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A positioning method using lidar in an indoor unknown environment

A laser radar, unknown environment technology, applied in the field of positioning, can solve the problems of affecting positioning accuracy, poor positioning reliability, low positioning accuracy, etc.

Inactive Publication Date: 2017-04-19
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The main problem solved by the previous positioning system is how to realize the precise positioning of the carrier in real time outdoors, but for indoor environment applications, such a positioning system cannot meet the accuracy requirements of real-time positioning
GPS positioning cannot be accurately positioned because it is susceptible to signal interference indoors and cannot receive satellite signals; geomagnetic positioning cannot be accurately positioned because it is susceptible to geomagnetic interference; inertial navigation system positioning affects positioning accuracy because it diverges over time; visual navigation positioning The system is severely affected by ambient light, etc., the positioning accuracy is low, and the positioning reliability is poor

Method used

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  • A positioning method using lidar in an indoor unknown environment
  • A positioning method using lidar in an indoor unknown environment
  • A positioning method using lidar in an indoor unknown environment

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Embodiment Construction

[0046] A method for positioning using laser radar in an indoor unknown environment proposed by the present invention will be described in detail below in conjunction with the accompanying drawings.

[0047] Such as figure 1 As shown, the positioning system disclosed by the present invention for using the laser radar positioning method in an indoor unknown environment includes a processor and a two-dimensional laser radar. The two-dimensional laser radar is connected to the processor through a USB, because the laser radar has a large amount of data , so it is necessary to use the USB high-speed channel to meet the real-time and high-speed data collection. At the same time, under the Linux system whose real-time performance is much better than that of Windows, the algorithm processing of lidar data collection, synchronous positioning and map construction is completed, and the trajectory is drawn.

[0048] Such as figure 2 As shown, the present invention discloses a positionin...

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Abstract

The invention discloses a positioning method using laser radar in an indoor unknown environment. Based on traditional laser radar positioning, map construction in the indoor unknown environment is finished, feature matching of line segments and angular points is carried out based on the constructed map, a mixed feature matching filtering model is provided, and real-time accurate positioning in the indoor unknown environment is achieved. The positioning method using the laser radar in the indoor unknown environment is simple, is easy to implement, avoids adverse effects of the indoor environment on the positioning process, and is suitable for engineering application.

Description

technical field [0001] The invention belongs to the technical field of positioning, in particular to a positioning method using laser radar in an indoor unknown environment. Background technique [0002] The main problem solved by the previous positioning system is how to realize the precise positioning of the carrier in real time outdoors, but for indoor environment applications, such a positioning system cannot meet the accuracy requirements of real-time positioning. GPS positioning cannot be accurately positioned because it is susceptible to signal interference indoors and cannot receive satellite signals; geomagnetic positioning cannot be accurately positioned because it is susceptible to geomagnetic interference; inertial navigation system positioning affects positioning accuracy because it diverges over time; visual navigation positioning The system is severely affected by ambient light, etc., the positioning accuracy is low, and the positioning reliability is poor. T...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/58G01S17/89
CPCG01S7/4808G01S17/89
Inventor 杨景阳李荣冰刘建业林雪原张玲杭义军曾庆化廖自威
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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