Indoor Mapping and Exploration Method Supported by UGB and LiDAR

Abstract

The invention relates to an Ultra Wideband (UWB) and lidar-based environmental mapping, exploration, and positioning method for confined spaces. More specifically, it relates to an exploration and mapping method that enables the positioning and mapping of an environment entered for the first time by an autonomous vehicle or human carrier equipped with an UWB module and lidar. The method involves the autonomous vehicle or human carrier deploying UWB units at specific intervals as they navigate through confined spaces (e.g., caves), enabling precise positioning in long tunnels or cave-like areas, while simultaneously mapping their location using lidar.

Description

1 TARIFF Indoor mapping and exploration supported by UGB and LiDAR. METHOD Technical Area The invention relates to Ultra Wide Band (UWB) and lidar 5 for indoor environments. It relates to environmental mapping, exploration, and positioning methods based on georeferenced data. More specifically, the invention is an autonomous vehicle equipped with a UGB module and lidar. or the positioning of a carrier person in an environment they are entering for the first time, and the environment It relates to an exploration and mapping method that enables mapping. Carrier An autonomous vehicle or person, while moving in an enclosed space (such as a cave), will warn at specific intervals of 10. With the UGB units it left behind, it can be used to detect targets in long tunnels or cave-like areas. simultaneous mapping of the location using lidar while performing positioning It is related to a method by which it is done. Previous Technique In current use, particle filters are 15 using inertial meters and lidar sensors. applications that enable simultaneous mapping and positioning. It is located there. Particle filter using inertial meters and lidar sensors. High memory capacity enables simultaneous mapping and positioning. Its use is required. Also, if lidar beams cannot detect corner points (low (due to resolution) algorithm sensitivity and accuracy rate are seriously low at 20 is decreasing. Distances measured with lidar during two-dimensional mapping are decreasing. It creates inconsistencies due to its orientation and affects position measurement and This makes mapping more difficult. We can also identify landmarks using electro-optical cameras and locate these points. by monitoring and simultaneously combining it with blind viewing using inertial sensors 25 2 There are applications where positioning is performed. Electro-optical cameras use light. These are sensitive systems whose performance varies depending on ambient lighting. This shows that it requires high processing power and in idle states. They are unable to perform positioning and mapping. Chinese Patent No. CN114674311A, regarding the prior art. The document describes the use of UGB and lidar (SLAM) to analyze indoor environments. A method for mapping is being discussed. Chinese Patent No. CN115077519A, which is included in the known state of the art. the document regarding indoor mapping using lidar (SLAM) A method is being discussed. 10 Lidar orientation in distances measured with lidar during two-dimensional mapping. inconsistencies caused by this were eliminated, and thus position measurement and implementing a method that makes mapping easier and more accurate The need has arisen. Purposes and Brief Description of the Invention 15 The aim of this invention is to improve the two-dimensional and three-dimensional measurements obtained from lidar measurements. positioning errors resulting from the inability to capture corner points. The problems will be solved by the precise position estimation that UGB units will provide. It is the implementation of a method that makes it possible to correct the problem. The invention's method eliminates errors in lidar measurements and corner 20 UGB positioning problems caused by the inability to capture points This can be corrected with precise position estimation provided by the units. will be performed. 3 Detailed Description of the Invention A system that uses the method employed to achieve the purpose of this invention. This is shown in the attached figures. These shapes; Figure 1: Schematic representation of a system using the method described in the invention. 5 Figure 2: On the mapping device used in the method described in the invention. It is a schematic representation of the elements found. Figure 3: Flowchart of the method described in the invention. Figure 4: Flow diagram of the sensor fusion involved in the invention method. The parts shown in the figure are individually numbered, and each number corresponds to 10. It is given below. 1. UGB positioning anchors 2. Mapping device 3. Lidar coverage area 4. Distance and angle measurement with UGB positioning anchors 15 5. UGB positioning unit 6. Lidar 7. Unit of inertial measurement 8. Companion computer 9. Route followed for exploration 20 The invention concerns the following method: - the first UGB positioning anchor (1) at the entrance of the closed environment placement, 4 - with the UGB positioning unit (5) on the mapping device (2) Distance and angle measurements within the range of the UGB positioning anchor (1) (4) is carried out by making 360º distance measurements with lidar (6) of the environment measurement of the data with inertial measurement unit (7) collection, 5 - processing of this data on the companion computer (8), - The collected data is analyzed using a blind filter, particle filter, and kinematics. converting location data through equations, - in the companion computer (8) these three position data in combinations of 2 grouping, 10 - Giving the 2-combination values ​​as input to separate Kalman filters, - Covariance of the binary combination results from Kalman filters Calculation of values, - if the covariance values ​​of all paired combination results are low, then all The conclusion that the data produced by the sensor subsystems is healthy is 15. removal, - If the covariance of all filters except one is high, then the one with low covariance The sensor subsystem, left isolated at the input of the Kalman filter, produces concluding that the information is incorrect, - 20 outside the range (field of view) of the first UGB positioning anchor (1) When exiting, the 2nd UGB positioning anchor (1), the first UGB positioning anchor (1) is placed in the line of sight, - UGB positioning unit (5) and 2nd UGB positioning anchor (1) Performing distance and angle measurements (4) within the range, with lidar (6) Measurement of the environment, inertial measurement unit (7) and 25 Data collection and mapping continues. It includes the steps. The invention relates to a mapping device carried by an autonomous vehicle or a human (2) It is a method used to map an unknown environment. The mapping device (2) to be used in the method that is the subject of the invention has been developed. on it is a UGB positioning unit (5), lidar (6), inertial measurement unit (7) and It has a companion computer (8). 