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Single-line laser radar two-dimensional positioning method based on light reflection column or light reflection panel

A single-line laser radar, two-dimensional positioning technology, applied in the direction of electromagnetic wave re-radiation, radio wave measurement system, utilization of re-radiation, etc., can solve problems such as difficult application, and achieve the effect of reducing errors

Active Publication Date: 2019-06-07
凌鸟(苏州)智能系统有限公司
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Problems solved by technology

So far, the triangulation positioning method is the most commonly used positioning method because it is simple, fast and widely used. Due to measurement errors, it is difficult to apply this positioning method to some high-precision industrial positioning scenarios.

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  • Single-line laser radar two-dimensional positioning method based on light reflection column or light reflection panel

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Embodiment Construction

[0019] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0020] Accidental error: Accidental error is caused by some uncertain accidental factors. It is characterized by the irregularity of a single observation data, but many observations show certain regularity, such as rounding error, measurement error, and the accuracy of the single-line lidar itself Wait.

[0021] Horizontal distortion: In practical applications, the single-line lidar moves with the carrier (such as AGV). During the movement, the single-line lidar caused by the smoothness of the road surface and the vibration of the carrier is not in the initial horizontal plane, resulting in The data error of single-line lidar measurement becomes larger.

[0022] Motion d...

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Abstract

The invention relates to a single-line laser radar two-dimensional positioning method based on a light reflection column or a light reflection panel. The method comprises the following steps: S1) carrying out horizontal distortion correction on original measurement data of a single-line laser radar, and calculating actual position of a horizontal target bearing; S2) carrying out motion distortioncorrection on the original measurement data of the single-line laser radar; and S3) carrying out global matching on the measurement data of the single-line laser radar obtained after distortion correction in the steps S2) and S3) and map data of the actual position of the target bearing in the step S1). According to the single-line laser radar two-dimensional positioning method based on the lightreflection column or the light reflection panel, through the horizontal distortion correction and the motion distortion correction, errors of the measurement data itself are greatly reduced, and the error is smaller; and compared with a triangulation location method, the method enables all of the target bearings to participate in calculation to obtain an optimal solution instead of enabling threepoints to participate in calculation in triangulation location, and the error and precision of the three points directly affect the final calculation result, so that precision is higher.

Description

technical field [0001] The invention relates to the technical field of radar positioning, in particular to a two-dimensional positioning method for a single-line laser radar based on a reflective column or a reflective plate. Background technique [0002] Geometric triangulation in traditional technology refers to a mathematical principle, which is to use three or more target positions detected by single-line lidar at different positions, and then use the principle of triangular geometry to determine the position and azimuth of single-line lidar . So far, the triangulation positioning method is the most commonly used positioning method because it is simple, fast and widely used. Due to measurement errors, it is difficult to apply this positioning method to some high-precision industrial positioning scenarios. In order to reduce accidental errors, horizontal distortion, and motion distortion, increase the target orientations involved in positioning calculations (no longer th...

Claims

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Application Information

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IPC IPC(8): G01S17/06G01S7/497G01S7/48
CPCY02A90/10
Inventor 杨超罗安庆姚斌
Owner 凌鸟(苏州)智能系统有限公司
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