CN-119756422-B - Ship inertial navigation equipment position and posture calibration method based on two-dimensional code scanning

CN119756422BCN 119756422 BCN119756422 BCN 119756422BCN-119756422-B

Abstract

The invention discloses a method for calibrating the position and the posture of ship inertial navigation equipment based on two-dimension code scanning, which comprises the following steps of printing a positioning two-dimension code on a plane mirror, and installing the plane mirror at the position of a bow-stern line or a GNSS antenna of a ship deck; the method comprises the steps of installing a high-precision camera and calibrating, obtaining an installation deflection angle between inertial navigation equipment and the high-precision camera, obtaining a coordinate conversion matrix between the inertial navigation equipment and the high-precision camera, obtaining a corresponding position and posture relation between the two-dimensional code and the high-precision camera by shooting the two-dimensional code through the high-precision camera, obtaining the coordinate conversion matrix between the two-dimensional code and the high-precision camera, calculating a posture transfer matrix between the inertial navigation equipment and the two-dimensional code, calculating the installation deflection angle between the inertial navigation equipment and a ship bow tail line, shooting the two-dimensional code through the high-precision camera, obtaining the distance between the high-precision camera and the two-dimensional code, and then calculating an outer lever arm value of the two-dimensional code relative to the inertial navigation equipment. The invention has wider applicability.

Inventors

LIU WEI
JIAO HONGYUAN
WANG XINYI
XU YIMING
ZOU RUI
SONG SHILEI

Assignees

中船航海科技有限责任公司

Dates

Publication Date: 20260512
Application Date: 20241209

Claims (4)

1. The method for calibrating the position and the posture of the ship inertial navigation equipment based on the two-dimension code scanning is characterized by comprising the following steps: The method comprises the steps of firstly, installing a plane mirror, namely printing a positioning two-dimensional code on the plane mirror, and installing the plane mirror on a bow-stern line of a ship deck; Installing a high-precision camera on the ship inertial navigation equipment, using a side plane of the ship inertial navigation equipment as a reference plane, enabling a mounting surface of the high-precision camera to be aligned with the reference plane for installation, establishing a coordinate system by using a horizontal plane as an X axis, a horizontal plane as a longitudinal axis, a vertical direction as a Z axis and a side center of the ship inertial navigation equipment as an origin, and calibrating in a laboratory, thereby obtaining a mounting deflection angle between the ship inertial navigation equipment and the high-precision camera relative to the high-precision camera, and obtaining a coordinate conversion matrix between the ship inertial navigation equipment and the high-precision camera according to the mounting deflection angle; obtaining a coordinate conversion matrix by shooting the two-dimensional code of the plane mirror through the high-precision camera, and obtaining the corresponding position and posture relation between the high-precision camera and the two-dimensional code of the plane mirror, thereby obtaining the coordinate conversion matrix between the two-dimensional code of the plane mirror and the high-precision camera, wherein the installation offset angle of the ship inertial navigation equipment relative to the high-precision camera in the X-axis direction is The installation offset angle of the ship inertial navigation device relative to the high-precision camera in the Y-axis direction is The installation offset angle of the ship inertial navigation device relative to the high-precision camera in the Z-axis direction is The coordinate transformation matrix between the ship inertial navigation equipment coordinate system and the high-precision camera is as follows: , The corresponding position and posture relation between the high-precision camera and the two-dimensional code of the plane mirror follow the following formula: , Wherein, the For the pixel coordinates, 、 For the projection coordinates of the ith target point on the image plane, The coordinate of the ith target point is represented by H, and the coordinate mapping matrix is represented by H; the above formula is developed to obtain: , obtaining the elements of the H matrix by using a plurality of target point information through a least square method; and then normalizing the H matrix unit to obtain a coordinate transformation matrix T between the two-dimensional code of the plane mirror and the high-precision camera: ; And fourthly, calibrating the installation offset angle, namely calculating an attitude transfer matrix between the two-dimensional code of the ship inertial navigation equipment relative to the plane mirror, so as to calculate the installation offset angle between the ship inertial navigation equipment and the ship bow and tail line, and finishing the installation calibration of the ship inertial navigation equipment.
2. The method for calibrating the position and the posture of the ship inertial navigation equipment based on the two-dimension code scanning is characterized by comprising the following steps: step S1, installing a plane mirror, namely printing a positioning two-dimensional code on the plane mirror, and installing the plane mirror at the position of a GNSS antenna; S2, mounting a high-precision camera on the ship inertial navigation device, mounting a mounting surface of the high-precision camera in alignment with the reference surface by taking a side plane of the ship inertial navigation device as the reference surface, establishing a coordinate system by taking the horizontal plane as an X axis, the horizontal plane as a Y axis and the vertical direction as a Z axis, and taking the side center of the ship inertial navigation device as an origin, calibrating in a laboratory, thereby obtaining a mounting deflection angle of the ship inertial navigation device relative to the high-precision camera, and obtaining a coordinate conversion matrix between the ship inertial navigation device and the high-precision camera according to the mounting deflection angle; S3, obtaining a coordinate conversion matrix, namely shooting the two-dimensional code of the plane mirror through the high-precision camera, and obtaining the corresponding position and posture relation between the high-precision camera and the two-dimensional code of the plane mirror, so as to obtain the coordinate conversion matrix between the two-dimensional code of the plane mirror and the high-precision camera, wherein the installation offset angle of the ship inertial navigation equipment relative to the high-precision camera in the X-axis direction is The installation offset angle of the ship inertial navigation device relative to the high-precision camera in the Y-axis direction is The installation offset angle of the ship inertial navigation device relative to the high-precision camera in the Z-axis direction is The coordinate transformation matrix between the ship inertial navigation equipment coordinate system and the high-precision camera is as follows: , The corresponding position and posture relation between the high-precision camera and the two-dimensional code of the plane mirror follow the following formula: , Wherein, the For the pixel coordinates, For the projection coordinates of the ith target point on the image plane, The coordinate of the ith target point is represented by H, and the coordinate mapping matrix is represented by H; the above formula is developed to obtain: , obtaining the elements of the H matrix by using a plurality of target point information through a least square method; and then normalizing the H matrix unit to obtain a coordinate transformation matrix T between the two-dimensional code of the plane mirror and the high-precision camera: ; and S4, calibrating the outer lever arm value, namely shooting the two-dimensional code of the plane mirror through the high-precision camera, obtaining the distance between the high-precision camera and the two-dimensional code of the plane mirror, and then calculating the outer lever arm value of the two-dimensional code of the plane mirror relative to the ship inertial navigation equipment according to the gesture transfer matrix between the ship inertial navigation equipment and the two-dimensional code of the plane mirror.
3. The method for calibrating the position and the posture of the ship inertial navigation device based on two-dimensional code scanning according to claim 1 or 2, wherein the posture transfer matrix between the two-dimensional codes of the ship inertial navigation device relative to the plane mirror The calculation formula of (2) is as follows: 。
4. The method for calibrating the position and the posture of the ship inertial navigation device based on the two-dimensional code scanning according to claim 3, wherein the projection of the two-dimensional code of the plane mirror relative to the position of the high-precision camera in three directions of an X axis, a Y axis and a Z axis follows the following formula: , wherein L is the distance between the high-precision camera and the two-dimensional code of the plane mirror, The two-dimension code of the plane mirror is an outer lever arm value of the ship inertial navigation device in the X-axis direction; is an outer lever arm value of the two-dimension code of the plane mirror relative to the ship inertial navigation device in the Y-axis direction, The two-dimension code of the plane mirror is an outer lever arm value of the ship inertial navigation device in the Z-axis direction.

