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Cooperative navigation and localization system and method

A positioning system, navigation and positioning technology, applied in the field of navigation, can solve the problems of inability to provide absolute position, high cost data noise, and inapplicable precise positioning, etc., to achieve the effect of improving accuracy and application range, high positioning accuracy and fast positioning speed

Active Publication Date: 2017-10-13
上海舵敏智能科技有限公司
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Problems solved by technology

Among them, the GPS sensor can only work in an open and unobstructed outdoor environment; the visual sensor can provide rich and intuitive information, and the cost is low, but the data obtained is often noisy, and it is not suitable for environments with similar environmental textures and low light; Lidar has high accuracy in ranging range and direction, but it is only suitable for structured indoor environments, not for open outdoor environments; the inertial navigation element is a relative positioning sensor, and the relative position is obtained by integral calculation , but it has a large cumulative error and cannot provide absolute position, so it is not suitable for long-term precise positioning
Therefore, each sensor has its own limitations, as well as the specific application environment

Method used

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  • Cooperative navigation and localization system and method

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Embodiment Construction

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0028] see figure 1 , a cooperative navigation and positioning system and a navigation and positioning method, comprising

[0029] The sensor data acquisition module is responsible for collecting sensor raw data and integrating and transmitting it to other modules;

[0030] RGB-D image generation module, which fuses the data of monocular vision sensor and lidar to generate RGB-D image;

[0031] The kinematics modeling module carries out kinematics modeling t...

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Abstract

The invention discloses a cooperative navigation and localization system and method. The cooperative navigation and localization system comprises a sensor data collecting module, an RGB-D image generation module, a kinematic modeling module, a zero-deflection correction module, a position tracking module, a global optimization module and a map storage module. The cooperative navigation and localization system and method have the advantages that the system is provided with four sensors, namely the GPS, the monocular vision sensor, the inertial navigation element and the laser radar, the advantages of the sensors are combined, the precision and the application range of the sensors are improved, the cooperative navigation and localization system can normally work in various complex environments, and the cooperative navigation and localization system and method have the advantages of being quick in localization speed, high in localization precision, high in robustness, wide in application range and the like.

Description

technical field [0001] The invention relates to a positioning system and method, in particular to a cooperative navigation positioning system and a navigation positioning method, belonging to the technical field of navigation. Background technique [0002] There are many navigation and positioning methods at this stage. According to the classification of sensors, they can be divided into satellite navigation (GPS), visual sensors, odometers, inertial navigation components, laser radar and so on. Among them, the GPS sensor can only work in an open and unobstructed outdoor environment; the visual sensor can provide rich and intuitive information, and the cost is low, but the data obtained is often noisy, and it is not suitable for environments with similar environmental textures and low light; Lidar has high accuracy in ranging range and direction, but it is only suitable for structured indoor environments, not for open outdoor environments; the inertial navigation element is ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01S19/47
CPCG01C21/165G01S19/47
Inventor 宗文豪张长柱王祝萍陈龙泉
Owner 上海舵敏智能科技有限公司
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