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Bionic sonar two-dimensional experience map drawing method, storage medium and equipment

A bionic sound and experience technology, applied in the field of bionic sonar, can solve problems such as the distortion of two-dimensional history maps, and achieve the effect of improving accuracy and accuracy

Active Publication Date: 2018-05-08
ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Aiming at the defects in the prior art, the present invention provides a bionic sonar two-dimensional experience map drawing method, storage medium and equipment, which can improve the accuracy of closed-loop detection and improve the distortion problem of the two-dimensional experience map

Method used

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  • Bionic sonar two-dimensional experience map drawing method, storage medium and equipment
  • Bionic sonar two-dimensional experience map drawing method, storage medium and equipment

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Embodiment 1

[0056] figure 1 A schematic flowchart of a method for drawing a bionic sonar two-dimensional history map provided by Embodiment 1 of the present invention is shown. Such as figure 1 As shown, the method includes:

[0057] Step S1, constructing a bionic sonar template according to the echo signals collected by the bionic sonar system, and generating corresponding local scene cells.

[0058] The bionic sonar system for simulating a bat includes: three ultrasonic transducers, a signal conditioning circuit, an analog-to-digital (AD) converter, a main control chip, a voltage amplification and a driving circuit. Among them, three ultrasonic transducers are arranged in a straight line, the ultrasonic transducer in the middle is used as the mouth of the bat, and the ultrasonic transducers on both sides are used as the two ears of the bat (called left ear and right ear); among them, the main control chip It is preferably an STM32 main control chip.

[0059] The working principle of...

Embodiment 2

[0156] Corresponding to Embodiment 1 of the present invention, Embodiment 2 of the present invention provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the following steps are implemented:

[0157] Step S1, constructing a bionic sonar template according to the echo signals collected by the bionic sonar system, and generating corresponding local scene cells;

[0158] Step S2, updating the pose sensing cells according to the information collected by the gyroscope and the accelerometer;

[0159] Step S3, constructing an audio perception hash template according to the echo signals collected by the bionic sonar system;

[0160] Step S4, using the bionic sonar template and the audio perception hash template to correct the pose sensing cells;

[0161] Step S5, drawing and correcting the bionic sonar two-dimensional experience map according to the interconnection of the audio perception hash template, th...

Embodiment 3

[0165] Corresponding to Embodiment 1 of the present invention, Embodiment 3 of the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the program, the computer program is implemented. The following steps:

[0166] According to the echo signal collected by the bionic sonar system, a bionic sonar template is constructed and corresponding local scene cells are generated;

[0167] Step S1, constructing a bionic sonar template according to the echo signals collected by the bionic sonar system, and generating corresponding local scene cells;

[0168] Step S2, updating the pose sensing cells according to the information collected by the gyroscope and the accelerometer;

[0169] Step S3, constructing an audio perception hash template according to the echo signals collected by the bionic sonar system;

[0170] Step S4, using the bionic sonar template and ...

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Abstract

The invention discloses a bionic sonar two-dimensional experience map drawing method, a storage medium and equipment. The method includes the following steps: constructing a bionic sonar template according to an echo signal collected by a bionic sonar system, and generating a corresponding local scene cell; updating a position and attitude sensing cell according to information collected by a gyroscope and an accelerometer; constructing an audio sensing Hash template according to the echo signal collected by the bionic sonar system; using the bionic sonar template and the audio sensing Hash template to correct the position and attitude sensing cell; and drawing and correcting a bionic sonar two-dimensional experience map according to the relationship of the audio sensing Hash template, thelocal scene cell and the position and attitude sensing cell. The accuracy of closed loop detection can be improved, and the distortion of two-dimensional experience maps can be improved.

Description

technical field [0001] The invention relates to the technical field of bionic sonar, in particular to a method for drawing a bionic sonar two-dimensional history map, a storage medium and a device. Background technique [0002] The most successful application in SLAM technology is the method of probability, such as Kalman filter algorithm, extended Kalman filter algorithm, particle filter algorithm and so on. Although some traditional SLAM algorithms still use sonar sensors to collect information, because of the use of sonar sensors to collect information, they often get rough information about the surrounding environment. In more cases, sonar sensors have been replaced by visual sensors and laser ranging sensors. replaced. [0003] Biological sonar can realize navigation in complex environments, it can extract a lot of information from echoes, it can imitate the transmission and reception process of bat sonar, use bionic sonar system to realize positioning and navigation i...

Claims

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Application Information

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IPC IPC(8): G01S15/02G01S7/52G01S7/539
Inventor 陈孟元胡文超
Owner ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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