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Merge pull request 'main' (#14) from ray/RobotKernal-UESTC:main into main 

合并草坪测试通过版本
main
詹力 2024-04-10 10:05:24 +08:00
parent 1861adb239 8bc0cf6dc6
commit b79985e8ad
65 changed files with 737 additions and 262 deletions
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2
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/CMakeLists.txt → Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/CMakeLists.txt
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@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.0.2)
project(upbot_following)
project(FollowingCar)
find_package(catkin REQUIRED COMPONENTS
roscpp

0
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/Mat.h → Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/Mat.h
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0
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/align.h → Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/align.h
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0
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/lighthouse.h → Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/lighthouse.h
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0
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/mapping.h → Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/mapping.h
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0
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/senddata.h → Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/senddata.h
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0
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/type.h → Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/type.h
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0
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/uwb.h → Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/uwb.h
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6
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/package.xml → Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/package.xml
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@ -1,8 +1,8 @@
<?xml version="1.0"?>
<package format="2">
<name>upbot_following</name>
<name>FollowingCar</name>
<version>0.0.0</version>
<description>The upbot_following package</description>
<description>The FollowingCar package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@ -19,7 +19,7 @@
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/upbot_following</url> -->
<!-- <url type="website">http://wiki.ros.org/FollowingCar</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->

0
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/Mat.cpp → Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/Mat.cpp
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0
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/align.cpp → Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/align.cpp
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0
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/lighthouse.cpp → Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/lighthouse.cpp
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0
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/main.cpp → Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/main.cpp
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0
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/mapping.cpp → Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/mapping.cpp
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0
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/senddata.cpp → Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/senddata.cpp
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0
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/uwb.cpp → Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/uwb.cpp
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226
Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-09_08-06-34.txt Normal file
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@ -0,0 +1,226 @@
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1712650026.954731117,-2.14681,-1.24004,-0.0680199,0.000306624,-0.28749,0.000658923,0,0.0666667,-0.3221051712650026.954765236,
1712650027.104850626,-2.14681,-1.24004,-0.0680199,0.000307018,-0.28786,0.000721557,0,0.0666667,-0.3221051712650027.104889703,
1712650027.254975997,-2.14681,-1.24004,-0.0680199,0.000307804,-0.288597,0.000685725,0,0.0666667,-0.3221051712650027.255014199,
1712650027.405098744,-2.14681,-1.24004,-0.0680199,0.000308195,-0.288964,0.000675105,0,0.0666667,-0.3221051712650027.405137529,
1712650027.555225281,-2.14681,-1.24004,-0.0680199,0.000308974,-0.289694,0.000572315,0,0.0666667,-0.3221051712650027.555261150,
1712650027.705346570,-2.14681,-1.24004,-0.0680199,0.000309362,-0.290058,0.000523304,0,0.0666667,-0.3221051712650027.705381855,
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1712650028.456013945,-2.14681,-1.24004,-0.0680199,0.000312428,-0.292932,0.000550537,0,0.0666667,-0.3221051712650028.456069061,
1712650028.606180526,-2.14681,-1.24004,-0.0680199,0.000312806,-0.293287,0.000544279,0,0.0666667,-0.3221051712650028.606256637,
1712650028.756352355,-2.14681,-1.24004,-0.0680199,0.00031356,-0.293994,0.000532592,0,0,11712650028.756443339,
1712650028.906635582,-2.14681,-1.24004,-0.0680199,0.00031356,-0.293994,0.000484469,0,0,11712650028.906731232,

64
Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/room_exploration_action_server.h
View File

@ -82,6 +82,10 @@
#include <vector>
#include <algorithm>
#include <cmath>
#include <fstream>
#include <ctime>
#include <mutex>
// services and actions
#include <ipa_building_msgs/RoomExplorationAction.h>
#include <cob_map_accessibility_analysis/CheckPerimeterAccessibility.h>
@ -118,6 +122,7 @@
#define PI 3.14159265359
std::mutex log_mutex;
typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
@ -288,6 +293,63 @@ protected:
mat.at<int8_t>(y,x) = map.data[y*mat.cols+x];
}
void fileinit(const std::string& directory)
{
std::time_t now = std::time(nullptr);
std::tm local_time = *std::localtime(&now);
// 根据当前时间构建文件名
std::stringstream filename_stream;
filename_stream << directory << "/data_" << std::put_time(&local_time, "%Y-%m-%d_%H-%M-%S") << ".txt";
std::string filename = filename_stream.str();
outfile.open(filename);
if (outfile.is_open()) {
std::cout << "start saving data" << std::endl;
outfile << "time,"\
<< "goalx,goaly,goaltheta,"\
<< "currentx,currenty,currenttheta,"\
<< "flag,"\
<< "linearx,anglez"\
<< "\n";
} else {
std::cerr << "Unable to open file " << filename << std::endl;
}
}
void loginit(const std::string& directory)
{
std::time_t now = std::time(nullptr);
std::tm local_time = *std::localtime(&now);
// 根据当前时间构建文件名
std::stringstream filename_stream;
filename_stream << directory << "/log_" << std::put_time(&local_time, "%Y-%m-%d_%H-%M-%S") << ".txt";
std::string filename = filename_stream.str();
outfile.open(filename);
if (outfile.is_open()) {
std::cout << "start saving data" << std::endl;
} else {
std::cerr << "Unable to open file " << filename << std::endl;
}
}
void writetofile(const geometry_msgs::Pose2D& map_oriented_pose,const geometry_msgs::Pose2D& current_pose,const bool flag_,const geometry_msgs::Twist& cmd_vel_)
{
ros::Time time=ros::Time::now();
outfile << time <<","\
<< map_oriented_pose.x << "," << map_oriented_pose.y << "," << map_oriented_pose.theta << ","\
<< current_pose.x << "," << current_pose.y << "," << current_pose.theta << ","\
<< flag_ << ","\
<< cmd_vel_.linear.x <<","<< cmd_vel_.angular.z<<"\n";
}
void writetolog(const std::string& string)
{
std::lock_guard<std::mutex> lock(log_mutex);
ros::Time time=ros::Time::now();
outlog << time <<","<< string <<"\n";
}
// !!Important!!
// define the Nodehandle before the action server, or else the server won't start
@ -297,12 +359,12 @@ protected:
dynamic_reconfigure::Server<ipa_room_exploration::RoomExplorationConfig> room_exploration_dynamic_reconfigure_server_;
private:
void turn(int lr,int time);//rad/s ,0.1s
void gostraight(float v,int time);// 0.1s
void publishZeroVelocity();//Publishes a velocity command of zero to the base
std::ofstream outfile,outlog;
bool flag_=0;
bool flag_ultra_=0;

3
Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_client.cpp
View File

@ -72,10 +72,13 @@ int main(int argc, char **argv)
// std::string file_name;
// priv_nh.param<std::string>("image", file_name, "map.pgm");
std::string map_name;
//纯数字的map_name 不是string类型的读不上
priv_nh.param<std::string>("robot_env", map_name, "lab_ipa");
// image_path = env_pack_path + "/envs/" + map_name + "/" + file_name;
// --------------------修改地图路径------------------------------------------------------
image_path = "/home/firefly/pibot_ros/ros_ws/src/map/" + map_name + ".png";
std::cout<<image_path<<std::endl;
}
cv::Mat map_flipped = cv::imread(image_path, 0);//读入灰度图片

