Positioning method and device

Abstract

The invention discloses a positioning method and device, and relates to the technical field of computers. One specific implementation way of the method comprises the following steps that: obtaining abasic dataset, wherein the basic dataset comprises a measurement distance between a positioning object and an environment characteristic and the coordinate of the environment characteristic; on the basis of the basic dataset, through a weighted linear least square method, determining the first coordinate estimation value of the positioning object; and taking the first coordinate estimation value as an iteration initial value, on the basis of the basic dataset, obtaining the second coordinate estimation value of the positioning object through nonlinear least square method iteration, and positioning the positioning object through the second coordinate estimation value. By use of the implementation way, positioning can be quickly and accurately carried out.

Description

technical field [0001] The present invention relates to the field of computer technology, in particular to a positioning method and device. Background technique [0002] At present, Automated Guided Vehicle (AGV) has been widely used in unmanned production systems. During the operation of the AGV, an important link is the real-time positioning of the AGV. Among them, the positioning of the AGV is realized based on the AGV coordinate system and the global coordinate system of the environment where the AGV is located. The AGV coordinate system is based on the AGV body center as the origin and the AGV forward direction as the coordinate axis. The AGV body center A laser scanner is provided, and the laser scanner scans the surrounding environment features. After each scan, the laser scanner will obtain a distance value ρ between the environment features and the laser scanner. n sets of data ρ obtained by scanning n environmental features of the AGV's surrounding environment wi...

AI Technical Summary

Problems solved by technology

[0003] In the process of realizing the present invention, the inventor found that there are at least the following problems in the prior art: due to the measurement error and estimation error of the laser scanner in practical applications, the distance value ρ i It may not be the real distance value. The traditional method of calculating the pose is to calculate the coordinate estimation value of the AGV through the linear least square method or the nonlinear least square method Among them, the linear least squares calculation is fast, but the estimated value The precision is not enough

The nonlinear least squares method usually involves some iterative search techniques, which require repeated iterations with different initial iteration values, and the calculation cost is high and the speed is slow.

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