CN106842226A - Alignment system and method based on laser radar - Google Patents
Alignment system and method based on laser radar Download PDFInfo
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- CN106842226A CN106842226A CN201710037238.5A CN201710037238A CN106842226A CN 106842226 A CN106842226 A CN 106842226A CN 201710037238 A CN201710037238 A CN 201710037238A CN 106842226 A CN106842226 A CN 106842226A
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
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Abstract
The present invention provides a kind of alignment system and method based on laser radar not influenceed by factors such as satellite-signal, weather temperature, photoenvironment, multipath effects, is related to robot and unmanned vehicle laser radar positioning field.The present invention perceives the environment around mobile platform using laser radar; obtain laser map; the laser map and actual Reference Map are contrasted; and then determine the pose of mobile platform; actual Reference Map is the laser data of the environmental map by collection all standing in advance; recycle positioning in real time to laser data process so as to the practical laser data map of the extensive environment for being formed, also referred to as reference laser light map with nomography is built.The present invention can also can determine that the particular location of mobile platform in the place that gps signal is weak or base station range is less, improve the accuracy of positioning.
Description
Technical field
The present invention relates to robot and unmanned vehicle laser radar positioning field, more particularly to a kind of determining based on laser radar
Position system and method.
Background technology
Alignment system plays an important role in the mobile platforms such as robot, autonomous driving system.Meanwhile, environment sense
Know, environment measuring, path planning, the operation such as real-time control and act all different degrees of positioning knot for depending on alignment system
Really.Accurate and stabilization alignment system is that robot and unmanned vehicle realize the basic and basic of its systemic-function.
Current common positioning method is mainly using gps satellite positioning, mobile base station platform positioning and vision positioning method.
For gps satellite alignment system, because gps satellite signal is blocked and complicated under high building, the woods and indoor environment
The influence and interference of the multipath effect of environment, alignment system are unstable, and position error is big.And positioned using base station signal
When, its positioning precision and reliability can be influenceed by base station range and base station differential data transmission distance.Vision positioning
The problem of system is that camera is easily influenceed by ambient lighting factor, so as to cause positioning failure, positioning result inaccurate.
So, it is remote by above-mentioned gps satellite positioning, mobile base station platform or vision positioning method under many scenes and environment
Not nearly enough.Even, under some regions and environment, above-mentioned alignment system is to fail and insecure.
The content of the invention
For above-mentioned deficiency, the present invention provides a kind of not by satellite-signal, weather temperature, photoenvironment, multipath effect etc.
The alignment system and method based on laser radar of factor influence.
System described in alignment system based on laser radar of the invention, including：
Laser beam emitting device, installed in mobile platform, for launching laser to mobile platform surrounding environment；
Laser receiver, for receiving the laser for reflecting；
Processor, for the analytical calculation laser launched and the laser for reflecting so as to obtain laser measurement data, leads to
Cross and fused filtering algorithm is implemented so that it is determined that the shape of mobile platform surrounding environment to the laser measurement data that real-time reception is obtained
And feature, map to be positioned is formed, the map to be positioned for being formed is contrasted and matched with actual Reference Map, it is determined that currently
The pose of mobile platform.
Preferably, the processor includes：
Range finder module, distance value is converted into by the laser of transmitting and the laser for accordingly reflecting；
Map to be positioned forms module, according to the distance value that all directions laser is converted, determines mobile platform surrounding environment
Shape and feature, so as to generate laser data map for map to be positioned；
Locating module, real-time matching is carried out by map to be positioned and actual Reference Map, determines the reality of current mobile platform
Shi Weizi；
Actual Reference Map be by advance collection all standing environmental map laser data, recycle in real time positioning with
Building nomography to laser data process so as to the practical laser data map of the extensive environment for being formed, also referred to as reference laser light
Map.
Preferably, the processor, also includes：
Pose input module, the initial pose of a pose or acquisition mobile platform is concluded for being input into anticipation；
Search module, the anticipation for reference input positions pose, searches for actual Reference Map, the actual reference for searching
Map is used to contrast and match.
Preferably, the alignment system also includes：
Display module, for showing the shape and feature of mobile platform surrounding environment, and shows mobile platform in the shape
In pose.
Preferably, the alignment system also includes：
Cloud server, for storing actual Reference Map.
The present invention also provides a kind of localization method based on laser radar, including：
Laser emission step, for launching laser to mobile platform surrounding environment；
Laser pick-off step, for receiving the laser for reflecting；
Process step, for the analytical calculation laser launched and the laser for reflecting so as to obtain laser measurement data,
Implement fused filtering algorithm so that it is determined that the shape of mobile platform surrounding environment by the laser measurement data obtained to real-time reception
Shape and feature, form map to be positioned, and the map to be positioned for being formed is contrasted and matched with actual Reference Map, it is determined that working as
The pose of preceding mobile platform.