74
Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_server.cpp
View File

@ -1,4 +1,4 @@
/*!
/*!
*****************************************************************
* \file
*
@ -719,7 +719,12 @@ void RoomExplorationServer::navigateExplorationPath(const std::vector<geometry_m
// 1. publish navigation goals
std::vector<geometry_msgs::Pose2D> robot_poses;
geometry_msgs::Pose2D last_pose;
geometry_msgs::Pose2D pose;
geometry_msgs::Pose2D pose,posetmp;
//file init
fileinit("/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data");
loginit("/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/log");
for(size_t map_oriented_pose = 0; map_oriented_pose < exploration_path.size(); ++map_oriented_pose)
{
// check if the path should be continued or not
@ -738,6 +743,8 @@ void RoomExplorationServer::navigateExplorationPath(const std::vector<geometry_m
}
if(interrupted==true)
ROS_INFO("Interrupt order canceled, resuming coverage path now.");
posetmp = exploration_path[map_oriented_pose];
// if(flag_||flag_ultra_||flag_collid_)
if(flag_)
{
@ -745,6 +752,17 @@ void RoomExplorationServer::navigateExplorationPath(const std::vector<geometry_m
cancel_msg.id = std::to_string(ros::Time::now().toSec());
cancel_pub_.publish(cancel_msg);
publishZeroVelocity();
double roll, pitch, yaw;
geometry_msgs::Pose2D current_pose;
tf::TransformListener listener;
tf::StampedTransform transform;
current_pose.x = transform.getOrigin().x();
current_pose.y = transform.getOrigin().y();
transform.getBasis().getRPY(roll, pitch, yaw);
current_pose.theta = yaw;
writetofile(posetmp,current_pose,flag_,cmd_vel_);
writetolog("bizhang");
// if(flag_collid_)
// {
// gostraight(-0.15,20);
@ -768,15 +786,16 @@ void RoomExplorationServer::navigateExplorationPath(const std::vector<geometry_m
// {
while(flag_==1)
{
turn(-1,17);//1 16 ,-1 17
gostraight(0.15,20); //time 0.2m/s 20*0.1s
turn(1,16);
std::cout<<"--------------------------------"<<std::endl;
turn(-1,20);//1 16 ,-1 17
gostraight(0.15,40); //time 0.2m/s 20*0.1s
turn(1,20);
flag_ = 0;
ros::Duration sleep_rate(2.0);
sleep_rate.sleep();
}
gostraight(0.15,30);
gostraight(0.2,40);
// }
@ -802,9 +821,8 @@ void RoomExplorationServer::navigateExplorationPath(const std::vector<geometry_m
{
temp_goal_eps = goal_eps_;
}
std::cout<< map_oriented_pose <<std::endl;
publishNavigationGoal(pose, map_frame_, camera_frame_, robot_poses, distance_robot_fov_middlepoint, temp_goal_eps, true); // eps = 0.35
publishNavigationGoal(pose, map_frame_, camera_frame_, robot_poses, distance_robot_fov_middlepoint, temp_goal_eps, false); // eps = 0.35
last_pose = pose;
}
@ -1137,6 +1155,7 @@ bool RoomExplorationServer::publishNavigationGoal(const geometry_msgs::Pose2D& n
// try to get the transformation from map_frame to base_frame, wait max. 2 seconds for this transform to come up
try
{
ros::Time time = ros::Time(0);
listener.waitForTransform(map_frame, camera_frame, time, ros::Duration(2.0)); // 5.0
listener.lookupTransform(map_frame, camera_frame, time, transform);
@ -1155,14 +1174,16 @@ bool RoomExplorationServer::publishNavigationGoal(const geometry_msgs::Pose2D& n
near_pos = true;
robot_poses.push_back(current_pose);
writetofile(map_oriented_pose,current_pose,flag_,cmd_vel_);
writetolog("transform1178行");
}
catch(tf::TransformException &ex)
{
ROS_WARN_STREAM("Couldn't get transform from " << camera_frame << " to " << map_frame << "!");// %s", ex.what());
}
}while(mv_base_client.getState() != actionlib::SimpleClientGoalState::ABORTED && mv_base_client.getState() != actionlib::SimpleClientGoalState::SUCCEEDED
&& near_pos == false);
// }while(mv_base_client.getState() != actionlib::SimpleClientGoalState::ABORTED && mv_base_client.getState() != actionlib::SimpleClientGoalState::SUCCEEDED && near_pos == false);
}while(mv_base_client.getState() != actionlib::SimpleClientGoalState::ABORTED && mv_base_client.getState() != actionlib::SimpleClientGoalState::SUCCEEDED && near_pos == false && flag_ != 1);
// check if point could be reached or not
if(mv_base_client.getState() == actionlib::SimpleClientGoalState::SUCCEEDED || near_pos == true)
@ -1170,6 +1191,13 @@ bool RoomExplorationServer::publishNavigationGoal(const geometry_msgs::Pose2D& n
ROS_INFO("current goal could be reached.");
return true;
}
if(flag_ == 1)
{
ROS_INFO("....bizhanging....");
return true;
}
// if the goal couldn't be reached, find another point around the desired fov-position
else if(perimeter_check == true)
{
@ -1227,6 +1255,8 @@ bool RoomExplorationServer::publishNavigationGoal(const geometry_msgs::Pose2D& n
void RoomExplorationServer::publishZeroVelocity()
{
// ROS_INFO("stop!!");
writetolog("stop!!");
cmd_vel_msg.angular.z = 0;
cmd_vel_msg.linear.x = 0;
cmd_vel_pub_.publish(cmd_vel_msg);
@ -1237,13 +1267,13 @@ void RoomExplorationServer::turn(int lr,int time)
ros::Rate rate(10);
cmd_vel_msg.angular.z = lr;
// if(lr==-1)
// {
// std::cout<<"turn right"<<std::endl;
// }else
// {
// std::cout<<"turn left"<<std::endl;
// }
if(lr==-1)
{
writetolog("turn right");
}else
{
writetolog("turn left");
}
for (int i = 0; i < time; ++i) {
cmd_vel_pub_.publish(cmd_vel_msg);
rate.sleep();
@ -1270,14 +1300,20 @@ void RoomExplorationServer::stereo_CB(const ipa_building_msgs::dis_info_array::C
for (const auto& obstacle_info :flag->dis)
{
float distance = obstacle_info.distance;
// std::cout<<"------------"<<distance<<"--------------"<<std::endl;
std::string distance_str = std::to_string(obstacle_info.distance);
writetolog(distance_str);
// float width = obstacle_info.width;
// float height = obstacle_info.height;
float angle = obstacle_info.angle;
// if(distance>5&&distance<45&&cmd_vel_.linear.x!=0)
if(distance>10&&distance<45)
if(distance>10&&distance<60)
{
flag_ = 1;
std::cout<<"-------jiancewuti-----"<<flag_<<std::endl;
writetolog("检测到物体");
}
}
@ -1310,9 +1346,7 @@ int main(int argc, char** argv)
ros::Time::init();
ros::NodeHandle nh("~");
RoomExplorationServer explorationObj(nh, ros::this_node::getName());
ros::spin();
return 0;
}

12
Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/test/room_exploration_client.launch
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@ -8,12 +8,12 @@
<!-- <arg name="robot_env" value="burger" doc="model type [burger, waffle, waffle_pi]"/> -->
<!-- <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/> -->
<!-- 小车参数 -->
<arg name="robot_radius" default="0.1"/>
<arg name="coverage_radius" default="0.1"/>
<!-- <arg name="robot_radius" default="0.1"/>
<arg name="coverage_radius" default="0.1"/> -->
<!-- 大车参数 -->
<!-- <arg name="robot_radius" default="0.3"/>
<arg name="coverage_radius" default="0.3"/> -->
<arg name="use_test_maps" default="true"/>
<arg name="robot_radius" default="0.3"/>
<arg name="coverage_radius" default="0.3"/>
<arg name="use_test_maps" default="false"/>
<!-- -->
<node ns="room_exploration" pkg="ipa_room_exploration" type="room_exploration_client" name="room_exploration_client" output="screen">
@ -27,6 +27,6 @@
<!-- <node pkg="ipa_room_exploration" type="talkerUltraSound" name="talkerUltraSound" required="true"/> -->
<!-- <include file="$(find ipa_room_exploration)/ros/launch/clean_work.launch"/> -->
<include file="$(find pibot_navigation)/launch/nav.launch"/>
<!-- <include file="$(find pibot_navigation)/launch/nav.launch"/> -->
</launch>

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13
Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/bringup_with_imu.launch
View File

