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Laser radar positioning method, device and system

A technology of laser radar and radar device, which is applied in the direction of measurement device, radio wave measurement system, electromagnetic wave re-radiation, etc., can solve problems such as the reduction of measurement accuracy, and achieve the effect of reducing positioning error

Active Publication Date: 2017-11-10
ZHEJIANG GUOZI ROBOT TECH
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Problems solved by technology

[0004] However, in the specific use process of two-dimensional lidar positioning, due to its great dependence on fixed reference objects in the surrounding environment, when the surrounding environment changes slightly, its measurement accuracy will be significantly reduced

Method used

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  • Laser radar positioning method, device and system
  • Laser radar positioning method, device and system

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Embodiment Construction

[0045] The core of the present invention is to provide a laser radar positioning method. In the prior art, two-dimensional laser radar is usually used to obtain two-dimensional data of the surrounding environment of the mobile platform, and finally the pose of the current mobile platform is calculated. However, since the 2D lidar can only obtain 2D data of a plane around the mobile platform, it is very dependent on the fixed reference objects in the environment. Seriously affect the accuracy of laser radar positioning.

[0046] However, the laser radar positioning method provided by the present invention can obtain three-dimensional data of the surrounding environment of the mobile platform. Compared with the two-dimensional data obtained by the two-dimensional laser radar, the method provided by the present invention has acquired more information about the surrounding environment of the mobile platform. Information, when the surrounding environment of the mobile platform cha...

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Abstract

The invention discloses a laser radar positioning method which includes the steps of generating a 3D point cloud map according to 3D data of the surrounding environment of a mobile platform acquired by a 3D laser radar device, inertial data of the mobile platform acquired by an inertial measurement device and mileage data of the mobile platform acquired by a milemeter device, and calculating the current pose of the mobile platform according to the 3D point cloud map. Compared with 2D data acquired by 2D laser radar, more information about the surrounding environment of the mobile platform is acquired in the laser radar positioning method disclosed by the invention. When the surrounding environment of the mobile platform changes slightly, the influence on the overall situation is significantly smaller, and therefore, the positioning error caused by the change in the surrounding environment is reduced. The invention further discloses a laser radar positioning device and a laser radar positioning system which have the same beneficial effect.

Description

technical field [0001] The invention relates to the field of radar positioning, in particular to a method, device and system for laser radar positioning. Background technique [0002] In today's society, with the continuous advancement of science and technology, autonomous driving and related technologies have become a hot topic in today's social research, and among the above-mentioned hot technologies, radar positioning technology is one of the key research issues. Since the frequency of the laser beam emitted by the laser radar can range from a few pulses per second to tens of thousands of pulses per second, its receiver can receive hundreds of thousands of points every minute; therefore, the laser radar has many unique advantages, such as extremely high Distance resolution and angular resolution, strong anti-interference ability, small size and weight, etc. Lidar positioning is an important application of current positioning technology. Lidar positioning technology is us...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/02G01S17/42
CPCG01S17/42G01S17/86
Inventor 陶熠昆黄鸿庞文尧王培建余玉平
Owner ZHEJIANG GUOZI ROBOT TECH
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