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CN-122015858-A - Vehicle-mounted large-space six-degree-of-freedom pose resolving system and method based on self-adaptive weight nesting

CN122015858ACN 122015858 ACN122015858 ACN 122015858ACN-122015858-A

Abstract

The invention provides a vehicle-mounted large-space six-degree-of-freedom pose resolving system and method based on self-adaptive weight nesting, comprising a global positioning unit, a local positioning unit, a self-adaptive weight fusion unit, a motion compensation unit and a nested synthesis unit, wherein the global positioning unit is used for obtaining the global pose of a carrier under a world coordinate system, the local positioning unit is used for obtaining the local pose of a terminal under the carrier coordinate system, the self-adaptive weight fusion unit is used for carrying out reliability assessment on a local observation source and generating a weight factor, the motion compensation unit is used for obtaining a carrier kinetic parameter and stripping a carrier motion component from terminal inertial observation so as to obtain purified inertial observation for state prediction, and the nested synthesis unit is used for outputting the absolute pose of the terminal under the world coordinate system according to the relation of a nested reference system.

Inventors

  • CHEN HUICHONG

Assignees

  • 武汉华创全息数字科技有限公司

Dates

Publication Date
20260512
Application Date
20260210

Claims (10)

  1. 1. The vehicle-mounted large-space six-degree-of-freedom pose solving system based on self-adaptive weight nesting is characterized by comprising the following steps of: Global positioning unit for obtaining global pose of carrier under world coordinate system The global positioning unit comprises an external absolute positioning source and/or a carrier inertia/mileage source and outputs corresponding credibility or uncertainty indexes; A local positioning unit for obtaining the local pose of the terminal under the carrier coordinate system The local positioning unit at least comprises a terminal inertia measurement unit and at least one in-vehicle local observation source; an adaptive weight fusion unit: For credibility evaluation of the local observation source and generation of weight factors Fusion updating or noise scheduling is carried out on the local pose based on the weight; the motion compensation unit is used for acquiring carrier kinetic parameters and stripping carrier motion components from the terminal inertial observation to obtain a purified inertial observation for state prediction; the self-adaptive weight fusion unit and/or the nested synthesis unit comprise a state estimator, wherein the state estimator carries out fusion updating on the global pose and the local pose based on a unified time stamp, and outputs the continuous six-degree-of-freedom pose of the terminal and the confidence index thereof under the world coordinate system.
  2. 2. The vehicle-mounted large-space six-degree-of-freedom pose resolving system based on self-adaptive weight nesting of claim 1, further comprising a heterogeneous source clock synchronization module, wherein the heterogeneous source clock synchronization module is used for distributing a unified time reference for at least two types of sensors in an external global positioning unit and an in-vehicle multi-mode local positioning unit and generating high-precision timestamps, and the sensors at least comprise RTK-GNSS, UWB, a camera/infrared camera, millimeter wave radar and/or IMU; The 6DoF pose resolving kernel utilizes the unified timestamp to execute time alignment compensation on observation data with different sampling frequencies, and executes delay compensation on sensor signal transmission delay in a prediction/interpolation mode so as to reduce space pose deviation introduced by different-frequency sampling and transmission delay and improve continuity and stability of nested synthetic pose output; the local observation source is selected from at least two different physical modes of a radio mode, an optical visual mode and a microwave mode, fusion weights are generated or observation noise covariance scheduling is executed based on confidence indexes of the modes, the radio mode comprises a two-way ranging and/or arrival angle observation value based on flight time, the optical visual mode comprises a PnP pose observation value based on infrared or visible light characteristic points, and the microwave mode comprises a radial speed observation value based on millimeter wave radar Doppler frequency shift.
  3. 3. The vehicle-mounted large-space six-degree-of-freedom pose solving system based on adaptive weight nesting as claimed in claim 1, wherein the in-vehicle local observation source comprises UWB ranging/angle measurement observation, and the UWB observation at least comprises two-way ranging and/or angle of arrival; the in-vehicle local observation source comprises a visual or infrared observation unit, wherein the observation unit multiplexes a camera or an infrared camera of a vehicle driver monitoring system, and solves the relative pose of the terminal through marking points/characteristic points; The in-vehicle local observation source comprises a microwave radar observation unit, wherein the microwave radar is used for providing a terminal or human body relative distance, relative speed or micro-motion characteristic constraint so as to participate in pose calculation under a vision degradation scene, and the relative speed is obtained by Doppler frequency shift calculation of microwave/millimeter wave radar echo and is used as a speed observation item or residual constraint item of a state estimator to participate in fusion update; the in-vehicle local observation source also comprises auxiliary constraint observation sources such as acoustic/ultrasonic, magnetic field or air pressure; The microwave/millimeter wave radar observation unit supports outputting any one or more of a 1D distance spectrum, a 2D distance-speed diagram or a 3D point cloud for constructing distance/speed/structural feature constraints.
  4. 4. The vehicle-mounted large-space six-degree-of-freedom pose solving system based on self-adaptive weight nesting of claim 1, wherein the solving system supports multi-terminal collaborative calibration, when a plurality of interactive terminals exist in a cabin, constructing a space constraint graph between terminals by using UWB (ultra-wideband) mutual ranging information and/or vision/infrared characteristic sharing information between the terminals, and carrying out collaborative estimation on a shared carrier coordinate system bias or a local pose error based on the constraint graph; When a plurality of terminals exist, the problem of joint estimation is built based on UWB relative ranging constraint among the terminals, and joint estimation and correction are carried out on common carrier coordinate system bias items, so that the spatial consistency of the plurality of terminals is improved, and the error propagation of a single terminal is reduced.