@ -37,8 +37,8 @@
<node pkg="tf" type="static_transform_publisher" name="base_imu_to_base_link"
args="0 0.0 0 0 0.0 0.0 /base_link /imu_link 40" />
<!-- <node pkg="tf" type="static_transform_publisher" name="fix_map" args="1 -1 0 0 0 0 /map /odom 50" /> -->
<node pkg="tf" type="static_transform_publisher" name="fix_map" args="-2 -2 0 0 0 0 /map /odom 50" />
<node pkg="tf" type="static_transform_publisher" name="fix_map" args="0 0 0 0 0 0 /map /odom 50" />
<!-- <node pkg="tf" type="static_transform_publisher" name="fix_map" args="-2 -2 0 0 0 0 /map /odom 50" /> -->
<!-- <node pkg="tf" type="static_transform_publisher" name="fix_odom" args="0 0 0 0 0 0 /odom /base_link 50" /> -->
<!-- <node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="1.0 1.0 0.0 0 0 0.0 /map /odom 1000"/> -->
@ -66,10 +66,10 @@
<group ns="/" if="$(arg use_odom)" >
<!-- robot pose ekf -->
<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen">
<!-- <param name="output_frame" value="odom" /> -->
<param name="output_frame" value="odom" />
<param name="output_frame" value="odom" />
<param name="output_frame" type="bool" value="false" />
<param name="base_footprint_frame" value="base_link"/>
<param name="freq" value="2000.0"/>
<param name="freq" value="200.0"/>
<param name="sensor_timeout" value="1.0"/>
<param name="odom_used" value="true"/>
<param name="imu_used" value="true"/>
@ -82,7 +82,8 @@
<!-- odom type adapter -->
<node pkg="pibot_bringup" type="odom_ekf.py" name="odom_ekf" output="screen">
<remap from="input" to="robot_pose_ekf/odom_combined"/>
<remap from="output" to="odom"/>
<remap from="output" to="odom_imu_ekf"/>
</node>
</group>
</launch>

4
Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/scripts/odom_ekf.py
View File

@ -67,8 +67,8 @@ class OdomEKF():
def pub_ekf_odom(self, msg):
odom = Odometry()
odom.header = msg.header
odom.header.frame_id = '/odom'
odom.child_frame_id = 'base_link'
#odom.header.frame_id = '/odom'
#odom.child_frame_id = 'base_link'
odom.pose = msg.pose
odom.twist = self.twist
self.ekf_pub.publish(odom)

2
Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/nav.launch
View File

@ -12,7 +12,7 @@
<node name="map_server" pkg="map_server" type="map_server" args="$(find pibot_navigation)/maps/$(arg map_name)"/>
<include file="$(find pibot_navigation)/launch/include/move_base.launch.xml" />
<include file="$(find upbot_location)/launch/upbot_location.launch" />
<!-- <include file="$(find pibot_navigation)/launch/include/amcl.launch.xml" /> -->
</launch>

1
Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apollo.yaml
View File

@ -33,6 +33,7 @@ DWAPlannerROS:
# Goal Tolerance Parameters
yaw_goal_tolerance: 0.2
xy_goal_tolerance: 0.15
latch_xy_goal_tolerance: true
# latch_xy_goal_tolerance: false
# Forward Simulation Parameters

10
Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/rviz/view_navigation.rviz
View File

@ -4,12 +4,12 @@ Panels:
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Grid1
- /RobotModel1
- /TF1
- /TF1/Status1
- /TF1/Frames1
- /TF1/Tree1
- /Map1
- /Global Map1/Planner1
- /Local Map1/Planner1
Splitter Ratio: 0.5
@ -99,6 +99,8 @@ Visualization Manager:
Value: true
odom:
Value: true
odom_combined:
Value: true
Marker Alpha: 1
Marker Scale: 1
Name: TF
@ -113,6 +115,8 @@ Visualization Manager:
{}
imu_link:
{}
odom_combined:
{}
Update Interval: 0
Value: true
- Alpha: 1

3
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/CMakeLists.txt
View File

@ -8,6 +8,7 @@ find_package(catkin REQUIRED COMPONENTS
message_generation
pibot_msgs
geometry_msgs
tf2_ros
)
# 寻找OpenCV库
@ -18,7 +19,7 @@ find_package(Boost REQUIRED)
# catkin_package(
# # INCLUDE_DIRS include
# # LIBRARIES upbot_location
# # CATKIN_DEPENDS roscpp rospy std_msgs
# # CATKIN_DEPENDS roscpp rospy std_msgs tf2_ros
# # DEPENDS system_lib
# CATKIN_DEPENDS message_runtime std_msgs geometry_msgs
# )

55
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/Mat.h
View File

@ -3,13 +3,13 @@
* Current Version : V1.0
* Author : logzhan
* Date of Issued : 2022.09.14
* Comments : 导航的矩阵计算
* Comments : <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
********************************************************************************/
/* Header File Including -----------------------------------------------------*/
#ifndef _H_MAT_
#define _H_MAT_
#define MAT_MAX 15 //决定了能处理的最大矩阵
#define MAT_MAX 15 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#include <string.h>
@ -20,55 +20,60 @@ class Mat
{
public:
Mat();
Mat(int setm,int setn,int kind);//kind=1单位阵，kind=0零矩阵,其它不初始化内容。
void Init(int setm,int setn,int kind);//kind=1单位阵，kind=0零矩阵,其它不初始化内容。
Mat(int setm,int setn,int kind);//kind=1<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>kind=0<><30><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD>ݡ<EFBFBD>
void Init(int setm,int setn,int kind);//kind=1<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>kind=0<><30><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD>ݡ<EFBFBD>
void Zero(void);
//这些关键数本应该作为private的。但是为了方便，我也做成了public
int m;//行数
int n;//列数
double mat[MAT_MAX][MAT_MAX];//矩阵数据内容
//<EFBFBD><EFBFBD>Щ<EFBFBD>ؼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊprivate<EFBFBD>ġ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>˷<EFBFBD><EFBFBD>㣬<EFBFBD><EFBFBD>Ҳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>public
int m;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
int n;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
double mat[MAT_MAX][MAT_MAX];//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//特殊的矩阵
Mat SubMat(int a,int b,int lm,int ln);//获取矩阵一部分
void FillSubMat(int a,int b,Mat s);//填充子矩阵
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><EFBFBD><EFBFBD>
Mat SubMat(int a,int b,int lm,int ln);//<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void FillSubMat(int a,int b,Mat s);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӿ<EFBFBD><EFBFBD><EFBFBD>
//向量专用
double absvec();//这个是向量的长度。不是个别元素的绝对值。
double Sqrt();//向量长度的平方
friend Mat operator ^(Mat a,Mat b);//叉乘
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ר<EFBFBD><EFBFBD>
double absvec();//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ij<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ǹ<EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD>صľ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD>
double Sqrt();//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȵ<EFBFBD>ƽ<EFBFBD><EFBFBD>
friend Mat operator ^(Mat a,Mat b);//<EFBFBD><EFBFBD><EFBFBD>
//运算
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
friend Mat operator *(double k,Mat a);
friend Mat operator *(Mat a,double k);
friend Mat operator /(Mat a,double k);
friend Mat operator *(Mat a,Mat b);
friend Mat operator +(Mat a,Mat b);
friend Mat operator -(Mat a,Mat b);
friend Mat operator ~(Mat a);//转置
friend Mat operator ~(Mat a);//ת<EFBFBD><EFBFBD>
friend Mat operator /(Mat a,Mat b);//a*inv(b)
friend Mat operator %(Mat a,Mat b);//inv(a)*b
//MAT inv();//逆矩阵
//MAT inv();//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
private:
// 为了用高斯消元法，做的一些函数
// 交换两行
// Ϊ<EFBFBD><EFBFBD><EFBFBD>ø<EFBFBD>˹<EFBFBD><EFBFBD>Ԫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һЩ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void RowExchange(int a, int b);
// 某一行乘以系数
// ijһ<EFBFBD>г<EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
void RowMul(int a,double k);
// 对某一行加减另一行的倍数
// <EFBFBD><EFBFBD>ijһ<EFBFBD>мӼ<EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>еı<EFBFBD><EFBFBD><EFBFBD>
void RowAdd(int a,int b, double k);
// 交换两列
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void ColExchange(int a, int b);
// 某一列乘以系数
// ijһ<EFBFBD>г<EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
void ColMul(int a,double k);
// 对某一列加减另一列的倍数
// <EFBFBD><EFBFBD>ijһ<EFBFBD>мӼ<EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>еı<EFBFBD><EFBFBD><EFBFBD>
void ColAdd(int a,int b,double k);
};
#endif

