CN119916312A - Millimeter wave radar-IMU external parameter calibration method, device, equipment and storage medium - Google Patents
Millimeter wave radar-IMU external parameter calibration method, device, equipment and storage medium Download PDFInfo
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Abstract
本申请涉及一种毫米波雷达‑IMU的外参标定方法、装置、设备及存储介质，其中，方法包括：获取至少一个角反射器的全球定位坐标、运动载体的全球定位坐标和每个角反射器的多个初始点云坐标；基于每个角反射器的全球定位坐标和运动载体的全球定位坐标，从每个角反射器的多个初始点云坐标中确定每个角反射器的目标点云坐标；将每个角反射器的全球定位坐标转换至IMU坐标系，得到每个角反射器的IMU坐标，将每个角反射器的目标点云坐标和每个角反射器的IMU坐标进行坐标关联，并基于迭代最小二乘方法求解得到毫米波雷达‑IMU的外参。由此，解决在复杂环境中毫米波雷达‑IMU的标定存在精度和鲁棒性不足的问题，大幅提升了在动态环境下的标定精度与系统的鲁棒性。
The present application relates to a method, device, equipment and storage medium for calibrating the external parameters of a millimeter-wave radar-IMU, wherein the method includes: obtaining the global positioning coordinates of at least one corner reflector, the global positioning coordinates of a moving carrier and a plurality of initial point cloud coordinates of each corner reflector; based on the global positioning coordinates of each corner reflector and the global positioning coordinates of the moving carrier, determining the target point cloud coordinates of each corner reflector from the plurality of initial point cloud coordinates of each corner reflector; converting the global positioning coordinates of each corner reflector to an IMU coordinate system to obtain the IMU coordinates of each corner reflector, associating the target point cloud coordinates of each corner reflector with the IMU coordinates of each corner reflector, and solving the external parameters of the millimeter-wave radar-IMU based on an iterative least squares method. Thus, the problem of insufficient accuracy and robustness in the calibration of the millimeter-wave radar-IMU in a complex environment is solved, and the calibration accuracy and system robustness in a dynamic environment are greatly improved.
Description
Technical Field
The application relates to the technical field of external parameter calibration, in particular to an external parameter calibration method, device, equipment and storage medium of a millimeter wave radar-IMU.
Background
With the increasing demand for high-precision positioning, navigation and sensing in the fields of autopilot, unmanned aerial vehicle, robot and the like, millimeter wave radar and IMU (Inertial Measurement Unit ) have become important sensors for realizing high-precision spatial sensing and dynamic positioning. The accurate calibration of the millimeter wave radar and the IMU is a key step for realizing high-precision pose and speed estimation of the millimeter wave radar-IMU combined system. The calibration process not only provides necessary coordinate system conversion for converting the target position detected by the millimeter wave radar into a navigation coordinate system, but also lays a foundation for further sensor fusion.
Related art proposes an odometer-based method for millimeter wave radar-IMU external parameter calibration, and external parameters are solved by estimating the pose of the radar and IMU by using the millimeter wave radar and IMU respectively and correlating the pose information of the radar and IMU.
However, in practical applications, millimeter wave radar-IMU calibration accuracy is limited by a number of factors. Firstly, millimeter wave radars commonly use corner reflectors (hereinafter referred to as corner inversions) as targets, but the limited quantity of the corner inversions leads to insufficient observation data, so that the calibration result depends on limited observation quantity, and further the accuracy is limited. Secondly, the point cloud generated by the millimeter wave radar is sparse and sensitive to reflection intensity of different materials, so that feature extraction of a specific region of interest becomes difficult. Because the effective observation value is scarce, the millimeter wave radar is difficult to realize high-precision pose estimation through SLAM and other methods, and the IMU calculates the pose through an integral mode, so that the problem of error accumulation exists, and the calibration precision is further influenced. In addition, in a dynamic environment such as a ship-borne system, the installation positions of the millimeter wave radar and the IMU are interfered by external interference such as water waves and the like along with the movement of a carrier, so that the observed value is interfered by noise such as background objects and multipath signals and the like, and the stability and the reliability of calibration are affected.
Disclosure of Invention
The application provides an external parameter calibration method, device, equipment and storage medium of a millimeter wave radar-IMU, which are used for solving the problems of insufficient precision and robustness of the calibration of the millimeter wave radar-IMU in a complex environment and greatly improving the calibration precision and the robustness of a system in a dynamic environment.
