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Indoor positioning method and device

An indoor positioning and indoor map technology, applied in the field of navigation, can solve the problems of unfavorable real-time positioning of robots, reduced positioning accuracy and navigation accuracy, and high algorithm time complexity

Active Publication Date: 2016-05-25
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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  • Summary
  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, since the SLAM algorithm is used to match the collected environmental data with the overall indoor environmental data, a large number of iterative operations are required, and the time complexity of the algorithm is high, which is not conducive to the real-time positioning of the robot.
At the same time, the SLAM algorithm itself has accumulated errors in the data matching process, which reduces the positioning accuracy and navigation accuracy.

Method used

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  • Indoor positioning method and device

Examples

Experimental program
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Embodiment 1

[0021] figure 1 This is a flowchart of the indoor positioning method provided by the first embodiment of the present invention. This embodiment can be applied to the situation of quickly and accurately positioning the position of the robot. The method can be executed by an indoor positioning device, and specifically includes the following steps:

[0022] Step 110: Determine an estimated pose, and determine a local map library according to the obtained indoor map library and the estimated pose.

[0023] Among them, in order to determine the position of the robot in the plane, a two-dimensional plane coordinate system is established. Take the starting point of the robot's movement in the indoor environment as the coordinate origin, and take the front of the robot when it starts to move as the positive direction of the X-axis. , the counterclockwise direction is positive, and the included angle ranges from -180° to 180°. Determine the current position of the robot through the s...

Embodiment 2

[0037] figure 2 This is a schematic diagram of data processing in an indoor positioning method provided in Embodiment 2 of the present invention, and this embodiment may provide a preferred example based on the foregoing embodiment.

[0038] see figure 2 As shown, the input data includes the acceleration data collected by the accelerometer, the direction data collected by the gyroscope, the direction data collected by the electronic compass, the speed data collected by the speed encoder, the current frame lidar data and the indoor map library. The embedded chip in the robot acquires the acceleration data collected by the accelerometer set on the robot, the direction data determined by the gyroscope, the direction data determined by the electronic compass, and the speed data determined by the speed encoder (Hall sensors can also be used to replace the speed encoder. ), and estimate the position and attitude of the robot according to the data obtained above. For example, by ...

Embodiment 3

[0043] image 3 Shown is a schematic structural diagram of an indoor positioning device provided in Embodiment 3 of the present invention. This embodiment can be applied to the situation of performing rapid indoor positioning of robots without pre-deploying auxiliary equipment in the indoor environment. The specific structure is as follows:

[0044] a positioning map determination unit 310, configured to determine an estimated pose, and determine a local map library according to the obtained indoor map library and the estimated pose;

[0045] a first pose determination unit 320, configured to match the collected lidar data of the current frame with the lidar data of the previous frame to determine the first pose;

[0046] The second pose determination unit 330 is configured to obtain the pose with the smallest offset from the first pose in the local map library, and compare the current frame lidar data with the pose with the smallest offset. The lidar data corresponding to t...

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Abstract

The present invention discloses an indoor positioning method and device. The method comprises a step of determining an estimation pose and determining a local map library according to an obtained indoor map library and the estimation pose, and a step of matching collected current frame of laser radar data with a last frame of laser radar data to determine a first pose, a step of obtaining a pose with minimum offset with the first pose in the local map library, and matching the current frame of laser radar data with the laser radar data corresponding to the pose with a minimum offset to determine a second posture, a step of determining a pose with a smaller matching error in the first pose and the second pose as a precise pose. According to the method and the device, the problem of high time complexity of an algorithm caused by the large calculation amount of an SLAM algorithm is solved, through comparing the first pose and the second pose, the data with a large matching error is removed, the cumulative error of the SLAM algorithm is limited, and the purpose of rapid and accurate positioning is achieved.

Description

technical field [0001] Embodiments of the present invention relate to navigation technologies, and in particular, to an indoor positioning method and device. Background technique [0002] With the rapid development of electronic technology and computer technology and the continuous improvement of robot positioning accuracy, the application of intelligent mobile robots is becoming more and more extensive. [0003] At present, a way to realize indoor navigation is to pre-arrange wireless sensor network nodes indoors to form a wireless sensor network. A global topological moving map is constructed from the data of wireless sensor network nodes. This method needs to lay a considerable number of wireless sensors in advance, which will inevitably increase the investment in research and development costs. Moreover, the map obtained in this way will inevitably be incomplete due to the lack of information about the location of the sensor that is not set, and further, cannot provide...

Claims

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Application Information

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IPC IPC(8): G01S17/06
CPCG01S17/06
Inventor 徐斌李志堂严孙荣
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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