Indoor positioning method based on single-line laser radar

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.

Description

technical field [0001] The invention relates to an indoor positioning method based on a single-line laser radar. Background technique [0002] In the field of indoor robotics, the robot needs to determine its position in the environment at all times to perform the next task. Common application scenarios include sweeping robots, storage robots, and automatic parking in vehicle garages. [0003] Since it is difficult to receive satellite signals indoors, positioning methods such as GPS cannot quickly and accurately locate indoors, so other sensors are generally used for indoor positioning. Currently, common indoor positioning solutions include Wifi, Bluetooth, RFID, etc., but these positioning methods are not It is necessary to modify the existing indoor scene, such as adding a signal transmitter, etc., which is not easy to use. In addition, the indoor positioning accuracy of these methods is difficult to reach the centimeter level, and cannot be applied to scenarios that re...

AI Technical Summary

Problems solved by technology

[0003] Since it is difficult to receive satellite signals indoors, positioning methods such as GPS cannot quickly and accurately locate indoors, so other sensors are generally used for indoor positioning. Currently, common indoor positioning solutions include Wifi, Bluetooth, RFID, etc., but these positioning methods are not It is necessary to modify the existing indoor scenes, such as adding signal transmitters, etc., which is not easy to use

In addition, the indoor positioning accuracy of these methods is difficult to reach the centimeter level, and cannot be applied to scenarios that require high positioning accuracy

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