An embodiment of a first aspect of the present application provides an external parameter calibration method for a millimeter wave radar-IMU, including the steps of:
Acquiring global positioning coordinates of at least one corner reflector, global positioning coordinates of a moving carrier and a plurality of initial point cloud coordinates of each corner reflector;
determining a target point cloud coordinate of each corner reflector from a plurality of initial point cloud coordinates of each corner reflector based on the global positioning coordinates of each corner reflector and the global positioning coordinates of the moving carrier;
Converting global positioning coordinates of each corner reflector into an IMU coordinate system to obtain IMU coordinates of each corner reflector, carrying out coordinate correlation on target point cloud coordinates of each corner reflector and the IMU coordinates of each corner reflector, and solving based on an iterative least square method to obtain external parameters of the millimeter wave radar-IMU.
Optionally, in some embodiments, the determining the point cloud coordinates of each corner reflector from the plurality of initial point cloud coordinates of each corner reflector based on the global positioning coordinates of each corner reflector and the global positioning coordinates of the moving carrier includes:
Determining a reference distance between each corner reflector and the moving carrier according to the global positioning coordinates of each corner reflector and the global positioning coordinates of the moving carrier;
and determining the target point cloud coordinates of each corner reflector from the plurality of initial point cloud coordinates of each corner reflector according to the reference distance.
Optionally, in some embodiments, the determining the reference distance between each corner reflector and the moving carrier according to the global positioning coordinates of each corner reflector and the global positioning coordinates of the moving carrier includes:
Determining a reference distance between each corner reflector and the moving carrier according to the global positioning coordinate of each corner reflector and the global positioning coordinate of the moving carrier based on a preset distance calculation formula, wherein the preset distance calculation formula is as follows:
Wherein D IR,k is the reference distance, Is the global positioning coordinate of the ith reflector,Global positioning coordinates for the moving carrier.
Optionally, in some embodiments, the converting the global positioning coordinate of each corner reflector to the IMU coordinate system to obtain the IMU coordinate of each corner reflector includes:
Obtaining an IMU pose sequence based on a preset GNSS/INS combination algorithm;
converting the global positioning coordinates of each corner reflector into a navigation coordinate system to obtain navigation coordinate system coordinates of each corner reflector;
And obtaining the IMU coordinates of each corner reflector according to the pose sequence of the IMU and the navigation coordinate system coordinates of each corner reflector.
An embodiment of a second aspect of the present application provides an external parameter calibration device for a millimeter wave radar-IMU, including:
the acquisition module is used for acquiring global positioning coordinates of at least one corner reflector, global positioning coordinates of a motion carrier and a plurality of initial point cloud coordinates of each corner reflector;
A determining module, configured to determine a target point cloud coordinate of each corner reflector from a plurality of initial point cloud coordinates of each corner reflector based on a global positioning coordinate of each corner reflector and a global positioning coordinate of the motion carrier;
The association module is used for converting the global positioning coordinates of each corner reflector into an IMU coordinate system to obtain IMU coordinates of each corner reflector, carrying out coordinate association on the target point cloud coordinates of each corner reflector and the IMU coordinates of each corner reflector, and solving based on an iterative least squares method to obtain external parameters of the millimeter wave radar-IMU.
Optionally, in some embodiments, the determining module includes:
a first determining unit configured to determine a reference distance between each corner reflector and the moving carrier according to the global positioning coordinates of each corner reflector and the global positioning coordinates of the moving carrier;
And a second determining unit configured to determine a target point cloud coordinate of each corner reflector from among a plurality of initial point cloud coordinates of each corner reflector according to the reference distance.
Optionally, in some embodiments, the first determining unit includes:
A calculating subunit, configured to determine, based on a preset distance calculation formula, a reference distance between each corner reflector and the moving carrier according to the global positioning coordinate of each corner reflector and the global positioning coordinate of the moving carrier, where the preset distance calculation formula is:
Wherein D IR,k is the reference distance, Is the global positioning coordinate of the ith reflector,Global positioning coordinates for the moving carrier.
Optionally, in some embodiments, the association module includes:
the first generation unit is used for obtaining the pose sequence of the IMU based on a preset GNSS/INS combination algorithm;
The switching unit is used for converting the global positioning coordinates of each corner reflector into a navigation coordinate system to obtain the navigation coordinate system coordinates of each corner reflector;
and the second generation unit is used for obtaining the IMU coordinates of each corner reflector according to the pose sequence of the IMU and the navigation coordinate system coordinates of each corner reflector.
