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Grid SLAM navigation system and method based on INS and GNSS

A navigation method and grid technology, applied in the field of navigation, can solve problems such as inability to meet navigation requirements, and achieve fast and accurate positioning

Active Publication Date: 2020-04-17
WUHU HIT ROBOT TECH RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Both GNSS and other navigation and positioning technologies have their limitations, and no single technology can meet the navigation needs of different scenarios and environments

Method used

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  • Grid SLAM navigation system and method based on INS and GNSS
  • Grid SLAM navigation system and method based on INS and GNSS
  • Grid SLAM navigation system and method based on INS and GNSS

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Embodiment Construction

[0024] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0025] figure 1 The flow chart of the navigation method of grid SLAM based on INS and GNSS provided by the embodiment of the present invention, the method specifically includes the following steps:

[0026] S1. Detect whether there is GNSS positioning data currently, and the GNSS positioning data includes: the current position of the mobile robot;

[0027] In the embodiment of the present invention, the GNSS positioning data is obtained through the GNSS installed on the mobile robot. For example, when performing indoor positioning, there may be situations where the GNSS cannot provide normal posit...

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Abstract

The invention is suitable for the technical field of positioning, and provides a grid SLAM navigation method and system based on INS and GNSS. The method comprises the following steps: S1, whether there is GNSS positioning data at present or not is detected, and the GNSS positioning data comprises the current position of a mobile robot; S2, if the detection result is yes, the current position in the GNSS positioning data is used as the current position of the mobile robot, the step S3 is executed, and if the detection result is no, the step S4 is executed; S3, the GNSS positioning data and thepose data acquired by an INS module are input into an EKF filtering model, the EKF filtering model corrects the pose data acquired by the INS module based on the GNSS positioning data, and a road sign map is constructed based on the corrected pose; and S4, the current position of the mobile robot in a road sign map coordinate system is acquired based on the constructed road sign map. When the GNSS can perform normal positioning, rapid and accurate positioning of the mobile robot can be realized through the GNSS; and in a GNSS rejection environment, positioning is carried out through the constructed high-precision road sign map, so that the defects of the GNSS are overcome.

Description

technical field [0001] The invention belongs to the technical field of navigation and provides a navigation system and method based on INS and GNSS grid SLAM. Background technique [0002] Limited by the fragility of GNSS technology itself, it is extremely susceptible to interference in complex environments such as cities and indoors, so that it cannot provide navigation and positioning services normally. To this end, scholars at home and abroad have carried out in-depth research on inertial navigation technology, visual navigation technology, wireless navigation technology (Wi-Fi, UWB, Bluetooth, etc.), laser, radar, map / geomagnetism / gravity matching and other technologies. Inertial navigation belongs to dead reckoning technology, and its basic principle is to obtain navigation information relative to the initial state by measuring the angular rate and specific force of the carrier motion and integrating according to strict mathematical and physical relations. With the dev...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/49G01S19/48G01S17/02G01S17/06G01C21/16G01C21/00
CPCG01S19/49G01S19/48G01S17/06G01C21/165G01C21/005
Inventor 徐劲松高云峰曹雏清陈柱任鹏
Owner WUHU HIT ROBOT TECH RES INST