阅读说明：本技术 一种雷达定位方法、装置及存储介质 (Radar positioning method and device and storage medium ) 是由 王玥 贾全 郭承志 于 2020-07-28 设计创作，主要内容包括：本申请提供的一种雷达定位方法、装置及存储介质,涉及雷达定位技术领域。包括：获取全局地标坐标系中的反光柱信息、以及当前雷达坐标系下局部坐标系中的反光柱信息；通过反光柱匹配算法获取所述全局地标坐标系中的反光柱信息与所述雷达坐标系下局部坐标系中的反光柱信息之间的匹配关系；通过所述匹配关系以及加权最小二乘算法,计算获取雷达的位姿信息。利用多个匹配上的反光柱信息以及加权最小二乘算法进行雷达的位姿计算,解决了目前单个反光柱信息获取不准确时,对雷达定位精度影响较大的问题,提高了雷达位姿计算的准确性。(The application provides a radar positioning method, a radar positioning device and a storage medium, and relates to the technical field of radar positioning. The method comprises the following steps: acquiring reflective column information in a global landmark coordinate system and reflective column information in a local coordinate system under a current radar coordinate system; acquiring a matching relation between the reflective column information in the global landmark coordinate system and the reflective column information in a local coordinate system under the radar coordinate system through a reflective column matching algorithm; and calculating and acquiring the pose information of the radar through the matching relation and a weighted least square algorithm. The position and pose calculation of the radar is carried out by utilizing the information of the reflecting columns on the plurality of matches and the weighted least square algorithm, the problem that the positioning precision of the radar is greatly influenced when the information of a single reflecting column is not accurately obtained at present is solved, and the accuracy of the position and pose calculation of the radar is improved.)

1. A radar positioning method, comprising:

acquiring reflective column information in a global landmark coordinate system and reflective column information in a local coordinate system under a current radar coordinate system;

acquiring a matching relation between the reflective column information in the global landmark coordinate system and the reflective column information in a local coordinate system under the radar coordinate system through a reflective column matching algorithm;

and calculating and acquiring the pose information of the radar through the matching relation and a weighted least square algorithm.

2. The method according to claim 1, wherein the calculating and acquiring the pose information of the radar through the matching relation and a weighted least square algorithm comprises:

obtaining the least square resolving weight of each pair of matched reflecting columns according to the matching relation;

normalizing the least square solving weight to obtain a normalized weight;

and calculating and acquiring the pose information of the radar by using the matching relation and the normalization weight.

3. The method according to claim 2, wherein the obtaining a least square solution weight of each pair of matched reflective columns according to the matching relationship comprises:

calculating the distance between each pair of reflecting columns and the radar according to the matching relation and the reflecting column information in the local coordinate system under the radar coordinate system;

and obtaining the least square calculation weight of each pair of the reflective columns according to the distance between each pair of the reflective columns and the radar.

4. The method according to claim 2 or 3, wherein the normalizing the least squares solution weights to obtain normalized weights comprises:

obtaining the sum of all the least square solving weights;

and dividing the least square solving weight corresponding to each pair of the reflective columns by the sum of the least square solving weights to obtain the normalized weight of each pair of the reflective columns.

5. The method according to claim 1, wherein after the calculating and acquiring the pose information of the radar through the matching relationship and the weighted least square algorithm, the method further comprises:

converting the reflective column information in the local coordinate system under the radar coordinate system into the global landmark coordinate system through a least square residual method and the pose information, and acquiring the converted reflective column information;

obtaining the distance error between the converted reflective column information and the reflective column information in the global landmark coordinate system;

and acquiring positioning quality evaluation information according to the distance error and a preset evaluation algorithm.

6. A radar locating device, comprising: the device comprises an acquisition unit, a matching unit and a calculation unit;

the acquisition unit is used for acquiring reflective column information in a global landmark coordinate system and reflective column information in a local coordinate system under a current radar coordinate system;

the matching unit is used for acquiring the matching relation between the reflective column information in the global landmark coordinate system and the reflective column information in the local coordinate system under the radar coordinate system through a reflective column matching algorithm;

and the calculating unit is used for calculating and acquiring the pose information of the radar through the matching relation and a weighted least square algorithm.

7. The device according to claim 6, wherein the computing unit is configured to obtain a least square solution weight of each pair of matched reflective columns according to the matching relationship;

normalizing the least square solving weight to obtain a normalized weight;

and calculating and acquiring the pose information of the radar by using the matching relation and the normalization weight.

