基于增强现实设备的地下电缆虚实融合与精确定位方法

Virtual-real fusion and precise positioning method for underground cables based on augmented reality devices

摘要

提出一种基于增强现实设备的虚实融合与精确定位方法。通过多传感器环境感知技术,构建电缆隧道三维模型及三维坐标获取,实时获取头部(设备)的方向、位置和运行状态信息。通过即时定位与地图构建(simultaneous localization and mapping, SLAM)技术,构建并实时更新环境地图,获取虚拟内容的位置及人机交互。通过全球导航卫星系统(global navigation satellite system, GNSS)差分定位技术优化,增加SLAM系统的稳定性和准确性,提高位置定位精确度。实验结果表明,本文方法定位误差不大于10 cm且具有较好的实用性。

Abstract

A virtual-real fusion and precise positioning method is proposed based on augmented reality devices. Through multi-sensor environmental perception technology, a three-dimensional model of the cable tunnel and three-dimensional coordinate acquisition are constructed, and real-time information on the direction, position, and operating status of the head (equipment) are obtained. By using simultaneous localization and mapping (SLAM) technology, real-time construction and updating of environmental maps can be achieved and obtained the location of virtual content and human-computer interaction. By optimizing the differential positioning technology of the global navigation satellite system (GNSS), the stability and accuracy of the SLAM system and the positioning accuracy are improved. The experimental result is shown that the positioning error of the proposed method described in the article does not exceed 10 cm, indicating good practicality.

关键词

地下电缆 / 增强现实 / 虚实融合 / 激光点云 / 差分定位

Key words

underground cables / augmented reality / virtual real fusion / laser point cloud / differential positioning

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基金资助

南方电网公司科技资助项目(031300KC23040013)