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A Pose Estimation Method for Exhaust Gas LiDAR

A lidar and attitude estimation technology, applied in the field of signal processing, can solve the problems of not taking into account changes in the reliability of accelerometers, performance degradation, etc., to achieve strong stability and robustness, and reduce energy consumption.

Active Publication Date: 2022-05-17
安徽优思天成智能科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Traditional techniques perform well in static situations, but suffer severe performance degradation in dynamic situations
In fact, changes in accelerometer reliability due to external acceleration changes that occur in dynamic situations are not considered in these methods

Method used

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  • A Pose Estimation Method for Exhaust Gas LiDAR
  • A Pose Estimation Method for Exhaust Gas LiDAR
  • A Pose Estimation Method for Exhaust Gas LiDAR

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Embodiment Construction

[0056] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0057] The present invention provides a method for attitude estimation, including preprocessing defined as follows:

[0058] A quaternion is defined as

[0059] q=[q 0 ,q 1 ,q 2 ,q 3 ]

[0060] If you add any subscripts and subscripts to q, such as superscript x and subscript y, then we have

[0061]

[0062] We also define

[0063] ...

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Abstract

The present invention provides an attitude estimation method for exhaust gas laser radar, comprising the steps of: initializing parameter setting, including setting initial quaternion initial error covariance matrix state random walk noise covariance judgment threshold coefficient α, detection window width W and gain adjustment coefficient β; the present invention fully considers the energy consumption problem of the system and the interference problem of external acceleration, and can reduce the overall energy consumption of the system while reducing the interference of external acceleration to the system; the present invention can control the motion state of the object Real-time monitoring is carried out, and it can effectively counteract the abnormality of the accelerometer, and has strong stability and robustness.

Description

technical field [0001] The invention relates to the technical field of signal processing, in particular to an attitude estimation method for exhaust gas laser radar. Background technique [0002] Rigid body pose estimation plays a huge role in applications such as pedestrian positioning, indoor navigation, and human body tracking. The problem of attitude estimation can be described as a data fusion problem of three sensors: gyroscope, accelerometer and magnetometer. An inertial measurement unit consisting of a three-axis gyroscope to measure angular velocity, a three-axis accelerometer to measure the sum of external acceleration and gravity, and a three-axis magnetic sensor to measure the earth's magnetic field are usually used, and we can make the most of their readings. Optimal fusion to improve estimation accuracy. [0003] In the detection of exhaust gas from off-road mobile pollution sources, LiDAR plays a very important role. Since the lidar needs to be aimed at the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/95G06F17/16
CPCY02A90/10
Inventor 吕文君杜晓冬李泽瑞
Owner 安徽优思天成智能科技有限公司
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