The embodiment of the invention discloses a position and posture determination method and device of a vehicle train, electronic equipment and a storage medium, and the method comprises the steps: obtaining a model derivation position and posture of each axis at the next moment through a kinematic model, the control quantity of a tractor at the current moment and the initial position and posture of each axis at the current moment, determining the actual detection pose of each axis at the next moment according to effective data of a sensor of the tractor, so as to construct a model constraint residual error, a geometric constraint residual error and a detection residual error according to the model derivation pose, the target estimation pose and the actual detection pose at the next moment, and further obtain an accumulated residual error; according to the method, the minimum accumulated residual error is taken as a target for solving, the target estimation pose of each axis at the next moment is obtained, the target estimation pose is taken as the initial pose of the next moment, the optimization of the model derivation pose is realized by constructing three residual errors, the accumulated error in pose estimation is reduced, and the pose estimation cost is reduced.
本公开实施例公开了一种汽车列车的位姿确定方法、装置、电子设备和存储介质,该方法包括:通过运动学模型、牵引车在当前时刻的控制量以及各轴心在当前时刻的初始位姿,得到各轴心在下一时刻的模型推导位姿,并根据牵引车的传感器有效数据确定各轴心在下一时刻的实际检测位姿,从而根据下一时刻的模型推导位姿、目标估计位姿以及实际检测位姿构建模型约束残差、几何约束残差以及检测残差,进而得到累计残差,以累计残差最小化为目标进行求解,得到各轴心在下一时刻的目标估计位姿,并将其作为下一时刻的初始位姿,该方法通过构建三种残差实现了对模型推导位姿的优化,减少了位姿估计中的累计误差,降低了位姿估计成本。
Method and device for determining position and posture of combination vehicle, electronic equipment and storage medium
汽车列车的位姿确定方法、装置、电子设备和存储介质
2023-11-24
Patent
Elektronische Ressource
Chinesisch
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