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Building indoor floor plan establishment method based on laser ranging sensor

A technology of laser distance measurement and establishment method, which is applied in the direction of measuring distance, instruments, measuring devices, etc., can solve the problem of lack of indoor maps, etc., and achieve the effect of track tracking

Inactive Publication Date: 2016-01-06
HARBIN INST OF TECH
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Problems solved by technology

[0004] The purpose of the present invention is to measure the data of the external environment based on the laser ranging sensor, use data registration and correction optimization to quickly build a two-dimensional map, and at the same time realize the trajectory tracking of indoor moving objects, so as to solve the problem of rapid establishment in the field of indoor positioning. The problem of missing indoor maps in the process of RadioMap

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  • Building indoor floor plan establishment method based on laser ranging sensor
  • Building indoor floor plan establishment method based on laser ranging sensor
  • Building indoor floor plan establishment method based on laser ranging sensor

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specific Embodiment approach

[0052] Specific implementation methods: such as Figure 1~2 As shown, the present embodiment will be described below in conjunction with the accompanying drawings. Based on laser measurement data registration (improved ICP algorithm) and correction optimization algorithm are realized through the following steps:

[0053] Step 1: Use the completed laser ranging sensor to move along the predetermined trajectory in the room where the floor plan is to be established, obtain multiple sets of laser measurement data, and transmit the obtained laser measurement data to the computer for subsequent data processing. Each group of laser measurement data is regarded as an independent point set under different coordinate systems, and the coordinate origin of each group of laser measurement data is a point on a predetermined trajectory;

[0054] Step 2. Stitching the laser measurement data images generated by multiple sets of laser measurement data:

[0055] Since the coordinate origin of ...

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Abstract

The invention discloses a building indoor floor plan establishment method based on a laser ranging sensor, and relates to the technical field of indoor positioning. By means of the building indoor floor plan establishment method based on the laser ranging sensor, trajectory tracking of an indoor moving object can be achieved, and the problem that an indoor map is lacked in the process of rapidly establishing Radio Map in the field of indoor positioning is solved. The building indoor floor plan establishment method based on the laser ranging sensor is characterized in that building indoor laser measurement data are obtained; laser measurement data images are spliced, the rotation matrix and the translation matrix of two adjacent sets of the laser measurement data are obtained, the laser measurement data are converted to a point set within a former coordinate system by means of the obtained corresponding rotation matrix and translation matrix, forward iteration is continuously conducted, and splicing of the laser measurement data images is completed; geometric correction of errors, deletion of redundant data and filtering removing of noise points are sequentially conducted on the spliced images. According to the building indoor floor plan establishment method based on the laser ranging sensor, in the process of rapidly establishing the Radio Map in the indoor environment, the requirement of a user for rapidly establishing an indoor two-dimensional map is met, and meanwhile trajectory tracking of indoor moving objects can be achieved.

Description

technical field [0001] The invention relates to a method for establishing an indoor floor plan of a building, and relates to the technical field of indoor positioning. Background technique [0002] At present, the indoor positioning technology based on WLAN technology is becoming more and more mature, and some algorithms based on the location fingerprint algorithm can effectively calculate the indoor location information to realize the function of indoor positioning. The location fingerprint positioning method (LocationFingerprint, LF) is to collect the signal characteristic parameters of each reference node (ReferencePoint, RP) position in the desired positioning area, that is, the RSSI value, and form a location fingerprint database corresponding to a set of fingerprint information with a specific location, and then The receiver is used to measure the parameters of the received signal, and the matching algorithm is used to judge which group of data in the database has a hi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/32G01C3/00
CPCG01C21/206G01C3/00G01C21/32
Inventor 徐玉滨汤乐奇马琳崔扬
Owner HARBIN INST OF TECH
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