Preferably, also include：
Ranging step, distance value is converted into by the laser of transmitting and the laser for accordingly reflecting；；
Map forming step to be positioned, according to the distance value that all directions laser is converted, determines mobile platform surrounding environment
Shape and feature, this is shaped as map to be positioned；Positioning step, real-time is carried out by map to be positioned and actual Reference Map
Match somebody with somebody, determine the real-time pose of current mobile platform；
Actual Reference Map be by advance collection all standing environmental map laser data, recycle in real time positioning with
Building nomography to laser data process so as to the practical laser data map of the extensive environment for being formed, also referred to as reference laser light
Map.
Preferably, also include：
Pose input step, the initial pose of a pose or acquisition mobile platform is concluded for being input into anticipation；
Search step, the anticipation for reference input positions pose, searches for actual Reference Map, the actual reference for searching
Map is used to contrast and match.
Preferably, also include：
Step display, for showing the shape and feature of mobile platform surrounding environment, and shows mobile platform in the shape
In pose.
Preferably, also include：
High in the clouds storing step, for storing actual Reference Map.
The beneficial effects of the present invention are the present invention provides a kind of ring perceived based on laser radar around mobile platform
Border, obtains laser map, and the laser map and actual Reference Map are contrasted, and then determines the pose of mobile platform, this
Invention can also can determine that the particular location of mobile platform in the place that gps signal is weak or base station range is less, improve fixed
The accuracy of position.
Above-mentioned technical characteristic can in any suitable manner be combined or substituted by equivalent technical characteristic, as long as can reach
To the purpose of the present invention.
Brief description of the drawings
Fig. 1 is the principle schematic of the alignment system based on laser radar of embodiment of the present invention one.
Fig. 2 is the schematic flow sheet of the localization method based on laser radar of embodiment of the present invention two.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained on the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
It should be noted that in the case where not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Mutually combination.
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as limiting to the invention.
Embodiment one：Present embodiment provides a kind of alignment system based on laser radar, as shown in figure 1, including：
Laser beam emitting device, installed in mobile platform, for launching laser to mobile platform surrounding environment；
Laser receiver, for receiving the laser for reflecting；
Processor, for the analytical calculation laser launched and the laser for reflecting so as to obtain laser measurement data, leads to
Cross and fused filtering algorithm is implemented so that it is determined that the shape of mobile platform surrounding environment to the laser measurement data that real-time reception is obtained
And feature, map to be positioned is formed, the map to be positioned for being formed is contrasted and matched with actual Reference Map, it is determined that currently
The pose of mobile platform.
Present embodiment obtains the perception data of surrounding environment using laser sensor, and this perception data is exactly Laser Measuring
Amount data, and using the constantly perception data of acquisition and build nomography and set up laser data environmental map as Reference Map, i.e.,：
Actual Reference Map；Or existing actual Reference Map is converted into laser data environmental map, for as a comparison and matching；
The laser sensor of present embodiment is installed on a mobile platform, such as robot, and electricity is obtained and worked as on laser sensor
Preceding laser data, the laser map that present laser data are changed with actual Reference Map carries out laser data and matches, and the match is successful
Afterwards, the pose of present laser sensor positioning can just be obtained.The mobile platform of present embodiment only needs to swash in the process of walking
Optical sensor and processor can be achieved with positioning, it is not necessary to consider the coverage or the light of surrounding of satellite-signal or base station signal
According to environment, it is ensured that certainty of measurement.
In preferred embodiment, the processor of present embodiment includes：
Range finder module, distance value is converted into by the laser of transmitting and the laser for accordingly reflecting；
Map to be positioned forms module, according to the distance value that all directions laser is converted, determines mobile platform surrounding environment
Shape and feature, so as to generate laser data map for map to be positioned；
Locating module, real-time matching is carried out by map to be positioned and actual Reference Map, determines the reality of current mobile platform
Shi Weizi.
Present embodiment map to be positioned and actual Reference Map can be laser data map, extract laser data map
Middle feature is matched, for example：Extract Corner Feature to be matched, be accurately positioned.
In preferred embodiment, the processor of present embodiment also includes：
Pose input module, the initial pose of a pose or acquisition mobile platform is concluded for being input into anticipation；
Search module, the anticipation for reference input positions pose, searches for actual Reference Map, the actual reference for searching
Map is used to contrast and match.
When user needs to position and know that this mobile platform is in certain area, " certain area " can be input into, present embodiment
The map that search module can be searched in " certain area ", for contrasting, reduces search and to proportion, time-consuming.
Present embodiment utilizes laser ranging, the distance value for being quantified, size and direction according to distance value, fusion filter
Ripple algorithm, obtains the shape and feature of surrounding environment, forms laser map.
