Absolute coordinate acquisition method for mobile robot localization and environment reconstruction
A technology for obtaining methods and absolute coordinates, which can be used in navigation calculation tools and other directions to solve problems such as unclear process and unreasonable timing.
Inactive Publication Date: 2015-08-05
SHANGHAI MARITIME UNIVERSITY
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Problems solved by technology
[0005] 2) The conversion and combination timing between the satellite navigation receiver and other environmental observation sensor observation data is unreasonable
The process is not clear
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[0152] Specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.
[0153] In order to better illustrate the present invention, the coordinate system involved in the present invention is declared here:
[0154] 1, earth-centered earth-fixed coordinate system (represented by e in the present invention):
[0155] Right-handed coordinate system. The center of the earth is the origin, the x-axis points to the prime meridian, the y-axis points to 90 degrees east longitude, and the z-axis coincides with the earth's rotation axis and points to the North Pole. According to different expressions, the coordinates under e have two equivalent expressions: Cartesian coordinates, using (x e ,y e ,z e ) represents; geodetic coordinates, with longitude λ, latitude Height h said.
[0156] 2, local geographic coordinate system (represented by g in the present invention):
[0157] Right-handed coordinate system. The origi...
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The invention discloses an absolute coordinate obtaining method used for positioning a mobile robot and reconstructing an environment. The absolute coordinate obtaining method comprises the following steps of: introducing a virtual coordinate system; getting coordinates of a robot at the current moment in a local geographic coordinate system of which an original point is a satellite navigation receiver antenna, geodetic coordinates of the robot in an earth centered earth fixed coordinate system, coordinates of an environment characteristic point in the local geographic coordinate system by using a point c as the center, and geodetic coordinates of the environment characteristic point in the earth centered earth fixed coordinate system; getting the coordinates of the robot at a last moment c in a coordinate system, the coordinates of the robot at the last moment in the local geographic coordinate system by using the point c as the original point, the longitude, the latitude and the height of the robot; getting the coordinates of the environment characteristic point at the current moment in the local geographic coordinate system by using the point c as the center; and getting the geodetic coordinates of the environment characteristic point at the current moment in the earth centered earth fixed coordinate system. According to the absolute coordinate obtaining method used for positioning the mobile robot and reconstructing the environment disclosed by the invention, the virtual coordinate system is introduced, the center point of the equivalent satellite navigation receiver antenna and the center point of a sensor coordinate system are the same point, so that the labor and time cost is reduced.
Description
technical field [0001] The invention relates to the field of mobile robot positioning and map construction, in particular to an absolute coordinate acquisition method for mobile robot positioning and environment reconstruction. Background technique [0002] Mobile robot localization and map construction (Simultaneous localization and mapping, SLAM) is one of the core directions of mobile robot engineering application and scientific research. With the current wheeled robot represented by self-navigating unmanned vehicles, it has become a hot spot for military and civilian use. Engineering application requirements are increasing day by day. In practical engineering applications, the first thing to be solved is how to obtain the absolute coordinates of the robot's own position and the observed environmental feature points. [0003] Mobile robots operate in complex and diverse scenarios. In many cases, the signal of the satellite navigation system represented by GPS is unstabl...
Claims
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IPC IPC(8): G01C21/20
Inventor 孙作雷张波曾连荪黄平平朱大奇
Owner SHANGHAI MARITIME UNIVERSITY