8. The apparatus according to claim 7, wherein the calculating unit is configured to calculate a distance between each pair of reflective columns and the radar according to the matching relationship and reflective column information in a local coordinate system in the radar coordinate system;

and obtaining the least square calculation weight of each pair of the reflective columns according to the distance between each pair of the reflective columns and the radar.

9. A radar locating device, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the apparatus is operating, the processor executing the machine-readable instructions to perform the steps of the method of any one of claims 1-5.

10. A storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.

Technical Field

The present disclosure relates to the field of radar positioning technologies, and in particular, to a radar positioning method, an apparatus, and a storage medium.

Background

In modern manufacturing industry, the importance of automation in the production phase is increasing, wherein the navigation positioning of an Automated Guided Vehicle (AGV) is an important research direction. Common industrial AGV navigation and positioning modes include magnetic navigation, natural navigation (visual SLAM or laser SLAM), landmark navigation (two-dimensional codes or RFID labels and the like), laser navigation (reflective columns) and the like. The method is characterized in that the method is based on the reflective column (or called reflective) laser navigation, and has the advantages of high positioning precision, low maintenance cost, relatively low installation cost, high route planning flexibility and the like, so that the method is widely applied to the AGV of the forklift.

However, in the existing laser navigation technology based on reflective columns (or referred to as reflective columns), if the reflective columns involved in the existing laser navigation technology have inaccurate information, the positioning accuracy of the radar is seriously affected.

Disclosure of Invention

In order to solve the problems in the prior art, the application provides a radar positioning method, a radar positioning device and a storage medium.

In order to achieve the purpose, the technical scheme adopted by the application is as follows:

a first aspect of the present application provides a radar positioning method, including:

acquiring reflective column information in a global landmark coordinate system and reflective column information in a local coordinate system under a current radar coordinate system;

acquiring a matching relation between the reflective column information in the global landmark coordinate system and the reflective column information in a local coordinate system under the radar coordinate system through a reflective column matching algorithm;

and calculating and acquiring the pose information of the radar through the matching relation and a weighted least square algorithm.

Optionally, the calculating and acquiring the pose information of the radar through the matching relationship and a weighted least square algorithm includes:

obtaining the least square resolving weight of each pair of matched reflecting columns according to the matching relation;

normalizing the least square solving weight to obtain a normalized weight;

and calculating and acquiring the pose information of the radar by using the matching relation and the normalization weight.

Optionally, the obtaining a least square solution weight of each pair of matched reflective columns according to the matching relationship includes:

calculating the distance between each pair of reflecting columns and the radar according to the matching relation and the reflecting column information in the local coordinate system under the radar coordinate system;

and obtaining the least square calculation weight of each pair of the reflective columns according to the distance between each pair of the reflective columns and the radar.

Optionally, the normalizing the least square solution weight to obtain a normalized weight includes:

obtaining the sum of all the least square solving weights;

and dividing the least square solving weight corresponding to each pair of the reflective columns by the sum of the least square solving weights to obtain the normalized weight of each pair of the reflective columns.

Optionally, after the calculating and acquiring the pose information of the radar through the matching relationship and the weighted least square algorithm, the method further includes:

converting the reflective column information in the local coordinate system under the radar coordinate system into the global landmark coordinate system through the least square residual method and the pose information, and acquiring the converted reflective column information;

obtaining the distance error between the converted reflective column information and the reflective column information in the global landmark coordinate system;

and acquiring positioning quality evaluation information according to the distance error and a preset evaluation algorithm.

The second aspect of the present application provides a radar positioning apparatus, comprising: the device comprises an acquisition unit, a matching unit and a calculation unit;

the acquisition unit is used for acquiring reflective column information in a global landmark coordinate system and reflective column information in a local coordinate system under a current radar coordinate system;

the matching unit is used for acquiring the matching relation between the reflective column information in the global landmark coordinate system and the reflective column information in the local coordinate system under the radar coordinate system through a reflective column matching algorithm;

and the calculating unit is used for calculating and acquiring the pose information of the radar through the matching relation and a weighted least square algorithm.

Optionally, the calculating unit is configured to obtain a least square solution weight of each pair of matched reflective columns according to the matching relationship;

normalizing the least square solving weight to obtain a normalized weight;

and calculating and acquiring the pose information of the radar by using the matching relation and the normalization weight.

