A laser radar scene matching aided navigation method and system

By using lidar to construct a lidar point cloud intensity map and combining it with an inertial navigation system, the problem of limited application of optical cameras in low-light environments was solved, and the lidar scene matching assisted navigation system achieved efficient data acquisition and error correction in complex environments.

CN116859411BActive Publication Date: 2026-07-14BEIHANG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
BEIHANG UNIV
Filing Date
2023-07-28
Publication Date
2026-07-14

AI Technical Summary

Technical Problem

In traditional scene matching-assisted navigation methods, the application of measurement sensors such as optical cameras is limited in low-light conditions such as nighttime, resulting in insufficient availability and reliability of the system in complex environments.

Method used

Using lidar as the measurement sensor, a lidar point cloud intensity map is constructed through point cloud projection imaging, point cloud intensity map processing, and feature matching between heterogeneous images. This map is then combined with an inertial navigation system for integrated navigation, thereby correcting errors in the inertial navigation system.

Benefits of technology

It improves the data acquisition capability and availability of the scene matching assisted navigation system in complex environments, enhances the system's robustness, and reduces the impact of external lighting conditions on matching.

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Abstract

The application provides a laser radar scene matching aided navigation method and system, the method comprises the following steps: using the pose information provided by an inertial navigation system to realize coordinate conversion and strip splicing of laser point cloud data, constructing an initial image of laser point cloud intensity and suppressing speckle noise in the image through wavelet threshold shrinkage to obtain a laser point cloud intensity image; enhancing the structural information in the heterogeneous image through guided filtering, establishing a local descriptor of feature points according to the direction structure histogram with consistent structure, realizing similarity comparison between the laser point cloud intensity image and a visible light prior map based on a feature point matching method, and obtaining position correction information of a carrier; realizing fusion of the inertial navigation and the laser radar scene matching result through optimal filtering, and correcting the error of the inertial navigation system. The application effectively solves the application problem of the scene matching aided navigation system in different light environments, and improves the robustness of the system.
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