Simultaneous localization and mapping and inertial navigation combined error fusion system

A technology of inertial navigation and combined errors, applied in the direction of measuring devices, instruments, etc., can solve problems such as increasing errors in mapping and azimuth recognition, increasing feedback delays, affecting robot positioning and navigation functions, etc.
CN106969784AInactive Publication Date: 2017-07-21SHANDONG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
SHANDONG UNIV
Publication Date
2017-07-21
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention belongs to the field of intelligent navigation devices and discloses a simultaneous localization and mapping and inertial navigation combined error fusion system. The system comprises a carrier, an inertial navigation device, a simultaneous localization and mapping device and an error fusion device. The inertial navigation device comprises an accelerometer, a gyroscope and an inertial navigation driving device. The simultaneous localization and mapping device comprises laser radar and an environment map building device. The error fusion device comprises a linear discrete simultaneous localization and mapping error module, an inertial navigation error module and a weight fusion module. Therefore, high accuracy and reliability in positioning and navigation of robots can be realized.
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Description

technical field

[0001] The invention belongs to the field of intelligent navigation devices, and in particular relates to a combined error fusion system of concurrent mapping positioning and inertial navigation. Background technique

[0002] In recent years, inertial navigation (INS for short) has given full play to its own advantages in some land areas that cannot be detected by navigation systems such as satellite navigation. The strapdown inertial navigation system in the prior art is composed of an accelerometer and a gyroscope, which are installed on a carrier to calculate the acceleration information and angular velocity information of the carrier respectively. However, in practical applications, due to the singleness of the sensor of the strapdown inertial navigation module, navigation errors occur frequently and will accumulate and magnify.

[0003] Concurrent Mapping and Localization (also known as Simultaneous Localization and Mapping, or SLAM for short) is consid...

Claims

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