Optionally, the calculating unit is configured to calculate a distance between each pair of reflective columns and the radar according to the matching relationship and the reflective column information in the local coordinate system in the radar coordinate system;

and obtaining the least square calculation weight of each pair of the reflective columns according to the distance between each pair of the reflective columns and the radar.

Optionally, the calculating unit is configured to obtain a sum of all the least square solution weights;

and dividing the least square solving weight corresponding to each pair of the reflective columns by the sum of the least square solving weights to obtain the normalized weight of each pair of the reflective columns.

Optionally, the apparatus further comprises: a conversion unit;

the conversion unit is used for converting the reflective column information in the local coordinate system under the radar coordinate system into the global landmark coordinate system through the least square residual method and the pose information, and acquiring the converted reflective column information;

the obtaining unit is used for obtaining the distance error between the converted reflective column information and the reflective column information in the global landmark coordinate system;

and the calculating unit is used for acquiring positioning quality evaluation information according to the distance error and a preset evaluation algorithm.

A third aspect of the present application provides a radar positioning apparatus, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating via the bus when the apparatus is operating, the processor executing the machine-readable instructions to perform the steps of the method of the first aspect.

A fourth aspect of the present application provides a storage medium having stored thereon a computer program which, when executed by a processor, performs the method as provided in the first aspect.

In the radar positioning method, the radar positioning device and the storage medium, reflective column information in a global landmark coordinate system and reflective column information in a local coordinate system under a current radar coordinate system are obtained; acquiring a matching relation between the reflective column information in the global landmark coordinate system and the reflective column information in a local coordinate system under the radar coordinate system through a reflective column matching algorithm; and calculating and acquiring the pose information of the radar through the matching relation and a weighted least square algorithm. The position and pose calculation of the radar is carried out by utilizing the information of the reflecting columns on the plurality of matches and the weighted least square algorithm, the problem that the positioning precision of the radar is greatly influenced when the information of a single reflecting column is not accurately obtained at present is solved, and the accuracy of the position and pose calculation of the radar is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic flowchart of a radar positioning method according to an embodiment of the present application;

fig. 2 is a schematic flowchart of a radar positioning method according to another embodiment of the present application;

fig. 3 is a schematic flowchart of a radar positioning method according to another embodiment of the present application;

fig. 4 is a schematic structural diagram of a radar positioning apparatus according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a radar positioning apparatus according to another embodiment of the present application;

fig. 6 is a schematic structural diagram of a radar positioning apparatus according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.

It should be introduced that the process of positioning with anti-lidar can be divided into several stages in sequence: reflection column detection, reflection column matching/reflection column tracking, radar pose resolving and the like. In the stage of detecting the reflective columns, a positioning algorithm detects the reflective columns possibly existing from the current original scanning data of the laser radar and solves the central coordinates of the reflective columns. After the coordinates of the currently detected reflective column in the radar coordinate system are obtained, corresponding matching needs to be found in a known reflective column global coordinate map, and the matching result is used for resolving the radar pose. In the radar pose calculation technology based on the reflective columns, if the reflective columns are inaccurate in information, the positioning accuracy of the radar can be seriously influenced.

Based on this, the embodiment of the present application provides a radar positioning method, which is used to solve the above technical problem. Fig. 1 is a schematic flowchart of a radar positioning method provided in an embodiment of the present application, and as shown in fig. 1, the method includes:

s101, obtaining reflective column information in a global landmark coordinate system and reflective column information in a local coordinate system under a current radar coordinate system.

It should be noted that, in the embodiment of the present application, the global landmark coordinate system may be established by using any point in any direction, such as true north and true west, as an origin, which is not limited in the embodiment of the present application. The radar coordinate system is a coordinate system established by taking a radar as an origin.

The reflective column information may be position information of the reflective column, for example, coordinate information of the reflective column.

In a specific implementation, when the radar is located by using a laser navigation technology based on a reflective column, the position of the reflective column needs to be detected first, specifically, a laser beam is emitted by a laser scanning device installed on the laser radar first, and scanning data of each scanning point in an angle range of 360 ° on a horizontal plane is obtained, where the scanning data includes a distance from each scanning point to the laser scanning device emitting the laser beam, a reflection intensity of each scanning point, an angle between a light beam from each scanning point to the laser scanning device and a horizontal light beam emitted by the laser scanning device, that is, each scanning point corresponds to the scanning data including the distance, the reflection intensity and the angle. The laser scanning device can be a laser radar, a laser scanner or other devices with laser scanning effects.

