SLAM (Simultaneous Localization and Mapping) method based on laser radar and rotary inertial navigation integrated framework and information fusion
A lidar and laser technology, used in mapping and navigation, navigation, navigation calculation tools, etc., can solve the problems of low inertial sensor accuracy affecting lidar/inertial SLAM performance, etc., to improve navigation accuracy and reliability, reduce dimensions, The effect of reduced drift
Pending Publication Date: 2022-02-08
NANJING NORMAL UNIVERSITY +1
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Problems solved by technology
[0005] The technical problem that the present invention seeks to solve is, aiming at the problem that the low accuracy of the inertial sensor affects the performance of the laser radar / inertial SLAM, in order to improve the speed and accuracy of the IMU alignment, the present invention will study the impact of the structural characteristics of the rotary strapdown inertial navigation system on navigation Based on the influence of system performance, an alignment method for rotating inertial navigation system based on fuzzy adaptive Kalman filter is proposed to realize the rapid alignment of inertial navigation system
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[0021] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
[0022] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should also be understood that terms such as those defined in commonly used dictionaries should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted in an idealized or overly formal sense unless defined as herein Explanation.
[0023] The present invention proposes a SLAM method for integrated framework and information fusion of laser radar and rotary inertial navigation. System dynamic alignment scheme, a simplified laser inertial odometry (LIO) model.
[0024] Such as figure 1 As shown, the present invention propos...
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The invention discloses an SLAM (Simultaneous Localization and Mapping) method based on a laser radar and rotary inertial navigation integrated framework and information fusion, and the method comprises the following steps: feature extraction: calculating translation and rotation between laser frames through IMU (Inertial Measurement Unit) data, eliminating motion distortion in an original point cloud, and extracting stable edge and plane features from the original point cloud; LIO being composed of a state recursion sub-module and an updating sub-module, carrying out iterative Kalman filtering, and outputting the initial mileage and undistorted features; mapping: improving the initial mileage by using the global map, outputting a new mileage, and then updating the map by using a new feature. The method provided by the invention can be applied to MEMS inertial navigation with medium and low precision, and the positioning precision of the inertial navigation system during long-time operation is effectively improved, so that the mapping accuracy and reliability are improved.
Description
technical field [0001] The invention relates to the field of synchronous positioning and mapping, in particular to a SLAM method based on fusion of rotating inertial navigation and laser radar data. Background technique [0002] Nowadays, SLAM (simultaneous localization and mapping, real-time positioning and map construction) technology has been widely used in robots, drones, AVG and other fields. The positioning and mapping algorithm based on multi-line lidar sensors is currently a hot spot in the field of SLAM question. Research on how to improve the accuracy and stability of the SLAM system of lidar in the long-term motion process of positioning and mapping is of great significance to the development of my country's robotics and intelligent driving industries. [0003] With the continuous development of laser SLAM research, the theory, technology and product implementation are becoming more and more mature. For robotics and autonomous driving companies, laser SLAM is sti...
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IPC IPC(8): G01C21/16G01C21/20G01S17/86
CPCG01C21/165G01C21/20G01S17/86
Inventor 金扬蔡洁萱李冠宇万游钱伟行胡迪宇冯素格瞿安朝苏晓林
Owner NANJING NORMAL UNIVERSITY