Mobile equipment positioning method based on multi-sensor coupling

Abstract

The invention relates to a mobile equipment positioning method based on multi-sensor coupling. The mobile equipment positioning method comprises the steps of: S1, receiving information of a current frame; S2, optimizing a generated graph; S3, correcting the time of the current frame according to the clock offset corresponding to a pose source, and calculating the pose of mobile equipment ; S4, storing the pose and the corresponding moment of the mobile equipment into a previous pose set of the mobile equipment, acquiring a function from the time to the pose of the mobile device, and solving toobtain a graph optimization score; S5, optimizing the clock skew and the pose; and S6, calculating and outputting the pose of the mobile device at the current moment, the clock offset corresponding to the category of the pose source or the pose of the pose source relative to the mobile equipment according to a time-to-pose function of the mobile equipment. According to the mobile equipment positioning method, accurate positioning can be carried out by integrating the poses output by the sensors and the action characteristics of the trolley, and the poses can be sent to an environment map optimization method, so that an environment map can be established or adjusted.

Description

technical field [0001] The invention relates to the technical field of image recognition, in particular to a positioning method for mobile devices based on multi-sensor coupling. Background technique [0002] Autonomous walking robots require stable and precise navigation methods. Since there are practical problems such as low precision and insufficient stability when using a single type of sensor, the method of using multiple sensors for positioning at the same time has received high attention. The common multi-sensor positioning method will combine the advantages and disadvantages of various sensors to combine a set of practical multi-sensor navigation methods. for example: [0003] (1) Use multiple fixed types of sensors, such as using a combination of lidar and IMU, using a combination of vision sensors and lidar, etc. [0004] (2) Coupling methods using multiple sensors of the same type at the same time, typical coupling methods such as binocular vision navigation, v...

AI Technical Summary

Problems solved by technology

Method (3) only considers how to use the environment map or the generated position calibration table, but does not consider how to generate the map, which brings certain difficulties to the actual deployment of autonomous mobile robots using multi-sensor localization methods

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