An embodiment of a third aspect of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor executes the program to implement the method for calibrating an external parameter of a millimeter wave radar-IMU according to the above embodiment.
An embodiment of a fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor for implementing the external parameter calibration method of a millimeter wave radar-IMU as described in the above embodiment.
Therefore, the application has at least the following beneficial effects:
(1) According to the application, the angular inverse observation is performed in a dynamic carrier mode, and the obtained plurality of angular inverse sequences can make up for the limitation of calibration precision caused by insufficient angular inverse quantity.
(2) According to the application, the GNSS is used for screening the point cloud coordinates with inverse angles, so that the influence of noise and rough differences is effectively restrained in an initial stage.
(3) According to the application, GNSS assistance is introduced, and the pose of the IMU in the GNSS coordinate system can be accurately calculated through the pose of the IMU calculated by the GNSS/INS combination, so that the angle is reversely converted into the IMU coordinate system.
In summary, the application not only solves the limitation of the traditional calibration method in the complex environment, but also greatly improves the calibration precision and the robustness of the system in the dynamic environment.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a flowchart of an external parameter calibration method of a millimeter wave radar-IMU according to an embodiment of the application;
Fig. 2 is a schematic diagram of an on-board millimeter wave radar-IMU external parameter calibration experiment provided according to an embodiment of the application;
fig. 3 is a schematic diagram of millimeter wave radar-IMU external parameters provided in accordance with one embodiment of the application;
Fig. 4 is a schematic diagram of a result of alignment of an angular inverse in a millimeter wave radar coordinate system and IMU coordinates after an external parameter is converted according to an embodiment of the present application, where (a) of fig. 4 is a schematic diagram of a result of alignment using an external parameter calculated in iteration 1, and (b) of fig. 4 is a schematic diagram of a result of alignment using an external parameter calculated in iteration 20;
Fig. 5 is a flowchart of a millimeter wave radar-IMU calibration method provided according to an embodiment of the application;
fig. 6 is a schematic block diagram of an external parameter calibration device of a millimeter wave radar-IMU according to an embodiment of the application;
Fig. 7 is a schematic structural diagram of an apparatus according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
The external parameter calibration method, device, equipment and storage medium of the millimeter wave radar-IMU of the embodiment of the application are described below with reference to the accompanying drawings. Aiming at the problems of insufficient precision and robustness of the calibration of the millimeter wave radar-IMU in the complex environment, the application provides an external parameter calibration method of the millimeter wave radar-IMU, wherein in the method, firstly, the distances from different time angles to the IMU are calculated according to the GNSS coordinate sequence of a carrier and the GNSS coordinates of the angular reaction, and accordingly, the angular reaction cloud coordinates are preselected; and finally, estimating the millimeter wave radar-IMU external parameters by correlating the point cloud coordinates of the angle opposition with the IMU coordinates, and gradually removing the gross error from the preselected angle opposition coordinates by adopting an iterative least square mode during calculation so as to improve the accuracy of external parameter calculation.
Specifically, fig. 1 is a schematic flow chart of an external parameter calibration method of a millimeter wave radar-IMU according to an embodiment of the present application.
As shown in fig. 1, the external parameter calibration method of the millimeter wave radar-IMU comprises the following steps:
in step S101, global positioning coordinates of at least one corner reflector, global positioning coordinates of a moving carrier, and a plurality of initial point cloud coordinates of each corner reflector are acquired.
The global positioning coordinates are measured by a GNSS RTK method, and the initial point cloud coordinates are measured by a millimeter wave radar.
Specifically, referring to fig. 2, three corner reflectors are placed on shore in a static manner, accurate GNSS coordinates of the corner reflectors are measured by using a GNSS RTK method, and the RTK measurement accuracy is in the order of centimeters. And under the condition of ship body movement, turning on the millimeter wave radar, the IMU and the GNSS. The method comprises the steps of detecting a corner reflector by a millimeter wave radar to obtain an initial point cloud sequence of angular inversion, and estimating the accurate pose of the IMU by using an IMU and a GNSS.
In step S102, the target point cloud coordinates of each corner reflector are determined from the plurality of initial point cloud coordinates of each corner reflector based on the global positioning coordinates of each corner reflector and the global positioning coordinates of the moving carrier.
