Radar positioning method and device and storage medium

A radar positioning and radar technology, applied in the field of radar positioning, can solve problems such as affecting radar positioning accuracy, and achieve the effect of improving accuracy

Pending Publication Date: 2020-10-30
三一机器人科技有限公司
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  • Abstract
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Problems solved by technology

[0003] However, the existing laser navigation technology based on reflective pillars (or anti-reflective) involves multiple reflective pillars. If there is inaccurate information about the reflective pillars, it will seriously affect the positioning accuracy of the radar.

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  • Radar positioning method and device and storage medium
  • Radar positioning method and device and storage medium
  • Radar positioning method and device and storage medium

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Embodiment Construction

[0049] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

[0050] Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art w...

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Abstract

The invention provides a radar positioning method and device and a storage medium, and relates to the technical field of radar positioning. The method comprises the following steps: acquiring reflective column information in a global landmark coordinate system and reflective column information in a local coordinate system under a current radar coordinate system; obtaining a matching relationship between the reflective column information in the global landmark coordinate system and the reflective column information in the local coordinate system under the radar coordinate system through a reflective column matching algorithm; and calculating and obtaining pose information of the radar through the matching relation and a weighted least square algorithm. The radar pose calculation is performed by using multiple pieces of matched reflective column information and the weighted least square algorithm, so that the problem that the radar positioning precision is greatly influenced when information of a single reflective column is inaccurately acquired at present is solved, and the radar pose calculation accuracy is improved.

Description

technical field [0001] The present application relates to the technical field of radar positioning, and in particular, to a radar positioning method, device and storage medium. Background technique [0002] In the modern manufacturing industry, the importance of automation in the production stage is increasing day by day. Among them, the navigation and positioning of the Automated Guided Vehicle (AGV) is an important research direction. Common industrial AGV navigation and positioning methods include magnetic navigation, natural navigation (visual SLAM or laser SLAM), landmark navigation (QR code or RFID tag, etc.), laser navigation (reflective column), etc. Among them, laser navigation based on reflective columns (or anti-reflective) has been widely used in forklift AGV due to its high positioning accuracy, low maintenance cost, relatively low installation cost, and AGV's high flexibility in path planning. [0003] However, in the existing laser navigation technology based...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/86G06F17/16
CPCG01S13/86G06F17/16
Inventor 王玥贾全郭承志
Owner 三一机器人科技有限公司
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