The invention relates to an on-site calibration-free road side unit pre-calibration method and an on-site calibration-free road side unit, and the method comprises the following steps: fixedly arranging GNSS differential positioning modules along a reference straight line, and arranging at least one sensing module between the GNSS differential positioning modules to form a road side unit; in a standard calibration site, the GNSS differential positioning module collects the direction angle of the reference straight line and latitude and longitude elevation information of the road side unit, and each sensing module collects pitch angle and roll angle information; and based on the direction angle, the latitude and longitude elevation information and the pitch angle and roll angle information of each sensing module, obtaining a transformation matrix initial value from a sensor coordinate system of each sensing module to a ground coordinate system, and realizing pre-calibration of the road side unit. Compared with the prior art, field calibration is omitted, and the application range is wide.
本发明涉及一种免现场标定的路侧单元预标定方法和免现场标定路侧单元,所述方法包括如下步骤:沿参考直线固定设置GNSS差分定位模块,并在所述GNSS差分定位模块之间的设置至少一个感知模块,构成路侧单元;在标准标定场地中,GNSS差分定位模块采集所述参考直线的方向角以及路侧单元的经纬度高程信息,各个感知模块分别采集俯仰角和翻滚角信息;基于所述方向角、所述经纬度高程信息以及各个感知模块的俯仰角和翻滚角信息,得到各个感知模块的传感器坐标系至地面坐标系的变换矩阵初始值,实现路侧单元的预标定。与现有技术相比,本发明免去现场标定且应用范围广泛。
On-site calibration-free road side unit pre-calibration method and on-site calibration-free road side unit
免现场标定的路侧单元预标定方法和免现场标定路侧单元
2023-11-07
Patent
Electronic Resource
Chinese
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