A high-precision localization method for point cloud matching based on multi-source prior information
A priori information, point cloud matching technology, applied in satellite radio beacon positioning systems, re-radiation of electromagnetic waves, navigation through velocity/acceleration measurement, etc. , the construction method is simple and fast effect
Active Publication Date: 2022-06-07
CHINA NORTH VEHICLE RES INST
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[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
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[0056] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
[0057] This embodiment provides a high-precision positioning method for point cloud matching based on multi-source prior information. 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 for creating 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 into real-time dynamics, IMU and RTK-GPS equipment form an inertial navigation system) and lidar, at time t Synchronization 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 intelligent platform...
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The invention discloses a point cloud matching high-precision positioning method based on multi-source prior information. The intelligent platform obtains the GNSS global pose of the intelligent platform at time t through IMU data and GNSS data, and obtains point cloud observation data through the point cloud data; Create each 3D prior voxel sub-map according to the GNSS global pose and point cloud observation data; establish the global topological relationship according to the topological connection relationship of each 3D prior voxel sub-map, and obtain the global prior map of the operating area of the intelligent platform; combine the GNSS data Match the initial data with the multi-source prior information of the global prior map to obtain the relative pose of the intelligent platform in a certain 3D prior voxel sub-map; the current point cloud observation data and the 3D prior information are continuously used during the movement of the intelligent platform. The voxel submap performs data matching to obtain the local pose of the intelligent platform, and then uses the prior landmarks closest to the intelligent platform to correct the pose of the intelligent platform, and finally obtains 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 high-precision positioning method for point cloud matching 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 intelligent platform path planning, motion control and obstacle avoidance. [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 Satellite Navigation System or Global Navigation Satellite System) positioning technology and multi-sensor fusion positioning technology. The dead reckoning positioning technology will generate accumulated errors during the movement of the intelligent platform, resulting in the inability of the intelligent platform to obtain a...
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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