Specifically, in the embodiment of the present application, coordinate information of the reflective column in the radar coordinate system is acquired by the laser scanning device, and label information of the reflective column is defined.

Exemplarily, assuming that a global landmark map is accurately measured and q reflective columns exist in the map, the obtained reflective columns may be recorded as:

the coordinate information of the p reflecting columns acquired by the laser scanning equipment under the radar coordinate system can be recorded as:

x and y respectively represent horizontal coordinate information and vertical coordinate information of the reflecting columns, i represents mark information of the reflecting columns, p and q respectively represent number information of the reflecting columns in the global landmark coordinate system and the radar coordinate system, and G and L respectively correspond to coordinate information in the global landmark coordinate system and the radar coordinate system.

S102, obtaining a matching relation between the reflective column information in the global landmark coordinate system and the reflective column information in the local coordinate system under the radar coordinate system through a reflective column matching algorithm.

In the embodiment of the application, the global landmark coordinate system includes global coordinate information and label information of each known reflection column, so that the matching between the reflection column information in the global landmark coordinate system and the reflection column information in the local coordinate system in the radar coordinate system can be obtained by matching the reflection column coordinate information in the radar coordinate system in the global landmark coordinate system.

In order to avoid that the correct matching is not found for all the detected real reflective columns due to the misdetection of the reflective column information (coordinate information and label information), and finally the positioning accuracy of the anti-laser radar is reduced. In the embodiment of the application, the adopted matching process is as follows: presetting a false detection weight value for each reflective column in a reflective column detection set, sequencing all reflective columns in the reflective column detection set according to the magnitude of the respective corresponding false detection weight values, selecting a preset number of reflective columns with the lowest false detection weight values from the sequenced reflective column detection set to obtain a to-be-matched set, searching a target matching reflective column corresponding to each reflective column in the to-be-matched set in a preset global map to generate a target matching set, and updating the respective false detection weight value of each reflective column in the to-be-matched set when any reflective column in the to-be-matched set cannot acquire the corresponding target matching reflective column so that each reflective column in the to-be-matched set acquires the corresponding target matching reflective column in the preset global map and updates the target matching set.

Exemplarily, in the embodiment of the present application, the matching relationship between the reflective column obtained by current scanning and the reflective column in the global landmark coordinate system is found through the reflective column matching process, and by the matching method, the pair of labels of the reflective column in matching is denoted as a set S, the number of elements in S is m (where m is less than or equal to p), each element is a pair of labels (i, j), i e [1, q ], j e [1, p ].

Wherein i denotes the number of the reflective columns in the global landmark coordinate system and, correspondingly, j denotes the number of the reflective columns in the local coordinate system in the radar coordinate system.

It can be understood that, in the embodiment of the present application, by recording the label information of the reflective columns on the matches instead of the coordinate information, the storage amount of data can be reduced to a certain extent, and the process of searching for matches by the reflective columns can be accelerated.

And S103, calculating and acquiring the pose information of the radar through a matching relation and a weighted least square algorithm.

In the embodiment of the application, the position and pose information of the radar is calculated and obtained by using the matched paired reflective columns in different coordinate systems and the minimum two-pass algorithm, so that the accuracy of the calculation result can be improved.

According to the radar positioning method provided by the embodiment of the application, the information of the reflective columns in the global landmark coordinate system and the information of the reflective columns in the local coordinate system under the current radar coordinate system are obtained; acquiring a matching relation between the reflective column information in the global landmark coordinate system and the reflective column information in a local coordinate system under the radar coordinate system through a reflective column matching algorithm; and calculating and acquiring the pose information of the radar through the matching relation and a weighted least square algorithm. The position and pose of the radar are calculated by using the reflecting column information obtained by matching in the global landmark coordinate system and the radar coordinate system and a weighted least square algorithm, and the matching results of a plurality of reflecting columns are comprehensively considered, so that the problem that the radar positioning precision is greatly influenced when the information of a single reflecting column is not accurately obtained at present is solved, and the accuracy of radar position and pose calculation is improved.

