Point cloud matching high-precision positioning method based on multi-source prior information
A priori information, point cloud matching technology, applied in satellite radio beacon positioning system, electromagnetic wave re-radiation, navigation through speed/acceleration measurement, etc., can solve the problem of intelligent platform provision
Active Publication Date: 2020-10-02
CHINA NORTH VEHICLE RES INST
View PDF16 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0004] In view of this, in view of the problem that the commonly used dead reckoning positioning technology, GNSS positioning technology, and multi-sensor fusion positioning technology cannot provide stable and high-precision positioning information for the intelligent platform, the present invention provides a multi-source prior information based point Cloud matching high-precision positioning method, the intelligent platform builds a global prior map by fusing multi-source prior information such as IMU data (IMU is the abbreviation of Inertial MeasurementUnit, translated as: inertial measurement unit), GNSS data, and lidar point cloud data. Then obtain continuous and stable high-precision positioning information through point cloud observation data matching
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0056] The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0057] This embodiment provides a high-precision positioning method for point cloud matching based on multi-source prior information, see the attached figure 1 , the method includes two parts, the first part is to create multi-source prior information, and the second part is to locate multi-source prior information;
[0058] The specific steps to create multi-source prior information are as follows:
[0059] Step S1, through the IMU, RTK-GPS equipment installed on the intelligent platform (RTK is the abbreviation of Real-Time Kinematic, translated as real-time dynamics, IMU and RTK-GPS equipment form an inertial navigation system) and laser radar, synchronize at time t Collect IMU data (the IMU data is the attitude information of the intelligent platform, which is collected by the IMU), GNSS data (the GNSS data is the position information of the intellige...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a point cloud matching high-precision positioning method based on multi-source prior information, and the method comprises the steps: enabling an intelligent platform to obtaina GNSS global pose of the intelligent platform at a moment t through IMU data and GNSS data, and obtaining point cloud observation data through point cloud data; creating each three-dimensional priorvoxel sub-map according to the GNSS global pose and the point cloud observation data; establishing a global topological relation according to the topological connection relation of each three-dimensional priori voxel sub-map to obtain a global priori map of the intelligent platform operation area; carrying out initial data matching on the GNSS data and multi-source prior information of a global prior map to obtain a relative pose of the intelligent platform in a certain three-dimensional prior voxel sub-map; in the moving process of the intelligent platform, continuously performing the data matching between the current point cloud observation data and the three-dimensional prior voxel sub-map, and obtaining the local pose of the intelligent platform is obtained; employing a prior road sign closest to the intelligent platform for correcting the pose of the intelligent platform, and finally obtaining the pose of the intelligent platform.
Description
technical field [0001] The invention belongs to the technical field of positioning, and in particular relates to a point cloud matching high-precision positioning method based on multi-source prior information. Background technique [0002] Positioning technology is one of the key technologies in the field of intelligent platforms, which is of great significance for path planning, motion control and obstacle avoidance of intelligent platforms. [0003] Commonly used positioning technologies for intelligent platforms include dead reckoning positioning technology, GNSS (GNSS is the abbreviation of Global Navigation Satellite System, translated as: Global Navigation Satellite System or Global Navigation Satellite System) positioning technology and multi-sensor fusion positioning technology. The dead reckoning positioning technology will generate cumulative errors during the movement of the intelligent platform, resulting in the inability of the intelligent platform to obtain ac...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More IPC IPC(8): G01C21/16G01S19/45G01S19/47G01S17/88G01S17/93
CPCG01C21/165G01S19/45G01S19/47G01S17/88G01S17/93
Inventor 刘忠泽程文高天云
Owner CHINA NORTH VEHICLE RES INST