A localization method based on tightly coupled lidar and imu

A lidar, tightly coupled technology, used in surveying and navigation, electromagnetic wave re-radiation, instruments, etc., can solve problems such as large amount of calculation and point cloud matching failure, achieve tightly coupled positioning, reduce computational complexity, maintain The effect of positioning accuracy and robustness

Active Publication Date: 2022-03-15
ZHEJIANG UNIV
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Problems solved by technology

This patented technology makes up for the situation that the camera is prone to positioning failure when the illumination changes are sensitive to a certain extent. However, when the image feature tracking fails, the local point cloud matching of the lidar is still used for pose optimization. The calculation is large and the simple point Cloud matching is prone to matching failure due to the sparse characteristics of point clouds

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  • A localization method based on tightly coupled lidar and imu
  • A localization method based on tightly coupled lidar and imu
  • A localization method based on tightly coupled lidar and imu

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[0033] In order to describe the present invention more specifically, the technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0034] Such as figure 1 As shown, the present invention is based on the robot localization method of lidar and IMU tight coupling, comprises the following steps:

[0035] S1. Read the output data of the IMU, and estimate the real-time motion state of the system through the motion model.

[0036] The motion state of the system includes at least the robot's position, orientation, and speed information, and maintains a fixed-size sliding window about the lidar pose. The sliding window stores the latest m laser radar positions, orientations, and other information in the robot's trajectory. . The IMU outputs acceleration and angular velocity data at a frequency of 100 Hz, estimates the motion state of the system according to the motion model of the IMU, and ...

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Abstract

The invention discloses a robot positioning method based on the tight coupling of laser radar and IMU. The IMU is used to estimate the real-time motion state of the system, the point cloud data of the laser radar is used to extract plane features for tracking, and the observation model of the plane features is used to track the IMU. The estimated motion state is corrected. The method of the invention utilizes the MSCKF framework to realize the complementary advantages of the two sensors, the lidar and the IMU. On the one hand, the high-frequency motion estimation of the IMU can estimate the real-time state of the system, and on the other hand, the plane features extracted from the lidar point cloud can be robust. The ground is tracked in the environment, so that the system state can be corrected regularly, and the present invention keeps the robustness and accuracy of the positioning while reducing the computational complexity.

Description

technical field [0001] The invention belongs to the technical field of robot positioning, and in particular relates to a robot positioning method based on tightly coupled laser radar and IMU. Background technique [0002] Autonomous navigation is a key technology for the automatic operation of mobile robots. At present, the most mainstream navigation technology is SLAM, which means "instant positioning and map construction" in Chinese. Its principle is to scan the surrounding environment through sensors, and then construct a and Maps that are consistent with the real environment, at the same time locate the position of the robot, and plan a correct path, and finally guide the robot to reach the designated destination safely. [0003] Positioning technology is the supporting technology to realize the robot's autonomous navigation. Whether the positioning is accurate determines whether the robot can accurately and efficiently complete functions such as higher-level planning an...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01S17/02G01S17/87
CPCG01C21/165G01S17/87
Inventor 吕攀张恒杨国青李红潘之杰吴朝晖
Owner ZHEJIANG UNIV
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