20
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/align.h
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@ -1,3 +1,5 @@
#ifndef ALIGN_H
#define AlIGN_H
#include <cmath>
#include <ros/ros.h>
#include <opencv2/opencv.hpp>
@ -11,39 +13,37 @@
#include "lighthouse.h"
#include "Mat.h"
#ifndef ALIGN_H
#define AlIGN_H
namespace uwb_slam{
class Align
{
public:
Align(){
imuPos.Init(2, 1, 0);
imu_odomPos.Init(2, 1, 0);
uwbPos.Init(2, 1, 0);
syncPos.Init(2, 1, 0);
imuStartPos.Init(2, 1, 0);
imu_odom_StartPos.Init(2, 1, 0);
Rotate.Init(2,2,0);
uwbStartPos.Init(2,1,0);
};
void Run();
void wheel_odomCB(const nav_msgs::Odometry& wheel_odom);
void imuCB(const pibot_msgs::RawImu& imu);
void odomCB(const nav_msgs::Odometry& odom);
void odom_imuCB(const nav_msgs::Odometry& odom);
public:
ros::NodeHandle nh_;
ros::Subscriber wheel_odom_sub_;
ros::Subscriber imu_sub_;
ros::Subscriber odom_sub_;
ros::Subscriber odom_imu_sub_;
Imu_odom_pose_data imu_odom_;
Uwb_data uwb_data_;
ros::Time imuDataRxTime, uwbDataRxTime, odomDataRxTime;
Mat imuStartPos;
Mat imuPos;
Mat imu_odom_StartPos;
Mat imu_odomPos;
Mat uwbPos;
Mat syncPos;
Mat Rotate;
Mat uwbStartPos;
double qx, qy, qz, qw;
ros::Time odom_tmp_ ;
bool write_data_ = false;
cv::Mat img1;

3
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/mapping.h
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@ -2,7 +2,8 @@
#include <opencv2/opencv.hpp>
#include <mutex>
#include "uwb.h"
#include "align.h"
// #include "align.h"
#include "senddata.h"
#ifndef MAPPING_H
#define MAPPING_H

30
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/senddata.h
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@ -1,34 +1,38 @@
#ifndef SENDDATA_H
#define SENDDATA_H
#include <ros/ros.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Quaternion.h>
#include <tf2/LinearMath/Quaternion.h>
#include <tf2_ros/transform_broadcaster.h>
#include <geometry_msgs/TransformStamped.h>
#include <mutex>
#include "uwb.h"
#ifndef SENDDATA_H
#define SENDDATA_H
#include "align.h"
namespace uwb_slam{
class Senddata
{
public:
Senddata(){};
void publishOdometry( std::shared_ptr<uwb_slam::Uwb>uwb);
void Run(std::shared_ptr<uwb_slam::Uwb>uwb);
void odomCB(const nav_msgs::Odometry& odom);
void publishOdometry();
void publishtf();
void Run();
public:
std::shared_ptr<uwb_slam::Align> align_;
std::mutex mMutexSend;
private:
ros::Publisher position_pub_;
ros::Subscriber odom_sub_;
ros::NodeHandle nh_;
nav_msgs::Odometry odom_;//odom的消息类型
nav_msgs::Odometry sub_odom_;//odom的消息类型
ros::Publisher position_pub_;
tf2_ros::TransformBroadcaster broadcaster;
nav_msgs::Odometry odom_imu_uwb_;//消息类型 发布融合uwb imu 里程计信息
geometry_msgs::TransformStamped transformStamped;//坐标变换消息
};

9
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/uwb.h
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@ -28,9 +28,12 @@ namespace uwb_slam{
int pre_seq = -1;
int cur_seq = -1;
int AnchorNum = 3;
int AnchorPos[3][3]={-240, 400, 113,\
240, 400, 113,\
-400, -240, 113};//基站坐标，序号+三维坐标
int AnchorPos[3][3]={-245, 240, 50,\
240,240, 50,\
-245, -115, 50};//基站坐标，序号+三维坐标
// int AnchorPos[3][3]={-240, 400, 113,\
// 240, 400, 113,\
// -400, -240, 113};//基站坐标，序号+三维坐标
uint8_t tmpdata[13];
int d[3];

5
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/launch/upbot_location.launch Normal file
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@ -0,0 +1,5 @@
<launch>
<node pkg="upbot_location" type="upbot_location_node" name="upbot_location" output="screen" />
</launch>

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30
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/Mat.cpp
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@ -3,7 +3,7 @@
* Current Version : V1.0
* Author : logzhan
* Date of Issued : 2022.09.14
* Comments : 矩阵运算库
* Comments : <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
********************************************************************************/
/* Header File Including -----------------------------------------------------*/
#include "Mat.h"
@ -28,7 +28,7 @@ int mini(int a,int b)
}
//不要在成员函数内调用构造函数
//<EFBFBD><EFBFBD>Ҫ<EFBFBD>ڳ<EFBFBD>Ա<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD>ù<EFBFBD><EFBFBD>캯<EFBFBD><EFBFBD>
Mat::Mat()
{
Init(1,1,0);
@ -51,7 +51,7 @@ void Mat::Init(int setm,int setn,int kind)
if(kind==1)
{
int x;
//C原有的max min会导致两次运行自变量。有附带操作的东西不要直接放到max里面。
//Cԭ<EFBFBD>е<EFBFBD>max min<69>ᵼ<EFBFBD><E1B5BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>и<EFBFBD><D0B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ķ<EFBFBD><C4B6><EFBFBD><EFBFBD><EFBFBD>Ҫֱ<D2AA>ӷŵ<D3B7>max<61><78><EFBFBD>档
int xend = mini(this->m, this->n);
for(x=0;x < xend;x++){
mat[x][x] = 1;
@ -184,12 +184,12 @@ Mat operator ~(Mat a)
Mat operator /(Mat a,Mat b)
{
//高斯消元法
//<EFBFBD><EFBFBD>˹<EFBFBD><EFBFBD>Ԫ<EFBFBD><EFBFBD>
int x,xb;
for(x=0;x<b.n;x++)
{
//首先找到最佳的列。让起始元素最大
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD><EFBFBD><EFBFBD>ѵ<EFBFBD><EFBFBD>С<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼԪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
double s=0;
int p=x;
double sxb;
@ -202,19 +202,19 @@ Mat operator /(Mat a,Mat b)
s=sxb;
}
}
//同时变换两侧矩阵
//ͬʱ<EFBFBD>任<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(x!=p)
{
a.ColExchange(x,p);
b.ColExchange(x,p);
}
//这一列归一
double k=1/b.mat[x][x];//这一句不要嵌套到下面两行中，否则会因为更新不同步导致计算错误。
//<EFBFBD><EFBFBD>һ<EFBFBD>й<EFBFBD>һ
double k=1/b.mat[x][x];//<EFBFBD><EFBFBD>һ<EFBFBD>䲻ҪǶ<EFBFBD>׵<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD>²<EFBFBD>ͬ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
a.ColMul(x,k);
b.ColMul(x,k);
//把其它列归零
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>й<EFBFBD><EFBFBD><EFBFBD>
for(xb=0;xb<b.n;xb++)
{
if(xb!=x)
@ -232,11 +232,11 @@ Mat operator /(Mat a,Mat b)
Mat operator %(Mat a,Mat b)
{
//高斯消元法
//<EFBFBD><EFBFBD>˹<EFBFBD><EFBFBD>Ԫ<EFBFBD><EFBFBD>
int x,xb;
for(x=0;x<a.m;x++)
{
//首先找到最佳的行。让起始元素最大
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD><EFBFBD><EFBFBD>ѵ<EFBFBD><EFBFBD>С<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼԪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
double s=0;
int p=x;
double sxb;
@ -249,19 +249,19 @@ Mat operator %(Mat a,Mat b)
s=sxb;
}
}
//同时变换两侧矩阵
//ͬʱ<EFBFBD>任<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(x!=p)
{
a.RowExchange(x,p);
b.RowExchange(x,p);
}
//这一行归一
double k=1/a.mat[x][x];//这一句不要嵌套到下面两行中，否则会因为更新不同步导致计算错误。
//<EFBFBD><EFBFBD>һ<EFBFBD>й<EFBFBD>һ
double k=1/a.mat[x][x];//<EFBFBD><EFBFBD>һ<EFBFBD>䲻ҪǶ<EFBFBD>׵<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD>²<EFBFBD>ͬ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
a.RowMul(x,k);
b.RowMul(x,k);
//把其它行归零
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>й<EFBFBD><EFBFBD><EFBFBD>
for(xb=0;xb<a.m;xb++)
{
if(xb!=x)

