CN106324616A - Map construction method based on inertial navigation unit and laser radar - Google Patents

Map construction method based on inertial navigation unit and laser radar Download PDF

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Publication number
CN106324616A
CN106324616A CN201610856946.7A CN201610856946A CN106324616A CN 106324616 A CN106324616 A CN 106324616A CN 201610856946 A CN201610856946 A CN 201610856946A CN 106324616 A CN106324616 A CN 106324616A
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China
Prior art keywords
optimization
pose
inertial navigation
laser radar
platform
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CN201610856946.7A
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CN106324616B (en
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虞坤霖
张涛
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Shenzhen City Purdue Technology Co Ltd
Shenzhen Pudu Technology Co Ltd
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Shenzhen City Purdue Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)

Abstract

The invention relates to a map construction method based on inertial navigation unit and laser radar. The method employs both an inertial navigation unit and a laser radar to construct a map wherein the inertial navigation unit provides rough pose changes so that calculation time for the laser radar data to undergo ICP splicing is shortened substantially. In addition, the inertial navigation unit is capable of detecting the inclination of a robot, based on which the ineffective data of the laser radar in inclination can be recognized and the interference to positioning can be reduced.

Description

A kind of map constructing method based on inertial navigation unit Yu laser radar
Technical field
The present invention relates to a kind of map constructing method, be specifically related to a kind of combine inertial navigation unit and laser radar Indoor plane map constructing method.
Background technology
Indoor map based on laser radar builds the most extensively to be sent out in robot field's application.Common are 3d laser thunder Reach and 2d laser radar.The 3d model of the whole environment of 3d Laser Radar Scanning, 2d laser radar as robot bottom, surface sweeping put down Face base map.Above two method is in accordance with key frame splicing and realizes base map structure.This base map construction method is due to right The location estimation of sensor is the change in displacement obtained by the splicing of adjacent two pins, and when indoor large area scanning, two is biphase The integration that ortho position is moved can produce cumulative error so that final base map builds poor effect.Especially for laser radar range The biggest situation, the error of this situation pose accumulation can be bigger.Other large area situations there will be the distortion of map entirety Situation.
Summary of the invention
Traditional indoor map construction method based on 2d laser radar is combined with inertial navigation and improves by the present invention The precision of map structuring, reduces the distortion sense of map.Particular content is as follows:
A kind of map constructing method based on inertial navigation unit Yu laser radar, comprises the following steps:
1) scanning platform is built
Scanning platform is made up of the robot with two-wheel mobile platform, and platform carries a laser radar and inertial navigation list Unit；
2) scan data
Remote control two-wheel mobile platform, is scanned with laser radar, obtains scan data, the inertial navigation simultaneously carried from platform The posture information of unit reading platform；
3) interframe splicing
Two adjacent frames are taked ICP closest approach alternative manner to obtain the pose of platform by the data gone out for Laser Radar Scanning Change；
4) closed loop detection
Extract the characteristic point of all scanning frames and characteristic point is stored in characteristics dictionary；To each new frame, look in characteristics dictionary Look for coupling, if the match is successful, complete closed loop detection；
5) figure optimization
Between the series of frames obtaining step 3), the pose of splicing carries out figure optimization, with the pose of each frame observation moment is wherein Node, the pose of adjacent two frames is changed to limit and builds optimization figure；Optimization figure input isam optimization method storehouse is calculated, is optimized The central point pose of each frame gone out, and include the optimization figure after the process of central point pose；
6) inertial navigation data is added
In optimization figure after the treatment, the inertial navigation list read in conjunction with moment of each frame laser radar data collection The pose change information of unit, will add the pose change obtained by inertial navigation unit, so constitute between corresponding node If having limit between every two nodes of optimization figure, there are two.
7) quadratic diagram optimization
Optimization figure after above-mentioned process is reruned the central point pose that figure optimization method obtains each frame of optimization；
8) render
Obtain the central point pose of each frame from step 7) after, opengl is used to draw out occupancy grid map, wherein Sampled point is labeled as black, and the line from sampled point to center position is plotted as white.
Owing to inertial navigation unit provides pose change substantially so that when laser radar data is carried out ICP splicing The calculating time is greatly shortened.And inertial navigation unit can measure the inclination of robot, laser when can identify inclination accordingly The invalid data of radar, reduces the interference to location.
Detailed description of the invention
A kind of map constructing method based on inertial navigation unit Yu laser radar, comprises the following steps:
1) scanning platform is built
Scanning platform is made up of the robot with two-wheel mobile platform, and platform carries a laser radar and inertial navigation list Unit；
2) scan data
Remote control two-wheel mobile platform, is scanned with laser radar, obtains scan data, the inertial navigation simultaneously carried from platform The posture information of unit reading platform；
3) interframe splicing
Two adjacent frames are taked ICP closest approach alternative manner to obtain the pose of platform by the data gone out for Laser Radar Scanning Change；
4) closed loop detection
Extract the characteristic point of all scanning frames and characteristic point is stored in characteristics dictionary；To each new frame, look in characteristics dictionary Look for coupling, if the match is successful, complete closed loop detection；
5) figure optimization
Between the series of frames obtaining step 3), the pose of splicing carries out figure optimization, with the pose of each frame observation moment is wherein Node, the pose of adjacent two frames is changed to limit and builds optimization figure；Optimization figure input isam optimization method storehouse is calculated, is optimized The central point pose of each frame gone out, and include the optimization figure after the process of central point pose；
6) inertial navigation data is added
In optimization figure after the treatment, the inertial navigation list read in conjunction with moment of each frame laser radar data collection The pose change information of unit, will add the pose change obtained by inertial navigation unit, so constitute between corresponding node If having limit between every two nodes of optimization figure, there are two.
7) quadratic diagram optimization
Optimization figure after above-mentioned process is reruned the central point pose that figure optimization method obtains each frame of optimization.
8) render
Obtain the central point pose of each frame from step 7) after, opengl is used to draw out occupancy grid map, wherein Sampled point is labeled as black, and the line from sampled point to center position is plotted as white.