Further, in some embodiments, determining the point cloud coordinates of each corner reflector from among the plurality of initial point cloud coordinates of each corner reflector based on the global positioning coordinates of each corner reflector and the global positioning coordinates of the moving carrier includes determining a reference distance between each corner reflector and the moving carrier from among the plurality of initial point cloud coordinates of each corner reflector based on the global positioning coordinates of each corner reflector and the global positioning coordinates of the moving carrier, and determining the target point cloud coordinates of each corner reflector from among the plurality of initial point cloud coordinates of each corner reflector based on the reference distance.
In the embodiment of the present application, as shown in fig. 3, a millimeter wave radar coordinate system is set as M, an IMU coordinate system is set as I, an earth coordinate system is set as G, and external parameters are taken asRepresenting transformation parameters of IMU coordinate system to millimeter wave radar coordinate system, e.g. external parametersWherein the method comprises the steps ofRepresents the rotation from the I-series to the M-series,Representing translation from line I to line M.
Specifically, in the earth coordinate system G, the angular anticordinate measured by GNSS RTK isRespectively representing longitude, latitude and elevation, the coordinate value does not change with time under the static condition.
In the M coordinate system, the angular inverse homogeneous coordinate form isWhere i denotes the angular reverse number and k denotes the time of day. The IMU coordinates are calculated by adopting a GNSS/INS combination method and are as followsK represents the time.
According to the embodiment of the application, after the global positioning coordinates of at least one corner reflector, the global positioning coordinates of the motion carrier and the plurality of initial point cloud coordinates of each corner reflector are obtained, the radar point cloud can be preselected.
The millimeter wave radar sampling rate is 20Hz, and the point cloud measured at each moment can be converted into a plurality of distances. These points are affected by noise and clutter, making it difficult to accurately screen the angular anti-points without other observation assistance. The embodiment of the application can firstly convert the point cloud at the kth moment into the distance, namely:
Then pass through AndCalculating the distance of the angle inverse to the IMU:
Under the long-distance condition, the distances from the set angle to the millimeter wave radar and the IMU are approximately equal, and D i,k can be pre-screened by referring to the distance D IR,k to obtain a pre-selected angle anti-point cloud sequence
In step S103, the global positioning coordinate of each corner reflector is converted to an IMU coordinate system, so as to obtain an IMU coordinate of each corner reflector, the cloud coordinate of the target point of each corner reflector and the IMU coordinate of each corner reflector are associated in coordinates, and the external parameters of the millimeter wave radar-IMU are obtained based on an iterative least squares method.
Further, in some embodiments, the global positioning coordinates of each corner reflector are converted to an IMU coordinate system to obtain IMU coordinates of each corner reflector, and the IMU coordinates of each corner reflector are obtained according to the IMU pose sequences and the navigation coordinate system coordinates of each corner reflector.
Specifically, in the embodiment of the application, when the cloud coordinates of the target points of each corner reflector are determined, the cloud coordinates of the target points of corner reflection can be converted into an IMU coordinate system.
In particular, according to angular countersubstanceIMU coordinatesBoth are first converted into navigation coordinate system (east-north-up, enu) to obtain
Specifically, all the longitude and latitude heights [ blh ] T are converted into the form of cartesian coordinates [ xyz ] T, and after one origin [ x 0y0z0]T is selected, the navigation coordinates of one point are calculated as follows:
Wherein, [ ΔxΔyΔz ] T＝[x y z]T-[x0y0z0]T.
The IMU gesture obtained by the GNSS/INS combination algorithm is relative to a navigation coordinate system, so that the IMU position (navigation coordinate system) and gesture can form a gesture sequenceCan be used forConverting to an IMU coordinate system I to obtain an inverted angle I coordinate system
After preselection and conversion, the coordinates in the two coordinate systems at the moment k are correlatedAnd
Each equation has the weight ofWherein exp (·) represents an exponential function, and F is a scaling factor. The above is abbreviated asThen K times are combined to obtain a system of equations:
External parameters Solving by weighted least squares:
the residual error is removed by multiple iterations in solving Larger items to promoteIs used for the estimation accuracy of (a).
In the actual execution process, the embodiment of the application firstly screens the synchronous time of the three point cloud sequences with opposite angles during data processing, and then evaluates the result by aligning the angles with the coordinates of the IMU coordinate system and the millimeter wave radar coordinate system by using the estimated external parameters. And setting 20 rounds of iterative computation, and eliminating the observation with larger residual error in the iterative process. Fig. 4 (a) and fig. 4 (b) show the angular anti-coordinate alignment results after the 1 st and 20 th iterations, respectively, from which it can be seen that a better alignment effect can be achieved with the increase of iterations, and outliers can be removed by residual limitation.