98
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/align.cpp
View File

@ -6,11 +6,10 @@ namespace uwb_slam{
imuDataRxTime = ros::Time::now();
uwbDataRxTime = ros::Time::now();
wheel_odom_sub_= nh_.subscribe("wheel_odom",10,&Align::wheel_odomCB,this);
imu_sub_= nh_.subscribe("raw_imu",10,&Align::imuCB,this);
odom_sub_= nh_.subscribe("odom",10,&Align::odomCB,this);
odom_imu_sub_= nh_.subscribe("odom_imu_ekf",10,&Align::odom_imuCB,this);
std::ofstream outfile("data.txt",std::ofstream::out);
std::ofstream outfile("/home/firefly/pibot_ros/ros_ws/src/upbot_location/data.txt",std::ofstream::out);
if(outfile.is_open()) {
std::cout << "start saving data" << std::endl;
outfile << "imuDataRxTime,odomDataRxTime,uwbDataRxTime,"\
@ -18,7 +17,7 @@ namespace uwb_slam{
<< "wX,wY,wZ,"\
<< "qX,qY,qZ,qW,"\
<< "vXY,angleV,"\
<< "imuPosX,imuPosY,"\
<< "imu_odomPosX,imu_odomPosY,"\
<< "uwbPosX,uwbPosY,"\
<< "syncPosX,syncPosY,"\
<< "lightHousePosX,lightHousePosY,lightHousePosZ,"
@ -28,7 +27,7 @@ namespace uwb_slam{
}
Mat prevPos(2, 1, 0);
Mat detPos(2, 1, 0);
Mat deltaPos(2, 1, 0);
Mat predPos(2, 1, 0);
Mat R(2, 2, 1);
Mat Q(2, 2 ,1);
@ -44,8 +43,8 @@ namespace uwb_slam{
Mat I = F;
bool imuStartFlag = 1;
bool printFlag = 0;
double qx, qy, qz, qw;
float roll, imuStartRoll;
float yaw, imuStartyaw;
while(1){
// int key3 = cv::waitKey(1);
// if(key3 == 's'){
@ -54,40 +53,40 @@ namespace uwb_slam{
// printFlag = 0;
// }
if(imuDataRxTime!=imu_odom_.imu_data_.imu_t_){
std::cout << "imu received" << std::endl;
imuPos.mat[0][0] = imu_odom_.pose_[0] * 100;
imuPos.mat[1][0] = imu_odom_.pose_[1] * 100;
// std::cout << "imu received" << std::endl;
imu_odomPos.mat[0][0] = imu_odom_.pose_[0] * 100;
imu_odomPos.mat[1][0] = imu_odom_.pose_[1] * 100;
qx = imu_odom_.quat_[0];
qy = imu_odom_.quat_[1];
qz = imu_odom_.quat_[2];
qw = imu_odom_.quat_[3];
roll = -atan2(2*(qw*qz+qx*qy),1-2*(qy*qy+qz*qz));
yaw = -atan2(2*(qw*qz+qx*qy),1-2*(qy*qy+qz*qz));
std::cout<<"roll:"<<roll<<std::endl;
if (imuStartFlag == 1 && imuPos.mat[0][0] != 0 && imuPos.mat[1][0] != 0) {
imuStartRoll = roll-PI/2;
imuStartPos = imuPos;
//std::cout<<"yaw:"<<yaw<<std::endl;
if (imuStartFlag == 1 && imu_odomPos.mat[0][0] != 0 && imu_odomPos.mat[1][0] != 0) {
imuStartyaw = yaw-PI/2;
imu_odom_StartPos = imu_odomPos;
imuStartFlag = 0;
}
//std::cout << imuStartPos.mat[0][0] << " " << imuStartPos.mat[1][0] << std::endl;
roll = roll - imuStartRoll;
imuPos = imuPos - imuStartPos;
detPos = imuPos - prevPos;
prevPos = imuPos;
//std::cout << imu_odom_StartPos.mat[0][0] << " " << imu_odom_StartPos.mat[1][0] << std::endl;
yaw = yaw - imuStartyaw;
imu_odomPos = imu_odomPos - imu_odom_StartPos;
deltaPos = imu_odomPos - prevPos;
prevPos = imu_odomPos;
if (uwbDataRxTime != uwb_->uwb_data_.uwb_t_) {
std::cout << "uwb received" << std::endl;
// std::cout << "uwb received" << std::endl;
Rotate.mat[0][0] = cos(roll);
Rotate.mat[0][1] = -sin(roll);
Rotate.mat[1][0] = sin(roll);
Rotate.mat[1][1] = cos(roll);
// Rotate.mat[0][0] = cos(yaw);
// Rotate.mat[0][1] = -sin(yaw);
// Rotate.mat[1][0] = sin(yaw);
// Rotate.mat[1][1] = cos(yaw);
uwbPos.mat[0][0] = uwb_->uwb_data_.x_;
uwbPos.mat[1][0] = uwb_->uwb_data_.y_;
uwbPos = uwbPos - Rotate * uwbStartPos;
// uwbPos = uwbPos - Rotate * uwbStartPos;
predPos = F * syncPos + detPos;
predPos = F * syncPos + deltaPos;
Z = H * uwbPos;
P = F * P * (~F) + Q;
Kg = P * (~H) / (H * P * (~H) + R);
@ -95,15 +94,15 @@ namespace uwb_slam{
P = (I - Kg * H) * P;
uwbDataRxTime = uwb_->uwb_data_.uwb_t_;
} else {
syncPos = syncPos + detPos;
syncPos = syncPos + deltaPos;
}
imuDataRxTime = imu_odom_.imu_data_.imu_t_;
odomDataRxTime = odom_tmp_;
std::cout << "syncPos:" << syncPos.mat[0][0] << " " << syncPos.mat[1][0];
std::cout << " uwbPos:" << uwbPos.mat[0][0] << " " << uwbPos.mat[1][0];
std::cout << " imuPos:" << imuPos.mat[0][0] << " " << imuPos.mat[1][0];
std::cout << " lightHousePos:" << lighthouse_->data.x_ << " " << lighthouse_->data.y_ << std::endl;
std::cout << " uwbPos:" << uwbPos.mat[0][0] << " " << uwbPos.mat[1][0] << std::endl;
// std::cout << " imu_odomPos:" << imu_odomPos.mat[0][0] << " " << imu_odomPos.mat[1][0]<< std::endl;
// std::cout << " lightHousePos:" << lighthouse_->data.x_ << " " << lighthouse_->data.y_ << std::endl;
outfile << imuDataRxTime << "," << odomDataRxTime << "," << uwbDataRxTime <<","\
@ -111,7 +110,7 @@ namespace uwb_slam{
<< imu_odom_.imu_data_.w_[0] << "," << imu_odom_.imu_data_.w_[1] << "," << imu_odom_.imu_data_.w_[2] << ","\
<< qx << "," << qy << "," << qz << "," << qw << ","\
<< imu_odom_.vxy_ << "," <<imu_odom_.angle_v_ << ","\
<< imuPos.mat[0][0] << "," << imuPos.mat[1][0] << ","\
<< imu_odomPos.mat[0][0] << "," << imu_odomPos.mat[1][0] << ","\
<< uwbPos.mat[0][0] << "," << uwbPos.mat[1][0] << ","\
<< syncPos.mat[0][0] << "," << syncPos.mat[1][0] << ","\
<< lighthouse_->data.x_ << "," << lighthouse_->data.y_ << "," << lighthouse_->data.z_ << ","\
@ -120,27 +119,11 @@ namespace uwb_slam{
}
// outfile.close();
outfile.close();
// std::cout<< "Data written to file." << std::endl;
}
void Align::wheel_odomCB(const nav_msgs::Odometry& wheel_odom)
{
imu_odom_.vxy_= wheel_odom.twist.twist.linear.x;
imu_odom_.angle_v_ = wheel_odom.twist.twist.angular.z;
// imu_odom_.pose_[0] = wheel_odom.pose.pose.position.x;
// imu_odom_.pose_[1] = wheel_odom.pose.pose.position.y;
// imu_odom_.pose_[2] = wheel_odom.pose.pose.position.z;
// imu_odom_.quat_[0] = wheel_odom.pose.pose.orientation.x;
// imu_odom_.quat_[1] = wheel_odom.pose.pose.orientation.y;
// imu_odom_.quat_[2] = wheel_odom.pose.pose.orientation.z;
// imu_odom_.quat_[3] = wheel_odom.pose.pose.orientation.w;
return;
}
//imu原始数据，不知道有没有纠正零偏的
void Align::imuCB(const pibot_msgs::RawImu& imu)
{
imu_odom_.imu_data_.imu_t_ = imu.header.stamp;
@ -155,7 +138,8 @@ namespace uwb_slam{
return;
}
void Align::odomCB(const nav_msgs::Odometry& odom)
//imu里程计融合位姿
void Align::odom_imuCB(const nav_msgs::Odometry& odom)
{
odom_tmp_ = odom.header.stamp;
imu_odom_.pose_[0] = odom.pose.pose.position.x;
@ -165,18 +149,12 @@ namespace uwb_slam{
imu_odom_.quat_[1] = odom.pose.pose.orientation.y;
imu_odom_.quat_[2] = odom.pose.pose.orientation.z;
imu_odom_.quat_[3] = odom.pose.pose.orientation.w;
imu_odom_.vxy_= odom.twist.twist.linear.x;
imu_odom_.angle_v_ = odom.twist.twist.angular.z;
}
};

