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Polarized light SLAM (simultaneous localization and mapping) method based on UKF (unscented Kalman filtering)

An unscented Kalman, polarized light technology, applied in special data processing applications, complex mathematical operations, instruments, etc., can solve problems such as poor environmental adaptability, inaccurate composition, and difficulty in determining the position of the drone itself.

Active Publication Date: 2018-08-03
NORTH CHINA UNIVERSITY OF TECHNOLOGY +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The main problem to be solved by the present invention is to apply the polarized light information widely existing in nature to the SLAM of the UAV to solve the problems of difficulty in determining its own position, poor environmental adaptability, and inaccurate composition in the simultaneous positioning and composition of the UAV.

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  • Polarized light SLAM (simultaneous localization and mapping) method based on UKF (unscented Kalman filtering)
  • Polarized light SLAM (simultaneous localization and mapping) method based on UKF (unscented Kalman filtering)
  • Polarized light SLAM (simultaneous localization and mapping) method based on UKF (unscented Kalman filtering)

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Embodiment Construction

[0057] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0058] Such as figure 1 Shown, a kind of polarized light SLAM method based on unscented Kalman filter of the present invention comprises the following steps:

[0059] (1) Select the UAV's attitude, speed, position and landmark position as the system state, and establish the UAV's dynamic model;

[0060] Described step (1) selects the attitude, speed, position and landmark point of unmanned aerial vehicle as system state, sets up the dynamics model of unmanned aerial vehicle; Take the unmanned aerial vehicle starting position as the world coordinate system of origin, i.e. w system, Take the north direction as the positive direction of the x-axis of the world coordinate system, take the due west direction as the positive direction of the y-axis of the world coordinate system, and determine the positive direction of the z-axis of the world coordi...

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Abstract

The invention discloses a polarized light SLAM (simultaneous localization and mapping) method based on UKF (unscented Kalman filtering), and belongs to the field of UAV (unmanned aerial vehicle) autonomous navigation. According to the method, a state model of a UAV is combined with a measurement model based on a laser radar sensor and a polarized light sensor, and determination of the UAV positionand construction of a surrounding map is realized with a UKF algorithm, and stability and accuracy of a UAV SLAM system are improved on the basis of characteristics that polarized light information and laser radar information are matched and complementary and are not interfered by the outside.

Description

technical field [0001] The present invention relates to UAV Simultaneous Positioning and Mapping (SLAM), which belongs to the category of UAV autonomous navigation, and specifically relates to a polarized light SLAM method based on unscented Kalman filtering, how to determine its own position and perceive the external environment for UAVs The SLAM system aims to complete the positioning of the UAV and the drawing of the surrounding environment through the UAV system model and the corresponding filtering method. Background technique [0002] SLAM is the abbreviation of Simultaneous Localization and Mapping, which means "simultaneous positioning and mapping". It refers to the process in which the moving body calculates its own position and constructs an environmental map based on the information of the sensor. At present, SLAM technology has been used in drones, unmanned driving, robots, AR, smart home and other fields. [0003] SLAM research focuses on using filter theory t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G06F17/16G06F17/50
CPCG01C21/20G06F17/16G06F30/20
Inventor 杜涛白鹏飞郭雷王华锋刘万泉王月海
Owner NORTH CHINA UNIVERSITY OF TECHNOLOGY