An indoor positioning method based on single-line lidar
A single-line laser radar, indoor positioning technology, applied in the re-radiation of electromagnetic waves, radio wave measurement systems, instruments, etc., can solve the problems of inconvenience, indoor positioning accuracy is difficult to reach centimeter level, and positioning accuracy cannot be applied, and achieve high precision. The effect of indoor positioning
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[0027] The technical solutions of the present invention will be further illustrated in conjunction with the accompanying drawings.
[0028] The above-described indoor positioning method based on single-wire laser radar, includes the following steps:
[0029] (1) Construction of the data acquired using a single laser radar collection, the single-line laser radar transmits the laser beam in the fixed direction, and the laser that is emitted will be reflected, so that the laser is transmitted from emitted to The time difference received can calculate the distance of the single laser thunder to the nearest obstacle in this direction.
[0030] In the plaster map, for a point, P (s = 0) is used to indicate that it is an empty state, with P (s = 1) to indicate that it is the probability of occupying the status, both of the sum of 1. In this case, the ratio of the two is introduced as a state of the point: ODD (S) = p (s = 1) / p (s = 0). In the grid map, the larger the value of a point s...
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