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
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[0027] The technical scheme of the present invention will be further explained below in conjunction with the drawings.
[0028] The foregoing indoor positioning method based on single-line lidar includes the following steps:
[0029] (1) Use the data collected by the single-line lidar to construct an occupation grid map. The single-line lidar will emit a laser beam in a fixed direction, and the emitted laser will be reflected when encountering obstacles. With the received time difference, the distance from the single-line lidar to the nearest obstacle in the direction can be calculated.
[0030] In the occupancy grid map, for a point, p(s=0) is used to indicate the probability that it is an empty state, and p(s=1) is used to indicate the probability that it is an occupied state, and the sum of the two is 1. The ratio of the two is introduced here as the state of the point: Odd(s)=p(s=1) / p(s=0). In the occupancy grid map, the larger the value of a point state, the more certain it is...
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