  5. 5. The vehicle-mounted large-space six-degree-of-freedom pose solving system based on self-adaptive weight nesting of claim 1, wherein the local positioning unit comprises a millimeter wave radar subsystem, and the system extracts Doppler frequency shift characteristics in radar echoes to obtain instantaneous radial speed constraint of a terminal relative to a carrier and uses the instantaneous radial speed constraint as an updating amount of a state estimator for correcting inertial predicted speed drift; The Doppler radial speed constraint further participates in acceleration consistency verification of the terminal relative to the carrier or corrects a first derivative term of the speed so as to inhibit inertia integral divergence under severe bumping working conditions; the nested synthesis unit comprises a smooth repositioning module, when the global positioning unit is recovered to be effective or the weight is subjected to severe jump, the system gradually digests the pose deviation in a preset time through a time domain interpolation algorithm so as to eliminate the space instantaneous movement of the virtual content; The weight evaluator and/or the nested synthesis unit comprises a time domain smoothing filter in the process of switching different modal data or capturing global references, and the time domain smoothing filter is used for progressively digesting the space inconsistency between different references in a preset time window so as to realize seamless transition of a virtual image in a physical space and inhibit visual jump; the local positioning unit supports mutual observation of multiple terminals, and the pose residual errors under the carrier coordinate system are estimated cooperatively through relative ranging or relative pose constraint among the multiple terminals.
  6. 6. The vehicle-mounted large-space six-degree-of-freedom pose solving system based on adaptive weight nesting as set forth in claim 2, wherein said adaptive weight fusion unit generates a confidence score based on an observation quality index The quality index comprises one or more of signal-to-noise ratio, residual error statistics, number of characteristic points, shielding state or multipath discrimination index; the weight factor Generated by a credibility score through a nonlinear mapping function and meets the requirement of ; The weight factor Setting a hysteresis or time smoothing mechanism to suppress weight jitter and avoid output kick; The weight engine realizes fusion weight adjustment through dispatching observation noise covariance or equivalent Kalman gain; The weight estimator comprises a time domain smoothing filter or an interpolation passing function in the switching process of different modal data or different references, and is used for eliminating the spatial inconsistency between the references of different sensors and realizing the seamless transition of the virtual image in the physical space.
  7. 7. The vehicle-mounted large-space six-degree-of-freedom pose solving system based on adaptive weight nesting of claim 1, wherein said motion compensation unit obtains carrier dynamics parameters from a vehicle bus, including one or more of linear acceleration, angular velocity, vehicle speed and steering angle; The motion compensation unit maps the dynamic component of the carrier to a terminal inertial measurement coordinate system according to the external reference relation between the terminal and the carrier, and deducts the dynamic component from the terminal inertial observation to obtain a purified inertial observation; The motion compensation unit considers an additional term introduced by the lever arm effect of the terminal relative to the carrier reference point so as to reduce transverse misjudgment under the turning working condition.
  8. 8. The vehicle-mounted large-space six-degree-of-freedom pose resolving system based on self-adaptive weight nesting is characterized by further comprising a time synchronization module, wherein the time synchronization module performs time stamp alignment on external absolute positioning, carrier dynamics and local observation on a unified time reference provided by the heterogeneous source clock synchronization module, and achieves consistency fusion by adopting caching, interpolation or delay compensation, and when residual error is abnormally increased, the time synchronization module triggers consistency verification and observation weight reduction strategies.
  9. 9. The vehicle-mounted large-space six-degree-of-freedom pose solving system based on self-adaptive weight nesting of the invention as set forth in claim 1, wherein when an external absolute positioning signal is degraded or interrupted, the system reduces global observation weight and promotes local observation weight to maintain continuous pose output; when the visual/infrared detection is degraded, the system automatically promotes the UWB or microwave radar observation weight; when the wireless observation is degraded, the system automatically promotes the visual/infrared measurement weight; Outputting the confidence index while outputting the pose for the upper layer to apply the self-adaptive selection rendering strategy or the interaction strategy; the vision/infrared detection unit multiplexes the original DMS camera of the vehicle; the UWB anchor point multiplexes the original UWB module of the vehicle or the vehicle key UWB unit to form an anchor point network; The global positioning unit multiplexes the vehicle autopilot positioning antenna or the on-board inertial unit.
  10. 10. A resolving method using the resolving system according to claim 1, comprising the steps of: S1, acquiring global pose of carrier And its credibility; s2, acquiring terminal inertia data and in-vehicle multi-mode local observation data; s3, executing time alignment to form a data packet under a unified time reference; S4, stripping a motion component of the terminal inertial observation based on the carrier kinetic parameters to obtain a purified inertial observation; S5, carrying out local state prediction based on the purifying inertial observation; s6, carrying out credibility evaluation on the multi-mode local observation and generating weights; S7, carrying out fusion updating on the local pose according to the weight to obtain the fusion local pose of the terminal under the carrier coordinate system; S8, synthesizing the global pose of the carrier and the fusion local pose based on a nested reference system relationship, and outputting the absolute six-degree-of-freedom pose of the terminal under a world coordinate system; s9, executing a degradation strategy to maintain continuous output when degradation is observed.