Table 1 gives the calibrated millimeter wave radar-IMU outlier results, outlier statistics std, and alignment re-projection errors. The result shows that the estimated millimeter wave radar-IMU course deviation angle error is 0.07 degrees, and the translation difference is 0.1m, so that the embodiment of the application has higher calibration precision. The re-projection error is 0.2m, which coincides with the ranging accuracy level of millimeter wave radar.
Wherein, table 1 is millimeter wave radar-IMU external parameter statistical analysis table.
TABLE 1
In summary, referring to fig. 5, an embodiment of the present application provides a dynamic carrier millimeter wave radar-IMU external parameter calibration method based on angular inversion under GNSS assistance. According to the method, three corner reflectors obtain high-precision GNSS coordinates through a GNSS RTK, a millimeter wave radar, an IMU and a GNSS are synchronously started in the motion process of a carrier, the distance from the corner reflectors to the carrier is dynamically calculated through the GNSS coordinate sequence of the carrier and the GNSS coordinates of the corner reflectors, so that an angular anti-point cloud coordinate is selected, then the high-precision pose of the IMU is calculated through a GNSS/INS integrated navigation algorithm, the GNSS coordinates of the corner reflectors are converted into an IMU coordinate system, the positions of the angular anti-is obtained in the IMU coordinate system, finally the point cloud coordinates of the angular anti-are related with the coordinates in the IMU coordinate system, the external parameters of the millimeter wave radar-IMU are solved through an iterative least square method, and coarse data are gradually removed in the calculation process to improve the precision. Therefore, the limitation of the traditional calibration method in a complex environment is solved, and the calibration precision and the robustness of the system in a dynamic environment are greatly improved. The embodiment of the application provides a new calibration scheme for efficient fusion of the millimeter wave radar and the IMU, is suitable for various practical application scenes, including the fields of automatic driving, unmanned aerial vehicle navigation, robot, unmanned ship positioning and sensing and the like, and simultaneously, the technology can effectively improve the positioning precision of a sensor fusion system and provide solid support for technical development of related fields.
According to the external parameter calibration method of the millimeter wave radar-IMU, the global positioning coordinates of at least one corner reflector, the global positioning coordinates of a motion carrier and the global positioning coordinates of a plurality of initial point clouds of each corner reflector are obtained, the target point cloud coordinates of each corner reflector are determined from the global positioning coordinates of the plurality of initial point clouds of each corner reflector and the global positioning coordinates of the motion carrier based on the global positioning coordinates of each corner reflector, the global positioning coordinates of each corner reflector are converted into an IMU coordinate system, the IMU coordinates of each corner reflector are obtained, the target point cloud coordinates of each corner reflector and the IMU coordinates of each corner reflector are subjected to coordinate correlation, and the external parameter of the millimeter wave radar-IMU is obtained based on an iterative least square method. Therefore, the problems of insufficient precision and robustness of the millimeter wave radar-IMU calibration in a complex environment are solved, and the calibration precision and the robustness of the system in a dynamic environment are greatly improved.
Next, an external parameter calibration device of a millimeter wave radar-IMU according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 6 is a block schematic diagram of an external parameter calibration device of a millimeter wave radar-IMU according to an embodiment of the application.
As shown in fig. 6, the external parameter calibration device 10 of the millimeter wave radar-IMU includes an acquisition module 100, a determination module 200, and an association module 300.
Wherein, the obtaining module 100 is configured to obtain global positioning coordinates of at least one corner reflector, global positioning coordinates of a moving carrier, and a plurality of initial point cloud coordinates of each corner reflector.
A determining module 200 for determining a target point cloud coordinate of each corner reflector from a plurality of initial point cloud coordinates of each corner reflector based on the global positioning coordinates of each corner reflector and the global positioning coordinates of the moving carrier.
The association module 300 is configured to convert the global positioning coordinate of each corner reflector to an IMU coordinate system, obtain an IMU coordinate of each corner reflector, coordinate-associate the cloud coordinate of the target point of each corner reflector with the IMU coordinate of each corner reflector, and solve the external parameters of the millimeter wave radar-IMU based on an iterative least squares method.