Claims (1)

1. a map constructing method based on inertial navigation unit Yu laser radar, comprises the following steps:
1) scanning platform is built
Scanning platform is made up of the robot with two-wheel mobile platform, and platform carries a laser radar and inertial navigation list Unit；
2) scan data
Remote control two-wheel mobile platform, is scanned with laser radar, obtains scan data, the inertial navigation simultaneously carried from platform The posture information of unit reading platform；
3) interframe splicing
Two adjacent frames are taked ICP closest approach alternative manner to obtain the pose of platform by the data gone out for Laser Radar Scanning Change；
4) closed loop detection
Extract the characteristic point of all scanning frames and characteristic point is stored in characteristics dictionary；To each new frame, look in characteristics dictionary Look for coupling, if the match is successful, complete closed loop detection；
5) figure optimization
Between the series of frames obtaining step 3), the pose of splicing carries out figure optimization, with the pose of each frame observation moment is wherein Node, the pose of adjacent two frames is changed to limit and builds optimization figure；Optimization figure input isam optimization method storehouse is calculated, is optimized The central point pose of each frame gone out, and include the optimization figure after the process of central point pose；
6) inertial navigation data is added
In optimization figure after the treatment, the inertial navigation list read in conjunction with moment of each frame laser radar data collection The pose change information of unit, will add the pose change obtained by inertial navigation unit, so constitute between corresponding node If having limit between every two nodes of optimization figure, there are two.
7) quadratic diagram optimization
Optimization figure after above-mentioned process is reruned the central point pose that figure optimization method obtains each frame of optimization.
8) render
Obtain the central point pose of each frame from step 7) after, opengl is used to draw out occupancy grid map, wherein Sampled point is labeled as black, and the line from sampled point to center position is plotted as white.
CN201610856946.7A 2016-09-28 2016-09-28 A kind of map constructing method based on inertial navigation unit and laser radar Active CN106324616B (en)

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CN106918830A (en) * 2017-03-23 2017-07-04 安科机器人有限公司 A kind of localization method and mobile robot based on many navigation modules
CN107655473A (en) * 2017-09-20 2018-02-02 南京航空航天大学 Spacecraft based on SLAM technologies is with respect to autonomous navigation system
CN108345005A (en) * 2018-02-22 2018-07-31 重庆大学 The real-time continuous autonomous positioning orientation system and navigation locating method of tunnelling machine
CN108401461A (en) * 2017-12-29 2018-08-14 深圳前海达闼云端智能科技有限公司 Three-dimensional mapping method, device and system, cloud platform, electronic equipment and computer program product
CN109118940A (en) * 2018-09-14 2019-01-01 杭州国辰机器人科技有限公司 A kind of mobile robot composition based on map splicing
CN109407073A (en) * 2017-08-15 2019-03-01 百度在线网络技术（北京）有限公司 Reflected value map constructing method and device
CN109933056A (en) * 2017-12-18 2019-06-25 九阳股份有限公司 A kind of robot navigation method and robot based on SLAM
WO2021147549A1 (en) * 2020-01-20 2021-07-29 深圳市普渡科技有限公司 Closed-loop detection method and system, multi-sensor fusion slam system, robot, and medium
US12031826B2 (en) 2019-06-04 2024-07-09 3M Innovative Properties Company Methods and systems for path-based mapping and routing

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106918830A (en) * 2017-03-23 2017-07-04 安科机器人有限公司 A kind of localization method and mobile robot based on many navigation modules
CN109407073A (en) * 2017-08-15 2019-03-01 百度在线网络技术（北京）有限公司 Reflected value map constructing method and device
CN107655473A (en) * 2017-09-20 2018-02-02 南京航空航天大学 Spacecraft based on SLAM technologies is with respect to autonomous navigation system
CN107655473B (en) * 2017-09-20 2020-07-28 南京航空航天大学 Relative autonomous navigation system of spacecraft based on S L AM technology
CN109933056A (en) * 2017-12-18 2019-06-25 九阳股份有限公司 A kind of robot navigation method and robot based on SLAM
CN109933056B (en) * 2017-12-18 2022-03-15 九阳股份有限公司 Robot navigation method based on SLAM and robot
CN108401461A (en) * 2017-12-29 2018-08-14 深圳前海达闼云端智能科技有限公司 Three-dimensional mapping method, device and system, cloud platform, electronic equipment and computer program product
WO2019127445A1 (en) * 2017-12-29 2019-07-04 深圳前海达闼云端智能科技有限公司 Three-dimensional mapping method, apparatus and system, cloud platform, electronic device, and computer program product
CN108345005B (en) * 2018-02-22 2020-02-07 重庆大学 Real-time continuous autonomous positioning and orienting system and navigation positioning method of tunnel boring machine
CN108345005A (en) * 2018-02-22 2018-07-31 重庆大学 The real-time continuous autonomous positioning orientation system and navigation locating method of tunnelling machine
CN109118940A (en) * 2018-09-14 2019-01-01 杭州国辰机器人科技有限公司 A kind of mobile robot composition based on map splicing
US12031826B2 (en) 2019-06-04 2024-07-09 3M Innovative Properties Company Methods and systems for path-based mapping and routing
WO2021147549A1 (en) * 2020-01-20 2021-07-29 深圳市普渡科技有限公司 Closed-loop detection method and system, multi-sensor fusion slam system, robot, and medium

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