阅读说明：本技术 slam地图坐标系与大地坐标系转换方法、装置、系统及存储介质 (Transformation method, device and system for slam map coordinate system and geodetic coordinate system and storage medium ) 是由 杜元源 于 2020-10-30 设计创作，主要内容包括：本发明公开了一种slam地图坐标系与大地坐标系转换方法、装置、系统及存储介质,所述方法包括如下步骤：slam过程中,采集车辆行驶轨迹上的地图坐标点集和由gps接收的大地坐标点集；对两种点集作剔除奇异点处理和类型归一化处理,使得处理后两种点集中坐标点数至少各三个；根据处理后的地图坐标点集和大地坐标点集,计算两者之间的变换矩阵；利用计算的变换矩阵和类型归一化逆处理,确定地图坐标系中地图坐标对应的大地坐标。本申请所述方法能够精准进行slam地图坐标系与大地坐标系之间的转换。(The invention discloses a method, a device, a system and a storage medium for converting a slam map coordinate system and a geodetic coordinate system, wherein the method comprises the following steps: in the slam process, collecting a map coordinate point set on a vehicle running track and a geodetic coordinate point set received by gps; performing singular point elimination processing and type normalization processing on the two point sets to enable the number of coordinate points in the two processed point sets to be at least three respectively; calculating a transformation matrix between the map coordinate point set and the geodetic coordinate point set according to the processed map coordinate point set and geodetic coordinate point set; and determining geodetic coordinates corresponding to the map coordinates in the map coordinate system by using the calculated transformation matrix and the type normalization inverse processing. The method can accurately convert the slam map coordinate system and the geodetic coordinate system.)

1. A transformation method of a slam map coordinate system and a geodetic coordinate system is characterized by comprising the following steps:

in the slam process, collecting a map coordinate point set on a vehicle running track and a geodetic coordinate point set received by gps;

performing singular point elimination processing and type normalization processing on the two point sets to enable the number of coordinate points in the two processed point sets to be at least three respectively;

calculating a transformation matrix between the map coordinate point set and the geodetic coordinate point set according to the processed map coordinate point set and geodetic coordinate point set;

and determining geodetic coordinates corresponding to the map coordinates in the map coordinate system by using the calculated transformation matrix and the type normalization inverse processing.

2. The slam map coordinate system to geodetic coordinate system conversion method of claim 1, wherein the method of collecting the set of map coordinate points on the vehicle travel track and the set of geodetic coordinate points received by gps is as follows:

the laser radar or the camera and the gps navigation device are installed at a fixed position on the sweeper, and in the moving composition process of the sweeper, map coordinate points of path points on the moving track of the sweeper are collected, and simultaneously earth coordinate points received by the gps navigation device of the path points are collected.

3. The method for converting the slam map coordinate system and the geodetic coordinate system according to claim 1, wherein the method for removing singular points from the two point sets comprises the following steps:

and eliminating geodetic coordinate points and corresponding map coordinate points under the abnormal working mode when the searching number of the gps navigation device in the geodetic coordinate point set is less than a certain threshold value, and eliminating map coordinate points and corresponding geodetic coordinate points with the abrupt change of the distance value in the landfall map coordinate point set exceeding a certain range.

4. The method for converting the slam map coordinate system and the geodetic coordinate system of claim 1, wherein the type normalization processing is performed on the two point sets by the following method:

and converting the longitude value and the latitude value of the coordinate points of the geodetic coordinate point set into a distance value under the UTM projection coordinate system.

5. The slam map coordinate system to geodetic coordinate system conversion method of claim 1, characterized in that: determining a current time zone according to the longitude value and the latitude value of each point in the set of geodetic coordinates, determining projection parameters according to the time zone, and determining the distance coordinate value of each point in the set of geodetic coordinates by adopting a WGS84 coordinate-to-UTM coordinate algorithm.

6. The method of converting a slam map coordinate system to a geodetic coordinate system of claim 1, characterized in that the transformation matrix is calculated as follows:

selecting one pair of coordinate points in the processed map coordinate point set and the geodetic coordinate point set as reference points, respectively solving a plurality of elementary transformation matrixes from other points and the reference points, at least determining two elementary transformation matrixes, and processing the elementary transformation matrixes to determine a final transformation matrix from the map coordinate system to the geodetic coordinate system.

7. The method for converting a slam map coordinate system to a geodetic coordinate system of claim 1, wherein the method for determining geodetic coordinates corresponding to the map coordinates in the map coordinate system is as follows:

selecting any point in a map coordinate system as a map target coordinate point, processing the map target point by using the transformation matrix, and performing type homogenization and inverse processing on a processing result, wherein the processing method is to use a UTM coordinate-to-WGS 84 coordinate algorithm to obtain a geodetic coordinate point corresponding to the map target point.

