Multi-scene drone locating mapping method based on three-dimensional laser radar

Abstract

The invention provides a multi-scene drone locating and three-dimensional map mapping method based on a three-dimensional laser radar. In an indoor environment, when no GPS signal exists, a SLAM algorithm based on a three-dimensional laser sensor is built; in an outdoor environment, position information provided by RTK is mainly relied on to build the three-dimensional map, and after RTK loses theGPS signal, SLAM assists in locating. An indoor and outdoor three-dimensional map is quickly built, a convenient and efficient method is provided for obtaining the three-dimensional environment map,and the efficiency of building the three-dimensional environment map in the indoor environment and the outdoor environment is improved to a great extent; on the theoretical basis of mapping optimization of the SLAM algorithm, a drone platform SLAM algorithm is built based on the three-dimensional laser sensor, the three-dimensional environment map is built in the environment without the GPS signal, the problems of indoor locating and indoor and outdoor locating merging of a drone are solved, requirements of multi-scene drone locating are met, on the basis of obtaining high-precision attitude information, laser data is merged, and the three-dimensional map is built.

Description

technical field [0001] The invention relates to a multi-scene positioning and mapping method for UAVs based on three-dimensional laser radar, which is used for the construction of multi-scene three-dimensional point cloud maps for UAVs, and is suitable for indoor positioning and three-dimensional map construction, outdoor positioning and model construction of UAVs , Used in the field of UAV rescue and UAV surveying and mapping technology. Background technique [0002] With the rise of drones, the construction of 3D maps based on drone platforms has gradually come into people's field of vision. The 3D point cloud model of the environment can well express the position information of objects in the environment, and the acquisition of traditional 3D maps of complex and large scenes Professional equipment is required, which is time-consuming and expensive. Due to its easy-to-control and flexible features, UAVs have great potential in the establishment of 3D maps. In the construc...

AI Technical Summary

Problems solved by technology

[0003] Outdoor position information can be obtained by GPS, but positioning in an indoor environment without GPS signals has always been a difficult point. Generally, positioning is performed through complex algorithms. Among them, the SLAM algorithm occupies a dominant position, but the traditional filter-based SLAM algorithm is difficult to adapt to complex large scenes

In addition, one problem that has to be faced in the outdoor environment is the loss of GPS signals. The loss of GPS signals will cause the UAV to lose position information and will not be able to build a three-dimensional map of the environment. To overcome this problem, other positioning information is needed to assist positioning.

Therefore, the current 3D environmental map construction method using drones is too complex to have technical problems of low construction efficiency, and indoor positioning cannot be integrated with indoor and outdoor, and cannot adapt to multiple scenarios.

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