In the above embodiment, the weight in the least square solution may be assigned to each reflective column in the matched set S, and then pose information may be calculated.

It should be noted that, in the embodiment of the present application, various ways may be adopted for weight setting, and specifically, different reflective columns may have different functions in radar positioning.

Fig. 2 is a schematic flowchart of a radar positioning method according to another embodiment of the present application, as shown in fig. 2, in some implementations of the present application, step S103 may specifically include:

and S1031, obtaining the least square solving weight of each pair of matched reflecting columns according to the matching relation.

In the embodiment of the present application, the weight is set in relation to the distance, and the possibility of error in detection is higher due to the reflective columns that are farther from the radar. Therefore, in the embodiment of the present application, the weight assignment principle adopts: the more distant retroreflective bars from the radar are assigned smaller weights, and correspondingly, the closer retroreflective bars to the radar are assigned larger weights. The embodiment of the present application is not limited to the specific setting rule of the weight.

S1032, normalization processing is carried out on the least square solving weight, and the normalization weight is obtained.

In order to summarize the statistical distribution of the uniform weight data, in the embodiment of the present application, the least square solution weight corresponding to each pair of reflective columns is normalized. The normalization process is to compress the original data in the range of (0, 1).

Therefore, normalization processing is carried out on the weight information of each pair of matched reflection columns by adopting a normalization processing formula to obtain normalization weight information between (0, 1).

It can be understood that the normalization processing of the weight data not only facilitates the unified management of the data, but also saves the data storage to a certain extent. In the embodiment of the application, the normalization processing is mainly used for obtaining a correct and high-precision radar pose resolving result.

And S1033, calculating and acquiring the pose information of the radar by using the matching relation and the normalized weight.

In the embodiment of the present application, the obtained normalized weight W is set as:

the current pose of the radar is set as follows: (X, Y, ψ), where X, Y respectively denote the abscissa and ordinate of the radar in the two-dimensional plane in the currently acquired radar information, and ψ denotes heading angle information of the radar in the two-dimensional plane.

For the currently detected reflective column # j, the reflective column can be matched with the reflective column in the global landmark coordinate system, and the homogeneous coordinate of the reflective column in the radar coordinate system is as follows:

the homogeneous coordinate of the No. i reflective column in the matched reflective column global map under the global landmark coordinate system is as follows:

the conversion matrix after converting the global landmark coordinate system into radar coordinates is as follows:

the following relationships apply:

or can be written as:

recording the parameter vector to be solved as:

vectorizing and listing the conversion relation of the reflection columns on all the matched coordinates in the step S, wherein the conversion relation comprises the following steps:

the vectorization relationship correspondence is recorded as:

AΘ＝B

meanwhile, adding weight vectors to both sides of a Θ and B, it can be expressed as:

WAΘ＝WB

obtaining an estimate of the parameter vector using weighted least squares:

the following can be obtained:

solving pose information of radar through parameter vectorThe following were used:

wherein the content of the first and second substances,respectively representing the abscissa, the ordinate and the course angle information of the finally calculated and obtained radar.

Optionally, in this embodiment of the application, according to the matching relationship, a least squares solution weight of each pair of matched light reflecting columns is obtained, that is, step S1031, which specifically includes: calculating the distance between each pair of reflective columns and the radar through the matching relation and the reflective column information in the local coordinate system under the radar coordinate system; and obtaining the least square resolving weight of each pair of reflective columns according to the distance between each pair of reflective columns and the radar.

It should be noted that the weight setting may be a monotone decreasing function related to the distance, and in a specific embodiment, different weight setting modes represent confidence levels of different reflection column detection results. In the embodiment of the application, the weight is distributed by adopting the reciprocal of the square of the distance between the reflection column and the radar.

Illustratively, for the reflective post pair S on the k-th pair match_k(ii) and S_kCoordinates of middle reflecting column in local coordinate system under radar coordinate systemThe reflecting column is far from the radarTherefore, a weight is assigned to the reflective column

Optionally, the normalizing the least square solution weight to obtain a normalized weight includes:

obtaining the sum of all least square solving weights; and dividing the least square solving weight corresponding to each pair of the reflective columns by the sum of the least square solving weights to obtain the normalized weight of each pair of the reflective columns.

In the embodiment of the present application, a weight (w) is preliminarily assigned to each pair of reflective columns in the set S₁,w₂,…,w_k,…,w_m) And carrying out normalization processing to obtain normalization weights, and storing all the finally obtained normalization weights into the weight row vector W.

