Positioning method and mobile terminal based on uwb positioning and laser map matching

Abstract

The invention provides a positioning method based on UWB positioning and a laser map matching. The method comprises the following steps of: acquiring first position information of a mobile terminal ina current state, wherein the first position information is position coordinates determined by a UWB tag located on the mobile terminal and a UWB base station arranged around the mobile terminal; acquiring preset characteristic data according to the first position information, wherein the preset characteristic data is the first laser data selected by the mobile terminal under preset conditions tocharacterize the current position in the preset laser map; acquiring target characteristic data, the target characteristic data being second laser data measured by a lidar on a mobile terminal representing a current target posture; matching the target feature data and the preset feature data to obtain the accurate posture of the mobile terminal. The invention adopts a laser ranging mode for positioning, and is not influenced by external light; Lock the target area by uwb, and then use laser feature matching to accurately locate the target area in a small range. The positioning accuracy, speed,stability and cost are low.

Description

technical field [0001] The present invention relates to the field of vehicle safety, in particular, the present invention relates to a navigation method and device based on UWB positioning and image feature matching. Background technique [0002] In the navigation process of mobile robots, localization and navigation are both important. If the positioning deviation is large, it will cause the robot to navigate randomly or even fail to navigate. Therefore, navigation is very dependent on positioning, and the requirements for positioning accuracy are relatively high. At the same time, the quality of the navigation algorithm is directly related to the walking gait of the robot. [0003] The current outdoor positioning technology is mainly satellite positioning (such as: gps), and mobile phone base station positioning. However, the indoor satellite signal is too weak, and the accuracy is not enough, it is basically impossible to locate, and the positioning error of the mobile ...

AI Technical Summary

Problems solved by technology

[0006] 2. Wi-Fi positioning, Bluetooth positioning, uwb wireless positioning: can obtain absolute position, but there is no attitude information, the accuracy is poor and unstable, and will be affected by obstacles and electromagnetic environments, such as passing through walls or metal objects Or the accuracy becomes poor when the surrounding electromagnetic environment is complex

Save the map in advance and use the feature points in the map for matching and positioning to obtain accurate poses, but the amount of calculation is large, it is difficult to obtain poses in real time, and multiple matches will be obtained when encountering similar scenes result

[0008] The above solutions have their own advantages and disadvantages, but currently there are few navigation and positioning solutions that can learn from each other's strengths and take into account the cost performance. The market demand in this field has not been met.

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