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Indoor positioning method based on single-line laser radar

A single-line laser radar and indoor positioning technology, which is applied in the direction of electromagnetic wave re-radiation, radio wave measurement system, measuring device, etc., can solve the problems of inconvenient use, difficult to achieve centimeter-level indoor positioning accuracy, and inability to apply positioning accuracy. The effect of precision indoor positioning

Active Publication Date: 2020-08-07
中振同辂(江苏)机器人有限公司
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Problems solved by technology

[0003] Since it is difficult to receive satellite signals indoors, positioning methods such as GPS cannot quickly and accurately locate indoors, so other sensors are generally used for indoor positioning. Currently, common indoor positioning solutions include Wifi, Bluetooth, RFID, etc., but these positioning methods are not It is necessary to modify the existing indoor scenes, such as adding signal transmitters, etc., which is not easy to use
In addition, the indoor positioning accuracy of these methods is difficult to reach the centimeter level, and cannot be applied to scenarios that require high positioning accuracy

Method used

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  • Indoor positioning method based on single-line laser radar

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Embodiment Construction

[0027] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0028] The above-mentioned indoor positioning method based on single-line laser radar comprises the following steps:

[0029] (1) Use the data collected by the single-line lidar to construct an occupancy grid map. The single-line lidar will emit a laser beam in a fixed direction, and the emitted laser will be reflected when it encounters an obstacle, so that the laser can be obtained from the emission to the Based on the time difference received, the distance from the single-line lidar to the nearest obstacle in that direction can be calculated.

[0030] In the occupancy grid map, for a point, p(s=0) is used to represent the probability that it is an empty state, and p(s=1) is used to represent the probability that it is an occupied state, and the sum of the two is 1. Here, the ratio of the two is introduced as the state of the point: Odd(s)=...

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Abstract

The invention discloses an indoor positioning method based on a single-line laser radar. The indoor positioning method comprises the following steps of (1) constructing an occupied grid map by using data acquired by the single-line laser radar, (2) constructing a local map by adopting the method in the step (1), and carrying out local matching, (3) constructing a global map by adopting the methodin the step (1), and carrying out global matching, (4) when a primary global matching result is obtained, constraining the global map and the local map on the timestamp of the global matching result and adding into an optimization queue, and in order to avoid accidental errors, performing least square optimization once when the optimization queue reaches a certain number, updating the historical positioning track in the current local map, and updating the pose of each point to finally obtain a real-time and accurate pose. According to the indoor positioning method based on the single-line laser radar, high-precision indoor positioning of various scenes can be achieved, and large support is provided for stable operation and work of a robot.

Description

technical field [0001] The invention relates to an indoor positioning method based on a single-line laser radar. Background technique [0002] In the field of indoor robotics, the robot needs to determine its position in the environment at all times to perform the next task. Common application scenarios include sweeping robots, storage robots, and automatic parking in vehicle garages. [0003] Since it is difficult to receive satellite signals indoors, positioning methods such as GPS cannot quickly and accurately locate indoors, so other sensors are generally used for indoor positioning. Currently, common indoor positioning solutions include Wifi, Bluetooth, RFID, etc., but these positioning methods are not It is necessary to modify the existing indoor scene, such as adding a signal transmitter, etc., which is not easy to use. In addition, the indoor positioning accuracy of these methods is difficult to reach the centimeter level, and cannot be applied to scenarios that re...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01S17/931
CPCG01C21/206
Inventor 张涛桂坡坡胡建平徐昆源陆新民赵懿
Owner 中振同辂(江苏)机器人有限公司
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