Fig. 3 is a schematic flowchart of a radar positioning method according to another embodiment of the present application, as shown in fig. 3, in some implementations, after step S103, the method further includes:

and S104, converting the reflective column information in the local coordinate system under the radar coordinate system into a global landmark coordinate system through a least square residual error method and pose information, and acquiring the converted reflective column information.

In the present embodiment, the localization quality is defined as the residual of the weighted least squares. Referring to the conversion process from the global landmark coordinate system to the radar coordinate in step S1033, vectorially listing the coordinate conversion relations of all the matched reflective columns in the set S, that is, there are:

and (3) transforming the equation and defining weighted least square residual errors, namely the converted reflective column information is as follows:

and S105, acquiring the distance error between the converted reflective column information and the reflective column information in the global landmark coordinate system.

In the embodiment of the present application, the distance error E is calculated as follows:

and S106, acquiring positioning quality evaluation information according to the distance error and a preset evaluation algorithm.

In the embodiment of the present application, the positioning quality evaluation information (distance error weighted average) is:

Q＝WE

it should be noted that the positioning quality evaluation information is a relative evaluation index of the positioning accuracy of the radar pose calculation algorithm, and is not an evaluation of the current positioning absolute accuracy, but a positioning effect is reflected by an evaluation of the position of the reflective column for positioning, and the scalar value can clearly and definitely reflect the relative accuracy (quality) between different positioning results, and is used for guiding the optimization of the algorithm and other works.

The embodiment of the application provides a radar positioning device, which is used for executing the radar positioning method. Fig. 4 is a schematic structural diagram of a radar positioning apparatus according to an embodiment of the present application, and as shown in fig. 4, the radar positioning apparatus includes: an acquisition unit 501, a matching unit 502, and a calculation unit 503.

An obtaining unit 501, configured to obtain light reflecting column information in a global landmark coordinate system and light reflecting column information in a local coordinate system in a current radar coordinate system;

the matching unit 502 is configured to obtain a matching relationship between the reflective column information in the global landmark coordinate system and the reflective column information in the local coordinate system in the radar coordinate system through a reflective column matching algorithm;

and the calculating unit 503 is configured to calculate and acquire the pose information of the radar through a matching relationship and a weighted least square algorithm.

Optionally, the calculating unit 503 is configured to obtain a least square solution weight of each pair of matched reflective columns according to the matching relationship;

normalizing the least square solving weight to obtain a normalized weight;

and calculating and acquiring the pose information of the radar by using the matching relation and the normalized weight.

Optionally, the calculating unit 503 is configured to calculate a distance between each pair of reflective columns and the radar according to the matching relationship and the reflective column information in the local coordinate system in the radar coordinate system;

and obtaining the least square resolving weight of each pair of reflective columns according to the distance between each pair of reflective columns and the radar.

Optionally, the calculating unit 503 is configured to obtain a sum of all least square solution weights;

and dividing the least square solving weight corresponding to each pair of the reflective columns by the sum of the least square solving weights to obtain the normalized weight of each pair of the reflective columns.

Fig. 5 is a schematic structural diagram of a radar positioning apparatus according to another embodiment of the present application, and as shown in fig. 5, the apparatus further includes: a conversion unit 504; a conversion unit 504, configured to convert, by using a least square residual error method and pose information, the reflective column information in the local coordinate system in the radar coordinate system into a global landmark coordinate system, and obtain converted reflective column information;

an obtaining unit 501, configured to obtain a distance error between the converted reflective column information and the reflective column information in the global landmark coordinate system;

the calculating unit 503 is configured to obtain positioning quality evaluation information according to the distance error and a preset evaluation algorithm.

Fig. 6 is a schematic structural diagram of a radar positioning apparatus according to an embodiment of the present application, including: a processor 610, a storage medium 620 and a bus 630, wherein the storage medium 620 stores machine-readable instructions executable by the processor 610, and when the electronic device is operated, the processor 610 communicates with the storage medium 620 via the bus 630, and the processor 610 executes the machine-readable instructions to perform the steps of the above-mentioned method embodiments. The specific implementation and technical effects are similar, and are not described herein again.

The embodiment of the application provides a storage medium, wherein a computer program is stored on the storage medium, and the computer program is executed by a processor to execute the method.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.