In preferred embodiment, the alignment system of present embodiment also includes：
Display module, for showing the shape and feature of mobile platform surrounding environment, and shows mobile platform in the shape
In pose.
The display module of present embodiment has displayed for a user out specific pose of the current mobile platform in map, is easy to
User or intelligence system understand current positioning scenarios and are that guidance is made in subsequent control or operation.
In preferred embodiment, present embodiment also includes：
Cloud server, for storing actual Reference Map.
If actual Reference Map amount of storage is stored for convenience than larger, cloud server is set.
Embodiment two：Present embodiment provides a kind of localization method based on laser radar, as shown in Fig. 2 including：
Laser emission step, for launching laser to mobile platform surrounding environment；
Laser pick-off step, for receiving the laser for reflecting；
Process step, for the analytical calculation laser launched and the laser for reflecting so as to obtain laser measurement data,
Implement fused filtering algorithm so that it is determined that the shape of mobile platform surrounding environment by the laser measurement data obtained to real-time reception
Shape and feature, form map to be positioned, and the map to be positioned for being formed is contrasted with actual Reference Map, it is determined that current mobile
The pose of platform.
Present embodiment obtains the perception data of surrounding environment using laser sensor, and this perception data is exactly Laser Measuring
Amount data, and using the constantly perception data of acquisition and build nomography and set up laser data environmental map as Reference Map, i.e.,：
Actual Reference Map；Or existing actual Reference Map is converted into laser data environmental map, for as a comparison；
The laser sensor of present embodiment is installed on a mobile platform, such as robot, and electricity is obtained and worked as on laser sensor
Preceding laser data, the laser map that present laser data are changed with actual Reference Map carries out laser data and matches, and the match is successful
Afterwards, the pose of present laser sensor positioning can just be obtained.The mobile platform of present embodiment only needs to swash in the process of walking
Optical sensor and processor can be achieved with positioning, it is not necessary to consider the coverage or the light of surrounding of satellite-signal or base station signal
According to environment, it is ensured that certainty of measurement.
In preferred embodiment, present embodiment also includes：
Ranging step, distance value is converted into by the laser of transmitting and the laser for accordingly reflecting；
Map forming step to be positioned, according to the distance value that all directions laser is converted, determines mobile platform surrounding environment
Shape and feature, so as to generate laser data map for map to be positioned；
Positioning step, real-time matching is carried out by map to be positioned and actual Reference Map, determines the reality of current mobile platform
Shi Weizi.
Present embodiment utilizes laser ranging, the distance value for being quantified, size and direction according to distance value, fusion filter
Ripple algorithm, obtains the shape and feature of surrounding environment, forms laser map.
In preferred embodiment, present embodiment also includes：
Pose input step, the initial pose of a pose or acquisition mobile platform is concluded for being input into anticipation；
Search step, the anticipation for reference input positions pose, searches for actual Reference Map, the actual reference for searching
Map is used to contrast and match.
When user needs to position and know that this mobile platform is in certain area, " certain area " can be input into, present embodiment
The map that search module can be searched in " certain area ", for contrasting, reduces search and to proportion, time-consuming.
In preferred embodiment, present embodiment also includes：
Step display, for showing the shape and feature of mobile platform surrounding environment, and shows mobile platform in the shape
In pose.
The display module of present embodiment has displayed for a user out particular location of the current mobile platform in map, is easy to
User or intelligence system understanding are controlled after being presently in place and being and guidance is made in operation.
In preferred embodiment, present embodiment also includes：
High in the clouds storing step, for storing actual Reference Map.
Present embodiment needs the actual Reference Map of storage, for real-time matching.
Although describing the present invention herein with reference to specific implementation method, it should be understood that, these realities
Apply the example of example only principles and applications.It should therefore be understood that can be carried out to exemplary embodiment
Many modifications, and other arrangements are can be designed that, without departing from the spirit of the invention that appended claims are limited
And scope.It should be understood that can be by way of different from described by original claim come with reference to different appurtenances
Profit is required and feature specifically described herein.It will also be appreciated that the feature with reference to described by separate embodiments can be used
In other described embodiments.
Claims (10)
1. a kind of alignment system based on laser radar, it is characterised in that the system includes：
Laser beam emitting device, installed in mobile platform, for launching laser to mobile platform surrounding environment；
Laser receiver, for receiving the laser for reflecting；
Processor, for the laser according to transmitting and the laser for reflecting so as to obtain laser measurement data, by real-time
Receive the laser measurement data for obtaining and implement fused filtering algorithm so that it is determined that the shape and feature of mobile platform surrounding environment, shape
Into map to be positioned, the map to be positioned for being formed is contrasted and matched with actual Reference Map, determined current mobile platform
Pose.