5 The invention describes the mapping device (2) and the first fixed UGB positioning method. It starts working when the anchor (1) is placed and power is applied. UGB positioning anchor (1) on mapping device (2) UGB As long as there is communication between the positioning unit (5) and the UGB unit Distance and angle measurement (4) can be performed. As long as this situation does not deteriorate, 10 The mapping device (2) knows its location precisely and maps the environment. to do this, lidar (6), inertial measurement unit (7) and UGB positioning It takes measurements from unit (5). UGB positioning anchor (1) and UGB on mapping device (2) Interruption of communication between positioning unit (5), cave 15 progressing inside and out of sight of the UGB positioning anchor (1) This is due to the emergence of the mapping device (2), the new UGB. It enters the search for the place where it will position the positioning anchor (1) and the fixed UGB second positioning anchors (1) such that they are within each other’s line of sight UGB places and operates the positioning anchor (1). In this process 20 lidar (6) and inertial measurement units (7) for positioning It benefits from the area within the lidar coverage area (3) and the area mapped up to that time. They develop a strategy for determining a route using the area. UGB positioning anchor (1) and UGB on mapping device (2) Re-establishing communication between the positioning unit (5) and mapping 25 The process continues. 6 Mapping process, distance measurements from the lidar (6) 360º circumference, UGB positioning unit (5) measurements and inertial measurement unit (7) measurements This is done by transmitting it to the companion computer (8). On the companion computer (8), these 3 The measurement is processed with particle filters and Kalman filters. 360º distance measurement. It is done with 2D lidar (6). 360º distance measurement is done with a lidar (6) encoder 5 continuously rotated around its own axis by the motor, covering distance in all directions. This is done by means of the measurement of the lidar (6) device encoder. The errors it makes due to its resolution are provided by the UGB unit (5). This is resolved thanks to the location information. The mapping device (2) obtained a map with all edges closed during its mapping. When it does so, it determines a way to return and from the UGB positioning unit (5) Thanks to the location information it receives, it can set up fixed UGB positioning anchors (1) It collects the materials and returns to the cave entrance. This is for the purpose of exploration, as an example. The route followed (9) is shown. The distinctive feature of the invention is the UGB 15 made with UGB positioning anchors (1). Mapping of the location information produced as a result of distance and angle measurements (4) with the unit The goal is to simplify the algorithms and make them more consistent. (As mentioned above) As stated, the method described in the invention uses location data from three separate sources. is taken. UGB positioning unit (5), lidar (6) and inertial measurement Data from unit (7) is processed on the companion computer (8). Here, these three 20 Obtaining data from the source is a known technique in technology. However, these three data points are simplified. and to give a consistent result, these data are in a special way on the companion computer (8) This has been made possible through processing. Inertial Measurement Unit (7), accelerometer, gyroscope and magnetic field meter It is formed by the combination of units and is used to calculate orientation and 25 It is used to measure instantaneous acceleration and rotational speed. The resulting inertial measurements... Position information with a Kalman filter modeled for blind viewing. It is being converted. The Kalman filter, modeled for blind viewing, is regularly updated. 7 It must obtain a correction / reference. This correction source is in the proposed system, UGB. These are position estimates from the positioning unit (5) and lidar (6). Correction The selection of the location source to be used will be explained in the following steps. The source or sources to be selected as a result of the sensor error detection algorithm based on the sensor error detection algorithm. will be. 5 Lidar (6) emits laser beams and reflects when these beams hit surfaces and By detecting the reflected light by lidar (6), the flight time of the light the measurement of the distance between the surface on which the light is reflected and the lidar (6) It is the unit that enables measurement. The light pulse is measured repeatedly by a rotating platform. Since it is made, the point cloud is formed from distance measurements taken from the 360º circumference of the device. a subsystem is created that enables mapping of this point cloud environment. is generated. The generated point cloud is processed by a particle filter. It is converted into location data. The generated location data is the location of the environment where the measurement was taken. in the case of symmetry or if the laser beams are directed to the surrounding corner points 15 It may be faulty due to not hitting (missing) the target. UGB positioning unit (5) (Ultra Wideband – Ultra Wide Band (UWB)) UGB signal between positioning anchor (1) and UGB positioning unit (5) By measuring the flight time, the distance can be determined, and thanks to the antenna array, the phase difference is 20. Measuring the approach angle by measuring the signal-to-time difference (PDoA) or signal-to-time difference (TDoA). This information is converted into position information using kinematic equations. UWB signals cause incorrect distance and incorrect approach angle when the line of sight is impaired. This can cause an error in measurement, which in turn leads to an error in position measurement. Three sub-sensor systems with various sources of error receive the same type of information (position). (produces information). In the method that is the subject of the invention, which of the generated locations is more... To determine if it is correct, the results produced by the 3 sensor subsystems are analyzed in pairs. They are grouped again in combinations. These are defined as 3 separate inputs. 8 The groups are fed as input to the filters, remaining separate. (In other words...) Each filter will be deprived of 1 sensor data point. This filter will not contain any (It will not use the time-separated sensor data.) This is a 3-stage Kalman filter structure. It is referred to as the Kalman filter bank. When the number of subsystems is increased, this filter... The number of filters available in the bank will also be increased. 5 The covariance values ​​of the filters in the Kalman filter bank are expected. The covariance values ​​are compared. The result of this comparison will be obtained. Assessments are used to determine sensor health. Sensor health The situations and consequences that may be encountered in the determination are as follows: - If the covariance of each filter is low, then the output of all sensor subsystems is 10 The data is reliable. - If the covariance of all filters except one is high, then the one with low covariance is preferred. Information produced by the sensor subsystem left separate at the input of the Kalman filter It is incorrect and should be removed from the system. As a result of sensor health, the sensor source to be used for verification is 15. It is used for selection. If all sensor units are healthy, the sensor The weighted average of the results from all systems is used as a verification source. will be used. If a faulty sensor is detected, the data from that sensor will be used. It is removed from the system and used as other sensor data verification data.

