 based on a motion capture camera to establish an attitude model of the unmanned platform 4, then acquiring attitude data, and then analyzing the attitude data to obtain the indoor positions of the unmanned platform 4 in three directions (X-Y-Z axes); the differential processing can also obtain the moving speed and the rotating speed in three directions.

the signal processing unit 2 comprises a dynamic capture data interface, a data processing and coordinate transformation module and a GPS simulator data interface.

the dynamic compensation data interface transmits the real-time attitude point cloud data of the unmanned platform 4 captured by the visual dynamic capturing unit 1 to the data processing and coordinate transformation module, and the data processing and coordinate transformation module transforms the position information of the unmanned platform 4 in the indoor three-dimensional space into position coordinates under a geocentric geostationary coordinate system through coordinate transformation. And finally, transmitting the position coordinates under the geocentric geostationary coordinate system to a GPS analog signal unit 3 through a GPS simulator data interface, and finishing the storage and marking of related data and the 3D display of dynamic data.

the GPS analog signal unit 3 includes a navigation signal analog module and an analog signal generator, and is capable of simulating a high-quality GPS signal for indoor space positioning of the unmanned platform 4. The position coordinates under the geocentric geostationary coordinate system can be packaged and sent to the GPS analog signal unit 3 through a TCP/IP protocol; the navigation signal simulation module receives the navigation information message through the DSP and processes the navigation information message into a navigation information message; based on the navigation information message, the analog signal generator broadcasts the GPS/BDS navigation signal to the space for the receiver on the unmanned platform 4 to use.

as shown in fig. 2 and 3, the positioning method comprises the following steps:

the method comprises the following steps that firstly, an indoor three-dimensional coordinate system is constructed by eight motion capture cameras;

Step two, the GPS analog signal unit 3 transmits a pseudo GPS signal representing initial position information to start the unmanned platform 4;

Capturing a position image of the unmanned platform 4 by using a motion capture camera, and processing the position image by using a motion capture data processing module to obtain position information of the unmanned platform 4 in an indoor three-dimensional coordinate system;

Step four, the signal processing unit 2 is used for converting the position information of the unmanned platform 4 in the indoor three-dimensional coordinate system into position coordinates in the geocentric geostationary coordinate system;

Fifthly, the position coordinates under the geocentric geostationary coordinate system are packaged and sent to a GPS analog signal unit 3 through a network transmission protocol, and a navigation signal analog module receives the position coordinates through a DSP and processes the position coordinates into a navigation information message; based on the navigation information message, the analog signal generator broadcasts the GPS/BDS navigation signals representing the real-time position of the unmanned platform 4 to the space for the receiver on the unmanned platform 4 to use.

In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.