Optionally, in some embodiments, the determination module 200 includes a first determination unit and a second determination unit.
Wherein the first determining unit is used for determining the reference distance between each corner reflector and the moving carrier according to the global positioning coordinates of each corner reflector and the global positioning coordinates of the moving carrier.
And a second determining unit for determining the target point cloud coordinates of each corner reflector from among the plurality of initial point cloud coordinates of each corner reflector according to the reference distance.
Optionally, in some embodiments, the first determining unit comprises a computing subunit.
The calculating subunit is configured to determine, based on a preset distance calculation formula, a reference distance between each corner reflector and the moving carrier according to the global positioning coordinate of each corner reflector and the global positioning coordinate of the moving carrier, where the preset distance calculation formula is:
Wherein D IR,k is the reference distance, Is the global positioning coordinate of the ith reflector,Is the global positioning coordinates of the moving carrier.
Optionally, in some embodiments, the association module 300 includes a first generation unit, a switching unit, and a second generation unit.
The first generation unit is used for obtaining the pose sequence of the IMU based on a preset GNSS/INS combination algorithm.
And the switching unit is used for converting the global positioning coordinates of each corner reflector into a navigation coordinate system to obtain the navigation coordinate system coordinates of each corner reflector.
And the second generation unit is used for obtaining the IMU coordinates of each corner reflector according to the pose sequence of the IMU and the navigation coordinate system coordinates of each corner reflector.
It should be noted that the explanation of the foregoing embodiment of the external parameter calibration method of the millimeter wave radar-IMU is also applicable to the external parameter calibration device of the millimeter wave radar-IMU of this embodiment, and will not be repeated here.
According to the external parameter calibration device of the millimeter wave radar-IMU, the global positioning coordinates of at least one corner reflector, the global positioning coordinates of a motion carrier and the global positioning coordinates of a plurality of initial point clouds of each corner reflector are obtained, the target point cloud coordinates of each corner reflector are determined from the global positioning coordinates of the plurality of initial point clouds of each corner reflector and the global positioning coordinates of the motion carrier based on the global positioning coordinates of each corner reflector, the global positioning coordinates of each corner reflector are converted into an IMU coordinate system, the IMU coordinates of each corner reflector are obtained, the target point cloud coordinates of each corner reflector and the IMU coordinates of each corner reflector are subjected to coordinate correlation, and the external parameter of the millimeter wave radar-IMU is obtained based on an iterative least square method. Therefore, the problems of insufficient precision and robustness of the millimeter wave radar-IMU calibration in a complex environment are solved, and the calibration precision and the robustness of the system in a dynamic environment are greatly improved.
Fig. 7 is a schematic structural diagram of an apparatus according to an embodiment of the present application. The apparatus may include:
memory 701, processor 702, and computer programs stored on memory 701 and executable on processor 702.
The processor 702 implements the external parameter calibration method of the millimeter wave radar-IMU provided in the above embodiment when executing the program.
Further, the apparatus further comprises:
A communication interface 703 for communication between the memory 701 and the processor 702.
Memory 701 for storing a computer program executable on processor 702.
The memory 701 may include high-speed RAM (Random Access Memory ) memory, and may also include non-volatile memory, such as at least one disk memory.
If the memory 701, the processor 702, and the communication interface 703 are implemented independently, the communication interface 703, the memory 701, and the processor 702 may be connected to each other through a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture ) bus, a PCI (PERIPHERAL COMPONENT, external device interconnect) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 7, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 701, the processor 702, and the communication interface 703 are integrated on a chip, the memory 701, the processor 702, and the communication interface 703 may communicate with each other through internal interfaces.
The processor 702 may be a CPU (Central Processing Unit ) or an ASIC (Application SPECIFIC INTEGRATED Circuit, application specific integrated Circuit) or one or more integrated circuits configured to implement embodiments of the present application.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, realizes the external parameter calibration method of the millimeter wave radar-IMU.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware as in another embodiment, it may be implemented in any one or combination of techniques known in the art, discrete logic circuits with logic gates for performing logic functions on data signals, application specific integrated circuits with appropriate combinational logic gates, programmable gate arrays, field programmable gate arrays, and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
1. The external parameter calibration method of the millimeter wave radar-IMU is characterized by comprising the following steps of:
Acquiring global positioning coordinates of at least one corner reflector, global positioning coordinates of a moving carrier and a plurality of initial point cloud coordinates of each corner reflector;
determining a target point cloud coordinate of each corner reflector from a plurality of initial point cloud coordinates of each corner reflector based on the global positioning coordinates of each corner reflector and the global positioning coordinates of the moving carrier;
Converting global positioning coordinates of each corner reflector into an IMU coordinate system to obtain IMU coordinates of each corner reflector, carrying out coordinate correlation on target point cloud coordinates of each corner reflector and the IMU coordinates of each corner reflector, and solving based on an iterative least square method to obtain external parameters of the millimeter wave radar-IMU.
