Robot repositioning method based on multi-sensor fusion
A multi-sensor fusion and relocation technology, applied in the field of positioning, can solve problems such as positioning failure and positioning loss, and achieve the effect of low price and cost
Pending Publication Date: 2021-12-14
山东新一代信息产业技术研究院有限公司
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Problems solved by technology
However, due to the influence of environmental characteristics, the positioning loss often occurs. If there is no human intervention, the positioning will fail.
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[0040] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.
[0041] The invention provides a robot relocation method based on multi-sensor fusion, which loads a point cloud map through laser radar, marks the origin of map coordinates,
[0042] Through the single-antenna GPS, the longitude and latitude coordinates at the origin of the map coordinates are taken as the origin, and the local plane Cartesian coordinate system is established in accordance with the WGS84 coordinate system guidelines.
[0043] Obtain the pose of the origin of the point cloud map relative to the local plane Cartesian coordinate system, in which the single-antenna GPS provides three-axis position information, and the nine-axis IMU provides direction information.
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The invention discloses a robot repositioning method based on multi-sensor fusion, which relates to the technical field of positioning. A point cloud map is loaded, a map coordinate origin is marked, a local plane rectangular coordinate system is established by taking latitude and longitude coordinates at the map coordinate origin as an origin through a single-antenna GPS;the position of the origin of the point cloud map relative to the local plane rectangular coordinate system is obtained; the single-antenna GPS provides three-axis position information, the nine-axis IMU provides direction information, point cloud registration is carried out through the point cloud map, GPS longitude and latitude information is imported in real time through the single-antenna GPS when point cloud registration positioning fails, the longitude and latitude information is mapped to a local plane rectangular coordinate system to obtain corresponding points, the corresponding points are projected to a point cloud map to obtain real-time posture information, real-time direction angle information is obtained through a nine-axis IMU, and the real-time posture information and the real-time direction angle information are utilized to form a real-time relocation posture. And the real-time point cloud posture is corrected by using the real-time relocation posture Pc.
Description
technical field [0001] The invention discloses a method, relates to the technical field of positioning, in particular to a multi-sensor fusion-based robot repositioning method. Background technique [0002] The positioning function of the robot mainly provides location information for the robot to solve the problem of "where am I?" It is a key link between the map and the robot's autonomous navigation. Accurate and stable positioning effects are the prerequisite for the robot's autonomous navigation. At this stage, most of the common robot positioning strategies are based on the method of point cloud registration, using the current point cloud frame and map point cloud registration to obtain more accurate position information. However, due to the influence of environmental characteristics, the situation of positioning loss often occurs, and if there is no human intervention, the positioning will fail. Contents of the invention [0003] Aiming at the problems in the prior ...
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IPC IPC(8): G01S17/86G01S17/06G01S19/45G01S19/47
CPCG01S17/86G01S17/06G01S19/45G01S19/47
Inventor 刘欢王建华高明马辰
Owner 山东新一代信息产业技术研究院有限公司