Claims

9 REQUESTS 1. The invention describes UVB and lidar-based environmental mapping, exploration, and testing for indoor environments. It is a positioning method; - the first UGB positioning anchor (1) at the entrance of the closed environment placement, 5 - with the UGB positioning unit (5) on the mapping device (2) Distance and angle measurements within the range of the UGB positioning anchor (1) (4) is carried out by making 360º distance measurements with lidar (6) of the environment measurement of the data with the inertial unit (7) collection, 10 - The collected data is analyzed using a blind filter, particle filter, and kinematics filter. converting location data through equations, - in the companion computer (8) these three position data in combinations of 2 grouping, - Giving 2-combination values ​​as input to separate Kalman filters, 15 - Covariance of the binary combination results from Kalman filters Calculation of values, - if the covariance values ​​of all paired combination results are low, then all The conclusion is that the data produced by the sensor subsystems is reliable. removal, 20 - If the covariance of all filters except one is high, then the one with low covariance The sensor subsystem, left isolated at the input of the Kalman filter, produces concluding that the information is incorrect, - outside the range (field of view) of the first UGB positioning anchor (1) When exiting, the 2nd UGB positioning anchor (1), the first UGB 25 so that the positioning anchor (1) is within the line of sight positioning, - UGB positioning unit (5) and 2nd UGB positioning anchor (1) Performing distance and angle measurements (4) within the range, with lidar (6) Measurement of the environment is done using the inertial measurement unit (7). Data collection and mapping continues. It is characterized by including the following steps. 5 2. A method like the one in Claim 1, where the unit of inertial measurement (7) is the accelerometer, It is formed and obtained by combining the gyroscope and magnetic field measuring units. The inertial measurements obtained are modeled with a Kalman filter for blind viewing. It is characterized by including the step of converting it into location information. is being done. 10 3. A method like the one in Claim 1, where lidar (6) is driven by an encoder motor. measuring distance in all directions by continuously rotating it around its own axis. This is accomplished by taking distance measurements from a 360º circumference around the point. the formation of a point cloud and this point cloud is passed through a particle filter 15 characterized by including the step of processing and converting it into location data. is being done.

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