11
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/main.cpp
View File

@ -4,7 +4,6 @@
#include <iostream>
#include <ros/ros.h>
#include <thread>
#include "senddata.h"
@ -24,11 +23,7 @@ int main(int argc, char** argv)
mp->align_ = align;
align->uwb_ = uwb;
align->lighthouse_ = lighthouse;
// // control data fllow in system
// std::thread rose_trd ([&system]() {
// system->Run();
// });
sender->align_ = align;
// uwb serried read
std::thread uwb_trd([&uwb]() {
@ -40,8 +35,8 @@ int main(int argc, char** argv)
mp->Run();
});
std::thread sender_trd ([&sender, uwb]() {
sender->Run(uwb);
std::thread sender_trd ([&sender]() {
sender->Run();
});
std::thread align_trd ([&align]() {

4
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/mapping.cpp
View File

@ -109,7 +109,7 @@ namespace uwb_slam
if (key2 == 'q') {
//TODO: save
std::string pngimage="/home/firefly/Project_Ros11/Project_Ros1/src/upbot_location/Map/output_image.png";//保存的图片文件路径
std::string pngimage="/home/firefly/pibot_ros/ros_ws/src/upbot_location/map/output_image.png";//保存的图片文件路径
cv::imwrite(pngimage,img);
readPos = false;
@ -120,7 +120,7 @@ namespace uwb_slam
break;
}
this->feedPos(cv::Point2d(align_->imuPos.mat[0][0], align_->imuPos.mat[1][0]), cv::Point2d(align_->uwbPos.mat[0][0], align_->uwbPos.mat[1][0]), cv::Point2d(align_->syncPos.mat[0][0], align_->syncPos.mat[1][0]));
this->feedPos(cv::Point2d(align_->imu_odomPos.mat[0][0], align_->imu_odomPos.mat[1][0]), cv::Point2d(align_->uwbPos.mat[0][0], align_->uwbPos.mat[1][0]), cv::Point2d(align_->syncPos.mat[0][0], align_->syncPos.mat[1][0]));
//this->feedPos(cv::Point2d(uwb_->x, uwb_->y));
//uwb xieru

78
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/senddata.cpp
View File

@ -3,73 +3,69 @@
namespace uwb_slam
{
void Senddata::Run(std::shared_ptr<uwb_slam::Uwb>uwb){
// 初始化了一个名为loop_rate的ros::Rate对象,频率设置为10赫兹
ros::Rate loop_rate(10);
// 初始化一个ROS发布者，用于发布nav_msgs::Odometry类型的消息
// 主题被设置为"uwb_odom"，队列大小为50
position_pub_=nh_.advertise<nav_msgs::Odometry>("uwb_odom",50);
// 初始化了一个ROS订阅者，用于订阅"odom"主题。它指定了当在该主题上接收到
// 消息时，将调用Senddata类的odomCB回调函数。队列大小被设置为10
odom_sub_=nh_.subscribe("odom",10,&Senddata::odomCB,this);
void Senddata::Run(){
ros::Rate loop_rate(100);
position_pub_=nh_.advertise<nav_msgs::Odometry>("odom",10);
while(ros::ok()){
// 按照10Hz频率发布uwb信息
publishOdometry(uwb);
// publishOdometry();
publishtf();
ros::spinOnce();
// 用于控制循环速率
loop_rate.sleep();
}
}
void Senddata::odomCB(const nav_msgs::Odometry& odom){
// 这个地方接收的是轮速里程计的信息
// 包含位置和姿态
sub_odom_ = odom;
return;
}
/**---------------------------------------------------------------------
* Function : Senddata::publishOdometry
* Description : 发布UWB里程计数据，这里读取的数据到底是什么，依旧存在疑问
* Date : 2023/12/13 zhanli@review
*---------------------------------------------------------------------**/
void Senddata::publishOdometry(std::shared_ptr<uwb_slam::Uwb>uwb)
void Senddata::publishOdometry()
{
std::mutex mMutexSend;
ros::Time current_time = ros::Time::now();
// 设置 Odometry 消息的头部信息
odom_.header.stamp = current_time;
odom_.header.frame_id = "odom"; // 设置坐标系为 "map"
odom_.child_frame_id = "base_link"; // 设置坐标系为 "base_link"
odom_imu_uwb_.header.stamp = current_time;
odom_imu_uwb_.header.frame_id = "odom"; // 设置坐标系为 "map"
odom_imu_uwb_.child_frame_id = "base_link"; // 设置坐标系为 "base_link"
// odom_imu_uwb_.header.frame_id = "odom";
// odom_imu_uwb_.child_frame_id = "map";
// 填充 Odometry 消息的位置信息
odom_.pose.pose.position.x = uwb->uwb_data_.x_;
odom_.pose.pose.position.y = uwb->uwb_data_.y_;
odom_.pose.pose.position.z = 0.0;
odom_imu_uwb_.pose.pose.position.x = align_->syncPos.mat[0][0]/100;
odom_imu_uwb_.pose.pose.position.y = align_->syncPos.mat[1][0]/100;
odom_imu_uwb_.pose.pose.position.z = 0.0;
// 填充 Odometry 消息的姿态信息（使用四元数来表示姿态）
// tf2::Quaternion quat;
// quat.setRPY(0, 0, uwb->theta); // 设置了 yaw 角度，其他 roll 和 pitch 设置为 0
// odom.pose.pose.orientation.x = quat.x();
// odom.pose.pose.orientation.y = quat.y();
// odom.pose.pose.orientation.z = quat.z();
// odom.pose.pose.orientation.w = quat.w();
odom_imu_uwb_.pose.pose.orientation.x = align_->qx;
odom_imu_uwb_.pose.pose.orientation.y = align_->qy;
odom_imu_uwb_.pose.pose.orientation.z = align_->qz;
odom_imu_uwb_.pose.pose.orientation.w = align_->qw;
odom_.pose.pose.orientation.x = sub_odom_.pose.pose.orientation.x;
odom_.pose.pose.orientation.y = sub_odom_.pose.pose.orientation.y;
odom_.pose.pose.orientation.z = sub_odom_.pose.pose.orientation.z;
odom_.pose.pose.orientation.w = sub_odom_.pose.pose.orientation.w;
// 发布 Odometry 消息
position_pub_.publish(odom_);
position_pub_.publish(odom_imu_uwb_);
}
void Senddata::publishtf()
{
transformStamped.header.stamp = ros::Time::now();
transformStamped.header.frame_id = "odom"; // 父坐标系为 "odom"
transformStamped.child_frame_id = "base_link"; // 子坐标系为 "base_link"
transformStamped.transform.translation.x = align_->syncPos.mat[0][0]/100; // 设置坐标变换的平移部分
transformStamped.transform.translation.y = align_->syncPos.mat[1][0]/100;
transformStamped.transform.translation.z = 0.0;
transformStamped.transform.rotation.x = align_->qx; // 设置坐标变换的旋转部分（使用四元数表示）
transformStamped.transform.rotation.y = align_->qy;
transformStamped.transform.rotation.z = align_->qz;
transformStamped.transform.rotation.w = align_->qw;
broadcaster.sendTransform(transformStamped);
}

