A laser slam-based indoor positioning and navigation method

An indoor positioning and laser technology, applied in the field of positioning and navigation, can solve indoor positioning and other problems, and achieve the effect of improving positioning efficiency, reducing similarity, and accurate indoor navigation

Active Publication Date: 2022-05-10
GUANGDONG ELINK INFORMATION TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, different places inside the building may be the same, for example, the distribution of the left and right functional rooms on the same floor is the same, the toilets on different floors are the same, etc., which will cause the point clouds collected by the lidar in different places in the room to be the same , there is a situation where indoor positioning cannot be performed by matching and comparing point clouds

Method used

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  • A laser slam-based indoor positioning and navigation method
  • A laser slam-based indoor positioning and navigation method
  • A laser slam-based indoor positioning and navigation method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0055] Such as figure 1 As shown, an indoor positioning method based on laser SLAM includes the following steps:

[0056] S1. Using laser SLAM technology to build an indoor global map;

[0057] S2. Divide the global map into several non-repetitive sub-area maps, and divide the room into several sub-areas through electronic fences according to the divided sub-area maps;

[0058] S3. The robot walks in the electronic fence and builds a local map using laser SLAM technology, searches for a matching sub-area map according to the local map, and obtains the current location.

[0059] Divide the global map into non-repeating sub-region maps, that is, each sub-region map is unique. According to the divided sub-area map, the electronic fence can divide the room into non-repeating sub-areas. During the positioning process, the robot can only walk in one of the sub-areas and build a local map under the action of the electronic fence, so that the robot constructed The local map of the ...

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Abstract

The invention relates to an indoor positioning and navigation method based on laser SLAM, comprising the following steps: S1. Constructing an indoor global map using laser SLAM technology; The sub-area map divides the room into several sub-areas through the electronic fence; S3. The robot walks in the electronic fence and uses laser SLAM technology to build a local map, and searches for the matching sub-area map according to the local map and obtains the current position. Even if the building structure and the distribution of functional rooms in different indoor places are the same, the present invention can realize accurate indoor positioning and navigation.

Description

technical field [0001] The invention relates to the technical field of positioning and navigation, in particular to an indoor positioning and navigation method based on laser SLAM. Background technique [0002] Inside a building with a complex structure and many functional rooms, it is easy for people to lose their way and find their desired destination. At present, the commonly used positioning and navigation method is to use satellite positioning system, such as GPS or Beidou, but because the positioning signal received by GPS or Beidou in the indoor environment is weak, the positioning error is large, and sometimes it will even fail, so how not to Relying on the satellite positioning system to complete the precise positioning of personnel indoors has become a difficult problem. [0003] Laser SLAM (simultaneous localization and mapping) is a technology for instant positioning and map construction. It uses laser radar to collect object information and presents a series of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 方妍何秋艳黄潇云陈晶陈锦银葛斌华
Owner GUANGDONG ELINK INFORMATION TECH
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