Indoor movable positioning and drawing method

A mobile positioning and map technology, applied in surveying and navigation, measuring devices, instruments, etc., can solve the problems of low mapping accuracy and low efficiency of mobile measurement, and achieve the effect of high mapping accuracy

Active Publication Date: 2017-05-31
LEADOR SPATIAL INFORMATION TECH CORP
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AI Technical Summary

Problems solved by technology

[0003] In order to solve the above technical problems, the present invention provides an indoor mobile positioning a

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  • Indoor movable positioning and drawing method

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[0023] In order to facilitate those of ordinary skill in the art to understand and implement the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the implementation examples described here are only used to illustrate and explain the present invention, and are not intended to limit this invention.

[0024] please see figure 1 , a method for indoor mobile positioning and mapping provided by the present invention, comprising the following steps:

[0025] Step 1: Laser point cloud data acquisition;

[0026] Use the data acquisition software to acquire the laser data in the horizontal direction and vertical direction synchronously, and the premise of data acquisition is that the laser needs to be placed horizontally and fixedly, and the relative positions of different lasers have been calibrated;

[0027] Step 2: Point cloud data preprocessing;

[0028] S...

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Abstract

The invention discloses an indoor movable positioning and drawing method. The indoor movable positioning and drawing method comprises the following main steps: inputting acquired point cloud data according to requirements; carrying out point cloud primary treatment which specifically comprises point cloud filtering, point cloud coordinate conversion and nonlinear interpolation, and under-sampling; carrying out attitude prediction of a track by adopting a particle filtering method; generating a sub-map, adding a target and carrying out constraint calculation, specifically including generation of a dynamic sub-map, adding a virtual target and an overall target, partial bundling and overall constraint calculation; carrying out overall optimization by utilizing map optimization and reducing accumulation errors caused by frame-by-frame matching; updating a result including updating sub-map data, track data and overall map data generated according to the track; preserving result data. According to the indoor movable positioning and drawing method, a GPS (Global Positioning System) and an IMU (Inertial Measurement Unit) are not used, the data processing speed is rapid and the parallel processing is easy to realize; the drawing precision is high and centimeter-grade precision is realized.

Description

technical field [0001] The invention relates to the technical fields of SLAM (Simultaneous Localization And Mapping), mobile robots, photogrammetry, and artificial intelligence, and in particular to an indoor mobile positioning and mapping method. Background technique [0002] The key to indoor mobile measurement technology lies in indoor positioning and mapping. Generally, under outdoor conditions, sensors such as Global Positioning System (GPS) and Inertial Measurement Unit (IMU) are mainly used for positioning to realize efficient mobile measurement solutions. However, there is no GPS signal in the indoor environment, and the traditional positioning method is useless in the indoor environment. Without location information, mobile measurement cannot be realized. In addition, the traditional fixed-point indoor measurement method is inefficient, takes a long mapping cycle, and consumes a lot of manpower. Contents of the invention [0003] In order to solve the above techn...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/32
CPCG01C21/206G01C21/32
Inventor 李德仁张桥张文俊孙凯
Owner LEADOR SPATIAL INFORMATION TECH CORP
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