Description

Vehicle-mounted large-space six-degree-of-freedom pose resolving system and method based on self-adaptive weight nesting Technical Field The invention relates to the technical fields of multi-sensor fusion positioning, space sensing and motion compensation, in particular to a vehicle-mounted large-space six-degree-of-freedom pose resolving system and method based on self-adaptive weight nesting. Background With the improvement of the capabilities of a vehicle-mounted computing platform and a display terminal, interactive technologies such as augmented reality and mixed reality which need accurate spatial alignment are gradually introduced into application scenes such as vehicle navigation, immersive entertainment, mobile office and an automatic cockpit. However, unlike indoor or stationary environments, the vehicle-mounted environment is characterized by a carrier itself that is constantly in complex motion, such as acceleration, deceleration, steering, etc. In actual use, the overall movement produced by the vehicle running is concurrent with the localized movement produced by the occupant or his wearing equipment in the cabin. If the algorithm layer cannot distinguish and model the motions from different sources, the system can not judge whether the current pose change is from the overall motion of the carrier or the motion of the user, so that the space positioning result is unstable. The existing vehicle-mounted space positioning technology has the following general defects that (1) a reference system splitting and modeling method aiming at a mobile carrier environment is lacked, carrier movement and user movement are difficult to distinguish, (2) a systematic movement compensation mechanism aiming at a non-inertial reference system is lacked, an inertial measurement result is easy to generate pseudo increment and drift, (3) a unified framework capable of carrying out reliability assessment and self-adaptive fusion according to sensor state change is lacked, and (4) comprehensive requirements of pose precision, stability, continuity and user comfort are difficult to meet under complex working conditions. Disclosure of Invention Aiming at the defects of the prior art, the invention aims to provide a vehicle-mounted large-space six-degree-of-freedom pose resolving system and method based on self-adaptive weight nesting, so as to solve the problems in the prior art. In order to achieve the purpose, the invention is realized through the following technical scheme that the vehicle-mounted large-space six-degree-of-freedom pose resolving system based on self-adaptive weight nesting comprises: Global positioning unit for obtaining global pose of carrier under world coordinate system The global positioning unit comprises an external absolute positioning source and/or a carrier inertia/mileage source and outputs corresponding credibility or uncertainty indexes; A local positioning unit for obtaining the local pose of the terminal under the carrier coordinate system The local positioning unit at least comprises a terminal inertia measurement unit and at least one in-vehicle local observation source; an adaptive weight fusion unit: For credibility evaluation of the local observation source and generation of weight factors Fusion updating or noise scheduling is carried out on the local pose based on the weight; the motion compensation unit is used for acquiring carrier kinetic parameters and stripping carrier motion components from the terminal inertial observation to obtain a purified inertial observation for state prediction; the self-adaptive weight fusion unit and/or the nested synthesis unit comprise a state estimator, wherein the state estimator carries out fusion updating on the global pose and the local pose based on a unified time stamp, and outputs the continuous six-degree-of-freedom pose of the terminal and the confidence index thereof under the world coordinate system. Further, the system also comprises a heterogeneous source clock synchronization module, wherein the heterogeneous source clock synchronization module is used for distributing a unified time reference for at least two types of sensors in the external global positioning unit and the in-vehicle multi-mode local positioning unit and generating high-precision time stamps, and the sensors at least comprise RTK-GNSS, UWB, a camera/infrared camera, millimeter wave radar and/or IMU; The 6DoF pose resolving kernel utilizes the unified timestamp to execute time alignment compensation on observation data with different sampling frequencies, and executes delay compensation on sensor signal transmission delay in a prediction/interpolation mode so as to reduce space pose deviation introduced by different-frequency sampling and transmission delay and improve continuity and stability of nested synthetic pose output; the local observation source is selected from at least two different physical modes of a radio mode, an optical visual mode and a microwave