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Method and device for improving positioning accuracy based on SLAM positioning result
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A technology for positioning results and positioning accuracy, applied in measuring devices, satellite radio beacon positioning systems, instruments, etc., can solve problems such as GPS positioning information errors, and achieve the effect of improving driving positioning accuracy
Inactive Publication Date: 2019-08-30
WUHAN ZHONGHAITING DATA TECH CO LTD
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However, unmanned vehicles drive in complex dynamic environments, especially in big cities, where the problem of GPS multi-path reflection will be obvious, so the GPS positioning information obtained in this way can easily have an error of a few meters
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Embodiment 1
[0037] Such as figure 1 As shown, the embodiment of the present invention provides a method for improving positioning accuracy based on SLAM positioning results, including the following steps:
[0038] Step 1, laser / visual SLAM positioning
[0039] By using the laser / visual SLAM method (ORB-SLAM2 or VINS, etc.), the laser radar or image data is used to solve the positioning, and the positioning result with smooth trajectory is obtained.
[0040] Taking the open source visual SLAM method - ORB-SLAM2 as an example, the implementation process of laser / visual SLAM is similar, and the details will not be expanded here. ORB-SLAM2 is a complete SLAM solution based on monocular, binocular and RGB-D cameras. It enables map reuse, loop detection and relocation. The ORB-SLAM2 system adopts the beam optimization method (BA, Bundle Adjustment), which refers to extracting the optimized 3D model and camera parameters (internal parameters and external parameters) from the visual reconstruc...
Embodiment 2
[0086] Such as figure 2 As shown, the embodiment of the present invention provides a device for improving positioning accuracy based on SLAM positioning results, including:
[0087] The positioning data acquisition module is used to solve the positioning using the laser radar or image data through the laser / visual SLAM method, obtain the SLAM positioning data, and obtain the GPS positioning data at the same time;
[0088] The data fusion module is used to use the SLAM positioning data to replace the GPS positioning data with poor signal status, and fuse the SLAM positioning data with the GPS positioning data with good signal status to obtain complete vehicle pose information and mobile sensors information.
Embodiment 3
[0090] Such as image 3 As shown, the embodiment of the present invention provides a device for improving positioning accuracy based on SLAM positioning results, including:
[0092] The processor is configured to read and execute the computer software program stored in the memory, so as to implement the method for improving positioning accuracy based on the SLAM positioning result described in the first embodiment.
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Abstract
The invention relates to a method and a device for improving positioning accuracy based on an SLAM positioning result. The method uses laserradar or image data to solve and position via a laser / visual SLAM method, and thus acquires SLAM positioning data and meanwhile acquires GPS positioning data; using the SLAM positioning data to replace the GPS positioning data with a poor signal state, fusingthe SLAM positioning data with the GPS positioning data with the good signal state to acquire complete vehicle posture information and mobile sensor information. According to the method and device provided by the invention, via fusing the laser / visual SLAM positioning result with the GPS positioning information, the travel positioning accuracy of the GPS under the condition that the signal is unlocked or the signal is relatively poor is effectively improved.
Description
technical field [0001] The present invention relates to the technical field of intelligent driving, in particular to a method and device for improving positioning accuracy based on SLAM positioning results in the case of GPS out-of-lock or positioning state price difference in a driving-only vehicle. Background technique [0002] Global Positioning System (GPS) is an indispensable technology for current driving positioning, and it also plays a very important role in intelligent driving positioning. The GPS system includes 32 GPS satellites in space, 1 master control station, 3 data injection stations and 5 monitoring stations on the ground, as well as the GPS receiver as the user terminal. At least 3 of the satellites are needed to quickly determine the location and altitude of the user terminal on the earth. Now civilian GPS can achieve positioning accuracy of about ten meters. The GPS system uses low-frequency signals, which can maintain considerable signal penetration e...
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