4
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/uwb.cpp
View File

@ -60,7 +60,7 @@ namespace uwb_slam{
void Uwb::Serread(){
try {
boost::asio::io_service io;
boost::asio::serial_port serial(io, "/dev/ttyUSB0"); // 替换成你的串口设备路径
boost::asio::serial_port serial(io, "/dev/uwb"); // 替换成你的串口设备路径
serial.set_option(boost::asio::serial_port_base::baud_rate(115200)); // 设置波特率
serial.set_option(boost::asio::serial_port_base::character_size(8)); // 设置数据位
@ -92,6 +92,8 @@ namespace uwb_slam{
d[0] = ((((4.9083e-07 * d[0]) - 4.6166e-04) * d[0]) + 1.0789) * d[0] + 5.4539;
d[1] = ((((-4.1679e-07 * d[1]) + 5.0999e-04) * d[1]) + 0.7930) * d[1] + 29.8296;
d[2] = ((((2.3514e-07 * d[2]) - 1.8277e-04) * d[2]) + 0.9935) * d[2] + 9.8852;
std::cout << "d:" << d[0] << " " << d[1] << " " << d[2] << std::endl;
for(int i=0; i<2; i++)
{
b.mat[i][0] = (this->d[0]*this->d[0]-this->d[i+1]*this->d[i+1])\

53
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/ranging.h
View File

@ -17,28 +17,28 @@ private:
// rknn_handle hdx;
cv::VideoCapture vcapture;
Detection yolov5s;
/* new stereo
/* 2-stereo
Mat cam_matrix_left = (Mat_<double>(3, 3) <<
4.809895643547006e+02, 0, 0,
0,4.807599168204821e+02, 0,
3.362108165786334e+02, 2.298502481932070e+02, 1);
4.791153893499601e+02, 0, 0,
0,4.798785696902847e+02, 0,
3.195422157433843e+02, 2.355081129251360e+02, 1);
Mat cam_matrix_right = (Mat_<double>(3, 3) <<
4.903260126250775e+02, 0, 0,
0,4.900310486342847e+02, 0,
3.230124997386542e+02, 2.346297967642670e+02, 1);
Mat distortion_l = (Mat_<double>(1, 5) <<0.113688825569154,-0.106166584327678, 0,
4.851946576927952e+02, 0, 0,
0,4.848412081674973e+02, 0,
3.139237321746737e+02, 2.316610217516937e+02, 1);
Mat distortion_l = (Mat_<double>(1, 5) <<0.091215339806518,-0.088601421082219, 0,
0, 0);
Mat distortion_r = (Mat_<double>(1, 5) <<0.121425307936153,-0.141892782717707, 0,
Mat distortion_r = (Mat_<double>(1, 5) <<0.086266675232625,-0.070869167707634, 0,
0, 0);
Mat rotate = (Mat_<double>(3, 3) <<
0.999996295879846, 8.723884080433472e-04, 0.002578209660240,
-8.682590894537506e-04,0.999998339366207, -0.001602308016931,
-0.002579603213718,0.001600063527818,0.999995392711370);
0.999999240684794, -5.243648990073547e-05, -0.001231210888060,
5.272610271745578e-05, 0.999999970951700, -0.002653487630467,
0.001231198519510, -2.352594617066257e-04,0.999999214401287);
Mat trans = (Mat_<double>(3, 1) <<
-60.348359844102470,-0.030699794141365, 0.495248628081046);
-61.636981845981540, -1.107000282904877, -1.084419989523733);
*/
/*
Mat cam_matrix_left = (Mat_<double>(3, 3) <<
4.869084743604942e+02, 0, 0,
0,4.859921620798602e+02, 0,
@ -58,7 +58,27 @@ private:
0.012484284819374, 0.002658381435011,0.999918534502034);
Mat trans = (Mat_<double>(3, 1) <<
-60.319997608188590, -0.019664800882533, -0.638993708428792);
*/
// 3_stereo:
Mat cam_matrix_left = (Mat_<double>(3, 3) <<
4.926816600424309e+02, 0, 0,
0,4.926464996604736e+02, 0,
2.968913145354954e+02, 2.282943456903496e+02, 1);
Mat cam_matrix_right = (Mat_<double>(3, 3) <<
4.936169711204374e+02, 0, 0,
0,4.934446944784490e+02, 0,
2.874782972788689e+02, 2.301583475160467e+02, 1);
Mat distortion_l = (Mat_<double>(1, 5) <<0.109321356376779,-0.134909702605162, 0,
0, 0);
Mat distortion_r = (Mat_<double>(1, 5) <<0.103636140273929,-0.111420134027036, 0,
0, 0);
Mat rotate = (Mat_<double>(3, 3) <<
0.999971802318130, -3.077374593154837e-04, -0.007503323682689,
-3.351245877303192e-04,0.999993286165984, -0.003649015547566,
0.007502150367846, 0.003651427202043,0.999965191803818);
Mat trans = (Mat_<double>(3, 1) <<
-60.284286962670556, -0.093489637356761,-0.264272235561136);
cv::Mat mapX1, mapX2, mapY1, mapY2, q, Z;
int imgw, imgh;
@ -77,4 +97,9 @@ public:
std::vector<int> muban(cv::Mat &left_image, cv::Mat &right_image, const int *coordinates);
std::vector<cv::Mat> get_range();
void horizon_estimate(cv::Mat& img, cv::Mat& bboxs,int k);
Ranging& operator=(const Ranging& other) {
if (this != &other) {
}
return *this;
}
};

2
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/detection.cc
View File

@ -196,6 +196,6 @@ detect_result_group_t Detection::outputParse(cv::Mat netInputImg)
post_process((int8_t *)outputs[0].buf, (int8_t *)outputs[1].buf, (int8_t *)outputs[2].buf, height, width,
box_conf_threshold, nms_threshold, pads, scale_w, scale_h, out_zps, out_scales, &detect_result_group);
rknn_outputs_release(ctx, io_num.n_output,outputs);
return detect_result_group;
}

35
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/main.cc
View File

@ -10,12 +10,28 @@
#include "opencv2/imgcodecs/imgcodecs.hpp"
#include <ctime>
#include <queue>
#include <cstdlib>
#include "pibot_msgs/dis_info.h"
#include "pibot_msgs/dis_info_array.h"
#define ANGLE_TO_RADIAN(angle) ((angle)*3141.59 / 180000)
Ranging r(11, 640, 480);
Ranging r(40, 640, 480);
// int findCameraIndex();
// Ranging r(findCameraIndex(), 640, 480);
// int findCameraIndex() {
// cv::VideoCapture cap(0);
// if (cap.isOpened()) {
// return 0;
// }
// cap.open(40);
// if (cap.isOpened()) {
// return 40;
// }
// return -1;
// }
std::queue<std::vector<cv::Mat>> frameInfo;
std::mutex g_mutex;
@ -49,20 +65,7 @@ void *ranging(void *args) // ranging线程
}
dis_pub_.publish(dis_array);
// if (!dis_array.dis.empty())
// {
// for (const auto& data : dis_array.dis)
// {
// ROS_INFO("distance: %.2f, width: %.2f, height: %.2f, angle: %.2f",
// data.distance, data.width, data.height, data.angle);
// }
// }
}
// else{
// std::cerr << "Info matrix is empty!" << std::endl;
// }
g_mutex.lock();
for (uchar i = 0; i < frameInfo.size(); i++) // 只保存当前最新的图片帧信息
frameInfo.pop();
@ -75,6 +78,10 @@ void *ranging(void *args) // ranging线程
int main(int argc, char **argv)
{
ros::init(argc, argv, "stereo");
// if (argc >= 2) {
// index = atoi(argv[1]);
// r = Ranging(index, 640, 480);
// }
ros::NodeHandle nh;
pthread_t tids[1]; // 执行ranging线程
int ret = pthread_create(&tids[0], NULL, ranging, NULL);