8. A slam map coordinate system to geodetic coordinate system conversion apparatus, comprising:

a map generation module: the system comprises a slam map generation device, a slam navigation device and a slam navigation device, wherein the slam map generation device is used for generating a slam map by utilizing laser radar or camera data, and acquiring a map coordinate point set and a corresponding geodetic coordinate point set of a plurality of path points on a slam motion track, wherein the geodetic coordinate point set is acquired through a gps navigation device;

a filtering module: the system is used for eliminating singular points of the collected map coordinate point set and geodetic coordinate point set;

a type normalization processing module: the device is used for carrying out projection conversion on distance values according to the longitude value and the latitude value of a geodetic coordinate point set in the two coordinate point sets so as to normalize the data types of the two point sets;

a coordinate transformation matrix determination module: the transformation matrix from the slam map coordinate system to the geodetic coordinate system is determined according to the two processed point sets;

a geodetic coordinate determination module: and the method is used for determining the geodetic coordinate point corresponding to the target point to be converted in the map coordinate system according to the determined conversion matrix and the type normalization inverse processing process.

9. A system for converting a geodetic coordinate system to a geodetic coordinate system, comprising:

the system comprises at least one laser radar or at least one camera, a gps navigation device and control equipment, wherein the control equipment is connected with the at least one laser radar or electrically connected between the at least one camera and the gps navigation device; the control device comprises one or more processors within which the switching arrangement of claim 8 is disposed.

10. A computer-readable storage medium characterized by: a computer program stored thereon for execution by one or more processors of a method of converting a slam map coordinate system to geodetic coordinates according to any of claims 1 to 7.

Technical Field

The invention relates to the technical field of artificial intelligence unmanned vehicles, in particular to a method, a device and a system for converting a slam map coordinate system and a geodetic coordinate system and a storage medium.

Background

With the development of artificial intelligence technology, map building and positioning are carried out by fusing a laser radar, a camera and a gps multi-sensor, and the method is an important basis for intelligent unmanned vehicle automatic navigation. Since the slam map coordinate system is a polar coordinate system, it is necessary to convert the slam map coordinate system to a geodetic coordinate system. At present, when a map coordinate system and a geodetic coordinate system are calculated, a method is adopted to determine a near point on a map, then determine a far point on the map, calculate difference values of x and y of two points respectively, and further estimate the geodetic coordinate of a point to be converted by combining corresponding precision of local longitude and latitude, so that the error of the obtained geodetic coordinate is large.

Disclosure of Invention

The invention aims to provide a method for accurately converting a slam map coordinate system and a geodetic coordinate system.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a transformation method of a slam map coordinate system and a geodetic coordinate system is characterized by comprising the following steps:

in the slam process, collecting a map coordinate point set on a vehicle running track and a geodetic coordinate point set received by gps;

performing singular point elimination processing and type normalization processing on the two point sets to enable the number of coordinate points in the two processed point sets to be at least three respectively;

calculating a transformation matrix between the map coordinate point set and the geodetic coordinate point set according to the processed map coordinate point set and geodetic coordinate point set;

and determining geodetic coordinates corresponding to the map coordinates in the map coordinate system by using the calculated transformation matrix and the type normalization inverse processing.

The invention also discloses a device for converting the slam map coordinate system and the geodetic coordinate system, which is characterized by comprising the following components:

a map generation module: the system comprises a slam map generation device, a slam navigation device and a slam navigation device, wherein the slam map generation device is used for generating a slam map by utilizing laser radar or camera data, and acquiring a map coordinate point set and a corresponding geodetic coordinate point set of a plurality of path points on a slam motion track, wherein the geodetic coordinate point set is acquired through a gps navigation device;

a filtering module: the system is used for eliminating singular points of the collected map coordinate point set and geodetic coordinate point set;

a type normalization processing module: the device is used for carrying out projection conversion on distance values according to the longitude value and the latitude value of a geodetic coordinate point set in the two coordinate point sets so as to normalize the data types of the two point sets;

a coordinate transformation matrix determination module: the transformation matrix from the slam map coordinate system to the geodetic coordinate system is determined according to the two processed point sets;

a geodetic coordinate determination module: and the method is used for determining the geodetic coordinate point corresponding to the target point to be converted in the map coordinate system according to the determined conversion matrix and the type normalization inverse processing process.

The invention also discloses a system for converting the map coordinate system and the geodetic coordinate system, which is characterized by comprising the following components:

the system comprises at least one laser radar or at least one camera, a gps navigation device and control equipment, wherein the control equipment is connected with the at least one laser radar or electrically connected between the at least one camera and the gps navigation device; the control device comprises one or more processors within which the switching arrangement of claim 8 is disposed.

The invention also discloses a computer readable storage medium, which is characterized in that: a computer program is stored thereon which is executed by one or more processors to perform the method of transformation of the slam map coordinate system to geodetic coordinates.

