Indoor positioning method based on single-line laser radar
A single-line laser radar and indoor positioning technology, which is applied in the direction of electromagnetic wave re-radiation, radio wave measurement system, measuring device, etc., can solve the problems of inconvenient use, difficult to achieve centimeter-level indoor positioning accuracy, and inability to apply positioning accuracy. The effect of precision indoor positioning
Active Publication Date: 2020-08-07
中振同辂(江苏)机器人有限公司
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Abstract
The invention discloses an indoor positioning method based on a single-line laser radar. The indoor positioning method comprises the following steps of (1) constructing an occupied grid map by using data acquired by the single-line laser radar, (2) constructing a local map by adopting the method in the step (1), and carrying out local matching, (3) constructing a global map by adopting the methodin the step (1), and carrying out global matching, (4) when a primary global matching result is obtained, constraining the global map and the local map on the timestamp of the global matching result and adding into an optimization queue, and in order to avoid accidental errors, performing least square optimization once when the optimization queue reaches a certain number, updating the historical positioning track in the current local map, and updating the pose of each point to finally obtain a real-time and accurate pose. According to the indoor positioning method based on the single-line laser radar, high-precision indoor positioning of various scenes can be achieved, and large support is provided for stable operation and work of a robot.
Application Domain
Navigational calculation instrumentsElectromagnetic wave reradiation
Technology Topic
Global MapReal-time computing +7
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