14
Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/ranging.cc
View File

@ -301,7 +301,7 @@ std::vector<Mat> Ranging::get_range()
if (detect_result_group.count<=0)
{
std::cout<<"detect nothing"<<std::endl;
// std::cout<<"detect nothing"<<std::endl;
}
// detction box transfor to our format
@ -313,26 +313,30 @@ std::vector<Mat> Ranging::get_range()
{
detect_result_t *det_result = &(detect_result_group.results[i]);
// if(strcmp(det_result->name, "vase") == 0 || strcmp(det_result->name, "suitcase") == 0)
if(strcmp(det_result->name, "vase") == 0|| strcmp(det_result->name, "suitcase") == 0||
// strcmp(det_result->name, "mouse") == 0|| strcmp(det_result->name, "keyboard") == 0||
if(strcmp(det_result->name, "vase") == 0)
// if(strcmp(det_result->name, "vase") == 0|| strcmp(det_result->name, "suitcase") == 0||
// strcmp(det_result->name, "person") == 0|| strcmp(det_result->name, "keyboard") == 0||
// strcmp(det_result->name, "mouse") == 0|| strcmp(det_result->name, "bowl") == 0||
strcmp(det_result->name, "cup") == 0|| strcmp(det_result->name, "bottle")==0)
// strcmp(det_result->name, "cup") == 0|| strcmp(det_result->name, "bottle")==0)
{
count++;
sprintf(text, "%s %.1f%%", det_result->name, det_result->prop * 100);
// printf("%s @ (%d %d %d %d) %f\n", det_result->name, det_result->box.left, det_result->box.top,
// det_result->box.right, det_result->box.bottom, det_result->prop);
if(det_result->prop <=0.2)
continue;
int xmin = det_result->box.left;
int ymin = det_result->box.top;
int xmax = det_result->box.right;
int ymax = det_result->box.bottom;
rectangle(Rframe, cv::Point(xmin, ymin), cv::Point(xmax, ymax), cv::Scalar(256, 0, 0, 256), 3);
putText(Rframe, text, cv::Point(xmin, ymin + 12), cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255, 255, 255));
// (x,y) (x,y) conf
detBoxes.at<float>(count-1, 0) = xmin;
detBoxes.at<float>(count-1, 1) = ymin;
detBoxes.at<float>(count-1, 2) = xmax;

108
Docs/UWB解算原理.md Normal file
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@ -0,0 +1,108 @@
# UWB 定位原理
#### 1.三维坐标转二维坐标
​ 在割草机器人项目中，割草机器人目前只考虑二维平面的定位。但是UWB测量的距离是三维距离，所以我们根据机器人的高度`carH`和`UWB`标签的高度`UwbH`计算出水平距离`dxy`。
```cpp
// dxy^2 = di^2 - (UwbH = carH)^2
for(int i=0; i<3; i++){
this->d[i] = sqrt(this->d[i] * this->d[i] - (AnchorPos[i][2] - CARHEIGHT) *
(AnchorPos[i][2] - CARHEIGHT));
}
```
![UWB高度修正](./image/UWB高度修正.png)
#### 2.多项式拟合
​ UWB的定位是存在波动的，所以会根据UWB计算距离的规律对计算的距离进行多项式拟合，可以起到滤波提高精度作用。下面的计算实际是收集不同实测距离下，UWB的实际输出距离，利用3次多项式拟合得到的结果。
​ 下面的计算跟标签的位置以及高度无关，主要跟UWB的硬件设备的特性有关。
```cpp
d[0] = ((((4.9083e-07 * d[0]) - 4.6166e-04) * d[0]) + 1.0789) * d[0] + 5.4539;
d[1] = ((((-4.1679e-07 * d[1]) + 5.0999e-04) * d[1]) + 0.7930) * d[1] + 29.8296;
d[2] = ((((2.3514e-07 * d[2]) - 1.8277e-04) * d[2]) + 0.9935) * d[2] + 9.8852;
```
#### 3.位置求解
​ UWB位置求解采用如下图示：
![UWB位置示意图](./image/UWB位置示意图.png)
​ UWB的定位可以用下面公式描述, 其中$(x,y)$是割草机器人上面的UWB的位置，另外三个坐标点是3个UWB标签的位置，可以有如下的公式。
$$
d_1^2 = (x_1 - x)^2 + (y_1 - y)^2 \space\space\space\space\space (1)\\
d_2^2 = (x_2 - x)^2 + (y_2 - y)^2 \space\space\space\space\space(2)\\
d_3^2 = (x_3 - x)^2 + (y_3 - y)^2 \space\space\space\space\space(3)\\
$$
​ $(2)-(1)$以及$(3)-(2)$消去二次项，可得：
$$
d_1^2 - d_2^2 = \left[ -2(x_1 - x_2)x + x_1^2 - x_2^2 \right] + \left[ -2(y_1 - y_2)y + y_1^2 - y_2^2 \right] \\
d_1^2 - d_3^2 = \left[ -2(x_1 - x_3)x + x_1^2 - x_3^2 \right] + \left[ -2(y_1 - y_3)y + y_1^2 - y_3^2 \right]
$$
​ 整理为矩阵形式：
$$
-2 \begin{bmatrix}
x_1 - x_2 & y_1 - y_2 \\
x_1 - x_3 & y_1 - y_3
\end{bmatrix}
\begin{bmatrix}
x \\
y
\end{bmatrix}
=
\begin{bmatrix}
(d_1^2 - d_2^2) - (x_1^2 - x_3^2) - (y_1^2 - y_3^2) \\
(d_1^2 - d_3^2) - (x_1^2 - x_3^2) - (y_1^2 - y_3^2)
\end{bmatrix}
$$
​ 整理可得：
$$
\begin{align*}
A &= -2\cdot \begin{bmatrix}
x_1 - x_2 & y_1 - y_2 \\
x_1 - x_3 & y_1 - y_3
\end{bmatrix}\\
b &= \begin{bmatrix}
(d_1^2 - d_2^2) - (x_1^2 - x_2^2) - (y_1^2 - y_2^2) \\
(d_1^2 - d_3^2) - (x_1^2 - x_3^2) - (y_1^2 - y_3^2)
\end{bmatrix}\\
X &= \begin{bmatrix}
x\\
y
\end{bmatrix}
\end{align*}
$$
​ 矩阵A对应的代码：
```cpp
for(int i=0; i<2; i++){
A.mat[i][0] = -2*(this->AnchorPos[0][0]-this->AnchorPos[i+1][0]);
A.mat[i][1] = -2*(this->AnchorPos[0][1]-this->AnchorPos[i+1][1]);
}
```
​ 矩阵b对应的代码：
```cpp
for(int i=0; i<2; i++)
{
b.mat[i][0] = (this->d[0]*this->d[0]-this->d[i+1]*this->d[i+1])\
- (this->AnchorPos[0][0]*this->AnchorPos[0][0]-this->AnchorPos[i+1][0]*this->AnchorPos[i+1][0])
- (this->AnchorPos[0][1]*this->AnchorPos[0][1]-this->AnchorPos[i+1][1]*this->AnchorPos[i+1][1]);
}
```
​ 那么，上述矩阵可以通过$X=(A^T\cdot A)^{-1}A^T*b$ 求解UWB的位置。
```cpp
Mat AT=~A;
uwbPos=(AT*A)%AT*b;
this->uwb_data_.x_ = uwbPos.mat[0][0];
this->uwb_data_.y_ = uwbPos.mat[1][0];
```

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# uwb安装说明：
地图坐标系与小车坐标系重合，小车起始点为坐标系原点，使用三个标签分别是A，B，C。A放置在充电桩处。车上放置基站M。通过基站到三个标签的距离获得小车的位置信息。如图所示：
![uwb安装说明](./image/uwb安装说明.png)
注:为了方便，人为设定UWB坐标系与地图坐标系和小车坐标系均重合。
小车半径：a
标签高度：h
BC标签距离d