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Method for map construction based on UWB indoor locating technology and laser radar

A laser radar and indoor positioning technology, applied in surveying and navigation, reradiation of electromagnetic waves, measuring devices, etc., can solve problems such as cumulative error, overall map distortion, and poor basemap construction effect, so as to improve accuracy and reduce distortion Sensitive effect

Active Publication Date: 2017-05-10
SHENZHEN PUDU TECH CO LTD
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  • Summary
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AI Technical Summary

Problems solved by technology

Since this base map construction method estimates the position of the sensor through the displacement changes obtained by splicing two adjacent needles, when scanning in a large range indoors, the integration of two adjacent displacements will produce cumulative errors, making the final base map construction not effectively
Especially for the corridor situation, the narrow and long corridor will become curved as the scanning advances and the error accumulates, and other large-area situations will cause the overall map to be distorted

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0024] A method for constructing a map based on UWB indoor positioning technology and laser radar, comprising the following steps:

[0025] 1) Install UWB base station

[0026] Install the base station in the indoor environment and install it on the ceiling to reduce the shielding of the human body. In the case of no shielding, at least three base stations can be installed. In the case of shielding, the number of base stations can be increased, so that it can be in a straight line at any position at the same time. More than three base stations for communication;

[0027] 2) Base station calibration

[0028] Calibrate the initial coordinates of the base station;

[0029] 3) Scan data

[0030] Use the Mecanum wheel mobile platform to carry the laser radar, remote control the laser radar to scan, and obtain the scanning data; at the same time, the platform is equipped with a UWB positioning tag to read the distance information of the positioning base station;

[0031] 4) Inte...

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PUM

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Abstract

The invention relates to a method for map construction based on a UWB indoor locating technology and a laser radar. A UWB and a laser radar double sensor are adopted to construct a map, and it can be guaranteed that data of the laser radar makes errors reduced when UWB positioning inaccuracy is caused due to the indoor metal blockage. When the data of the laser radar is reduced due to positioning accuracy of a moving object, the UWB positioning can make the errors reduced. The method improves map construction accuracy and reduces map distortion sense.

Description

technical field [0001] The present invention relates to a map construction method, in particular to an indoor planar map construction method combining UWB and laser radar. Background technique [0002] Indoor map construction based on lidar is more and more widely used in the field of robotics. The common ones are 3d lidar and 2d lidar. The 3D lidar scans the 3D model of the entire environment, and the 2D lidar scans the bottom map of the robot at the bottom of the robot. The above two methods are based on the key frame splicing technology to realize the construction of the base map. Since this base map construction method estimates the position of the sensor through the displacement changes obtained by splicing two adjacent needles, when scanning in a large range indoors, the integration of two adjacent displacements will produce cumulative errors, making the final base map construction not effectively. Especially for the corridor situation, the long and narrow corrid...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01S17/06
CPCG01C21/206G01S17/06
Inventor 虞坤霖张涛
Owner SHENZHEN PUDU TECH CO LTD
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