Description

Ship inertial navigation equipment position and posture calibration method based on two-dimensional code scanning Technical Field The invention relates to the field of navigation equipment, in particular to a method for calibrating the position and the posture of ship inertial navigation equipment based on two-dimension code scanning. Background Calibration of marine inertial navigation installation errors is a long-term puzzled problem, and most marine inertial navigation calibration needs to be realized by means of a gyroscopic theodolite or optical equipment and a prism. The gyro theodolite is an instrument which is integrated with the gyro and the theodolite through a connecting mechanism and is used for measuring the true north azimuth angle. The method utilizes the physical characteristics (dead axle and precession) of the gyroscope, adopts a gyro sensitive part with a metal belt suspension center of gravity moving downwards to sense the horizontal component of the rotation angular velocity of the earth, and generates a moment of precession to north under the action of gravity so as to lead the main shaft of the gyroscope to swing back and forth around the meridian plane of the earth, thereby measuring the true north azimuth angle. Gyroscopic theodolites are usually only used in static situations, and this process needs to be implemented in a dock with certain limitations for vessel calibration. Disclosure of Invention In order to solve the problems in the prior art, the invention provides a two-dimensional code scanning-based ship inertial navigation equipment position and posture calibration method, which can meet the calibration of the ship inertial navigation equipment under static and non-static conditions by utilizing a high-precision camera and a visual two-dimensional code, and has wider application range. In order to achieve the above object, the present invention provides the following technical solutions: a method for calibrating the position and posture of ship inertial navigation equipment based on two-dimension code scanning comprises the following steps: The method comprises the steps of firstly, installing a plane mirror, namely printing a positioning two-dimensional code on the plane mirror, and installing the plane mirror on a bow-stern line of a ship deck; Installing a high-precision camera on the ship inertial navigation equipment, using a side plane of the ship inertial navigation equipment as a reference plane, enabling a mounting surface of the high-precision camera to be aligned with the reference plane for installation, establishing a coordinate system by using a horizontal plane as an X axis, a horizontal plane as a longitudinal axis, a vertical direction as a Z axis and a side center of the ship inertial navigation equipment as an origin, and calibrating in a laboratory, thereby obtaining a mounting deflection angle between the ship inertial navigation equipment and the high-precision camera relative to the high-precision camera, and obtaining a coordinate conversion matrix between the ship inertial navigation equipment and the high-precision camera according to the mounting deflection angle; Obtaining a coordinate conversion matrix, namely shooting the two-dimensional code of the plane mirror through the high-precision camera, and obtaining the corresponding position and posture relation between the high-precision camera and the two-dimensional code of the plane mirror, so as to obtain the coordinate conversion matrix between the two-dimensional code of the plane mirror and the high-precision camera; And fourthly, calibrating the installation offset angle, namely calculating an attitude transfer matrix between the two-dimensional code of the ship inertial navigation equipment relative to the plane mirror, so as to calculate the installation offset angle between the ship inertial navigation equipment and the ship bow and tail line, and finishing the installation calibration of the ship inertial navigation equipment. A method for calibrating the position and posture of ship inertial navigation equipment based on two-dimension code scanning comprises the following steps: step S1, installing a plane mirror, namely printing a positioning two-dimensional code on the plane mirror, and installing the plane mirror at the position of a GNSS antenna; S2, mounting a high-precision camera on the ship inertial navigation device, mounting a mounting surface of the high-precision camera in alignment with the reference surface by taking a side plane of the ship inertial navigation device as the reference surface, establishing a coordinate system by taking the horizontal plane as an X axis, the horizontal plane as a Y axis and the vertical direction as a Z axis, and taking the side center of the ship inertial navigation device as an origin, calibrating in a laboratory, thereby obtaining a mounting deflection angle of the ship inertial navigation device relative to the high-precision camera,