Adopt the produced beneficial effect of above-mentioned technical scheme to lie in: the method can accurately convert the slam map coordinate system and the geodetic coordinate system, and provides a new idea for converting the map coordinate system and the geodetic coordinate system.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a main flow diagram of a method according to an embodiment of the present invention;

FIG. 2 is a flow chart of a method according to an embodiment of the invention;

FIG. 3 is a schematic block diagram of an apparatus according to an embodiment of the present invention;

fig. 4 is a functional block diagram of a system according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention are 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 the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

As shown in fig. 1, the embodiment of the present invention discloses a method for converting a slam (synchronous positioning and mapping) map coordinate system and a geodetic coordinate system, which includes the following steps:

in the slam process, collecting a map coordinate point set on a vehicle running track and a geodetic coordinate point set received by gps;

performing singular point elimination processing and type normalization processing on the two point sets to enable the number of coordinate points in the two processed point sets to be at least three respectively;

calculating a transformation matrix between the map coordinate point set and the geodetic coordinate point set according to the processed map coordinate point set and geodetic coordinate point set;

and determining geodetic coordinates corresponding to the map coordinates in the map coordinate system by using the calculated transformation matrix and the type normalization inverse processing.

The method can accurately convert the slam map coordinate system and the geodetic coordinate system, and provides a new idea for converting the map coordinate system and the geodetic coordinate system.

Further, as shown in fig. 2, the method according to the embodiment of the present invention includes the following steps:

the laser radar or the camera and the gps navigation device are installed at fixed positions on the sweeper, and in the moving composition process of the sweeper, map coordinate points of path points on the moving track of the sweeper are collected, and simultaneously earth coordinate points received by the gps navigation device of the path points are collected.

And (3) removing singular points from the two point sets, namely removing the geodetic coordinate points and the corresponding map coordinate points in the abnormal working mode when the number of searched stars of the gps navigation device in the geodetic coordinate point set is less than a certain threshold value, and removing the map coordinate points and the corresponding geodetic coordinate points in the geodetic coordinate point set with the abrupt change of the distance value exceeding a certain range.

And removing at least three pairs of non-repetitive map coordinate points and geodetic coordinate points in the two point sets subjected to the singular point removing processing.

Type normalization processing is carried out on the two point sets: and converting the longitude value and the latitude value of the coordinate points of the geodetic coordinate point set into a distance value under the UTM projection coordinate system.

And (3) conversion process: determining a current time zone according to the longitude value and the latitude value of each point in the set of geodetic coordinates, determining projection parameters according to the time zone, and determining the distance coordinate value of each point in the set of geodetic coordinates by adopting a WGS84 coordinate-to-UTM coordinate algorithm.

Calculating a transformation matrix between the map coordinate point set and the geodetic coordinate point set according to the processed map coordinate point set and geodetic coordinate point set: selecting one pair of coordinate points in the processed map coordinate point set and the geodetic coordinate point set as reference points, respectively solving a plurality of elementary transformation matrixes from other points and the reference points, determining at least two elementary transformation matrixes, and processing the elementary transformation matrixes to determine a final transformation matrix from the map coordinate system to the geodetic coordinate system.

And determining geodetic coordinates corresponding to the map coordinates in a map coordinate system by using the calculated transformation matrix and the type normalization inverse processing:

selecting any point in a map coordinate system as a map target coordinate point, processing the map target point by using the transformation matrix, and performing type homogenization and inverse processing on a processing result, wherein the processing method is to use a UTM coordinate-to-WGS 84 coordinate algorithm to obtain a geodetic coordinate point corresponding to the map target point.

Correspondingly, the embodiment also discloses a slam (synchronous positioning and mapping) map coordinate system and geodetic coordinate system conversion device corresponding to the method, which comprises the following steps:

a map generation module: the method is used for generating a slam map by utilizing the data of the laser radar or the camera, and acquiring a map coordinate point set and a corresponding geodetic coordinate point set of a plurality of path points on a slam motion track. Wherein the set of geodetic coordinate points is obtained from a gps navigation device.

A filtering module: and the method is used for removing singular points from the collected map coordinate point set and geodetic coordinate point set.

A type normalization processing module: and the projection conversion of the distance value is carried out according to the longitude value and the latitude value of the geodetic coordinate point set in the two coordinate point sets, so that the data types of the two point sets are normalized.

A coordinate transformation matrix determination module: and determining a transformation matrix from the slam map coordinate system to the geodetic coordinate system according to the two processed point sets.

A geodetic coordinate determination module: and the method is used for determining the geodetic coordinate point corresponding to the target point to be converted in the map coordinate system according to the determined conversion matrix and the type normalization inverse processing process.

Further, as shown in fig. 4, the present application also discloses a system for converting a geodetic coordinate system to a geodetic coordinate system, comprising:

the system comprises at least one laser radar or at least one camera, a gps navigation device and control equipment, wherein the control equipment is connected with the at least one laser radar or electrically connected between the at least one camera and the gps navigation device; the control equipment comprises one or more processors, and the conversion device is arranged in the processors.

Further, the present invention also discloses a computer readable storage medium, on which a computer program is stored, the program being executed by one or more processors to perform the method for converting the slam map coordinate system and the geodetic coordinate.