Method, device and storage medium for positioning and attitude determination of a robot

Abstract

The invention discloses a positioning and posture determination method, equipment and storage medium for a robot. The method first constructs a priori map based on collected laser point cloud data and inertial navigation data; secondly, performs curvature calculation on the laser point cloud data to extract laser points Cloud features, combined with inertial navigation position and attitude, according to the initial position and attitude of the robot; then based on the initial position and attitude, the current position and attitude of the robot in the laser point cloud coordinate system is obtained, and a local tracking map is constructed; then similar environment matching is performed to obtain The position and attitude conversion parameters between the prior map and the local tracking map; finally, the current position and attitude of the robot in the laser point cloud coordinate system is corrected. The invention does not rely on external signals to improve the positioning accuracy of the robot during autonomous movement; the invention adopts the curvature calculation method for the laser point cloud data, and also uses the grid map for tracking calculation during positioning, which greatly reduces The pressure of data transfer.

Description

technical field [0001] The invention relates to the technical field of robot positioning and navigation, in particular to a method, device and storage medium for positioning and attitude determination of a robot. Background technique [0002] With the gradual deepening of the development and application of robots, robot positioning and attitude determination provides the basis for autonomous navigation and positioning of robots, and is one of the core technologies to promote the wide application of robots. The ability of robot positioning and attitude determination has become one of the bottlenecks that limit the improvement of robot service capabilities. one. [0003] In the related positioning and attitude determination technology, the robot positioning and attitude determination method generally uses differential GNSS and inertial navigation for combined navigation to obtain position and attitude information. GNSS positioning is easily disturbed by external weather and en...

AI Technical Summary

Problems solved by technology

[0003] In the related positioning and attitude determination technology, the robot positioning and attitude determination method generally uses differential GNSS and inertial navigation for combined navigation to obtain position and attitude information. GNSS positioning is easily disturbed by external weather and environmental factors, and inertial navigation has high instantaneous positioning accuracy. Accumulate errors over time and reduce accuracy. Although the combination of the two can complement each other, it still belongs to active positioning, which requires the input of external GNSS signals, and is affected by uncontrollable factors in external conditions, so the positioning effect is uncontrollable

Images