2. The method of claim 1, wherein the determining the point cloud coordinates of each corner reflector from the plurality of initial point cloud coordinates of each corner reflector based on the global positioning coordinates of each corner reflector and the global positioning coordinates of the moving carrier comprises:
Determining a reference distance between each corner reflector and the moving carrier according to the global positioning coordinates of each corner reflector and the global positioning coordinates of the moving carrier;
and determining the target point cloud coordinates of each corner reflector from the plurality of initial point cloud coordinates of each corner reflector according to the reference distance.
3. The method of claim 2, wherein said determining the reference distance between each corner reflector and the moving carrier based on the global positioning coordinates of each corner reflector and the global positioning coordinates of the moving carrier comprises:
Determining a reference distance between each corner reflector and the moving carrier according to the global positioning coordinate of each corner reflector and the global positioning coordinate of the moving carrier based on a preset distance calculation formula, wherein the preset distance calculation formula is as follows:
Wherein D IR,k is the reference distance, Is the global positioning coordinate of the ith reflector,Global positioning coordinates for the moving carrier.
4. The method of claim 1, wherein converting the global positioning coordinates of each corner reflector to an IMU coordinate system to obtain IMU coordinates of each corner reflector comprises:
Obtaining an IMU pose sequence based on a preset GNSS/INS combination algorithm;
converting the global positioning coordinates of each corner reflector into a navigation coordinate system to obtain navigation coordinate system coordinates of each corner reflector;
And obtaining the IMU coordinates of each corner reflector according to the pose sequence of the IMU and the navigation coordinate system coordinates of each corner reflector.
5. The millimeter wave radar-IMU external parameter calibration device is characterized by comprising:
the acquisition module is used for acquiring global positioning coordinates of at least one corner reflector, global positioning coordinates of a motion carrier and a plurality of initial point cloud coordinates of each corner reflector;
A determining module, configured to determine a target point cloud coordinate of each corner reflector from a plurality of initial point cloud coordinates of each corner reflector based on a global positioning coordinate of each corner reflector and a global positioning coordinate of the motion carrier;
The association module is used for converting the global positioning coordinates of each corner reflector into an IMU coordinate system to obtain IMU coordinates of each corner reflector, carrying out coordinate association on the target point cloud coordinates of each corner reflector and the IMU coordinates of each corner reflector, and solving based on an iterative least squares method to obtain external parameters of the millimeter wave radar-IMU.
6. The apparatus of claim 5, wherein the determining module comprises:
a first determining unit configured to determine a reference distance between each corner reflector and the moving carrier according to the global positioning coordinates of each corner reflector and the global positioning coordinates of the moving carrier;
And a second determining unit configured to determine a target point cloud coordinate of each corner reflector from among a plurality of initial point cloud coordinates of each corner reflector according to the reference distance.
7. The apparatus according to claim 6, wherein the first determining unit includes:
A calculating subunit, configured to determine, based on a preset distance calculation formula, a reference distance between each corner reflector and the moving carrier according to the global positioning coordinate of each corner reflector and the global positioning coordinate of the moving carrier, where the preset distance calculation formula is:
Wherein D IR,k is the reference distance, Is the global positioning coordinate of the ith reflector,Global positioning coordinates for the moving carrier.
8. The apparatus of claim 5, wherein the association module comprises:
the first generation unit is used for obtaining the pose sequence of the IMU based on a preset GNSS/INS combination algorithm;
The switching unit is used for converting the global positioning coordinates of each corner reflector into a navigation coordinate system to obtain the navigation coordinate system coordinates of each corner reflector;
and the second generation unit is used for obtaining the IMU coordinates of each corner reflector according to the pose sequence of the IMU and the navigation coordinate system coordinates of each corner reflector.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the millimeter wave radar-IMU external parameter calibration method of any one of claims 1-4.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing the external parameter calibration method of a millimeter wave radar-IMU according to any of claims 1-4.
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