2. the alignment system based on laser radar according to claim 1, it is characterised in that the processor includes：
Range finder module, distance value is converted into by the laser of transmitting and the laser for accordingly reflecting；
Map to be positioned forms module, according to the distance value that all directions laser is converted, determines the shape of mobile platform surrounding environment
And feature, so as to generate laser data map for map to be positioned；
Locating module, real-time matching is carried out by map to be positioned and actual Reference Map, determines the real-time position of current mobile platform
Appearance；
Actual Reference Map is the laser data of the environmental map by collection all standing in advance, recycles and position in real time and build figure
Algorithm to laser data process so as to the practical laser data map of the extensive environment for being formed.
3. the alignment system based on laser radar according to claim 1 and 2, it is characterised in that the processor, also wraps
Include：
Pose input module, the initial pose of a pose or acquisition mobile platform is concluded for being input into anticipation；
Search module, the anticipation for reference input positions pose, searches for actual Reference Map, the actual Reference Map for searching
For contrasting and matching.
4. the alignment system based on laser radar according to claim 3, it is characterised in that the alignment system is also wrapped
Include：
Display module, for showing the shape and feature of mobile platform surrounding environment, and shows mobile platform in the shape
Pose.
5. the alignment system based on laser radar according to claim 4, it is characterised in that the alignment system is also wrapped
Include：
Cloud server, for storing actual Reference Map.
6. a kind of localization method based on laser radar, it is characterised in that including：
Laser emission step, for launching laser to mobile platform surrounding environment；
Laser pick-off step, for receiving the laser for reflecting；
Process step, for the analytical calculation laser launched and the laser for reflecting so as to obtain laser measurement data, passes through
To real-time reception obtain laser measurement data implement fused filtering algorithm so that it is determined that mobile platform surrounding environment shape and
Feature, forms map to be positioned, and the map to be positioned for being formed is contrasted and matched with actual Reference Map, it is determined that when reach
The pose of moving platform.
7. the localization method based on laser radar according to claim 6, it is characterised in that also include：
Ranging step, distance value is converted into by the laser of transmitting and the laser for accordingly reflecting；；
Map forming step to be positioned, according to the distance value that all directions laser is converted, determines the shape of mobile platform surrounding environment
And feature, so as to generate laser data map for map to be positioned；
Positioning step, real-time matching is carried out by map to be positioned and actual Reference Map, determines the real-time position of current mobile platform
Appearance；
Actual Reference Map is the laser data of the environmental map by collection all standing in advance, recycles and position in real time and build figure
Algorithm to laser data process so as to the practical laser data map of the extensive environment for being formed.
8. the localization method based on laser radar according to claim 6 or 7, it is characterised in that also include：
Pose input step, the initial pose of a pose or acquisition mobile platform is concluded for being input into anticipation；
Search step, the anticipation for reference input positions pose, searches for actual Reference Map, the actual Reference Map for searching
For contrasting and matching.
9. the localization method based on laser radar according to claim 8, it is characterised in that also include：
Step display, for showing the shape and feature of mobile platform surrounding environment, and shows mobile platform in the shape
Pose.
10. the localization method based on laser radar according to claim 9, it is characterised in that also include：
High in the clouds storing step, for storing actual Reference Map.
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107190696A (en) * | 2017-07-06 | 2017-09-22 | 深圳汉阳科技有限公司 | Full-automatic snowplough |
| CN107817500A (en) * | 2017-07-28 | 2018-03-20 | 浙江工业大学 | A kind of modularization stage laser positioning method |
| CN108022448A (en) * | 2018-01-29 | 2018-05-11 | 广州市君望机器人自动化有限公司 | Reverse vehicle searching system and managing system of car parking |
| CN108196260A (en) * | 2017-12-13 | 2018-06-22 | 北京汽车集团有限公司 | The test method and device of automatic driving vehicle multi-sensor fusion system |
| CN108257177A (en) * | 2018-01-15 | 2018-07-06 | 天津锋时互动科技有限公司深圳分公司 | Alignment system and method based on space identification |
| CN108303721A (en) * | 2018-02-12 | 2018-07-20 | 北京经纬恒润科技有限公司 | A kind of vehicle positioning method and system |
| CN110244702A (en) * | 2018-03-07 | 2019-09-17 | 罗伯特·博世有限公司 | For generating or updating the method and positioning system of ambient enviroment map |
| CN110376577A (en) * | 2019-08-01 | 2019-10-25 | 北京市交大路通科技有限公司 | A kind of method, apparatus of vehicle location, electronic equipment and storage medium |
| CN110837092A (en) * | 2018-08-17 | 2020-02-25 | 北京四维图新科技股份有限公司 | Method and device for vehicle positioning and lane-level path planning |
| CN111367269A (en) * | 2018-12-26 | 2020-07-03 | 武汉万集信息技术有限公司 | Navigation positioning method, device and system of laser radar |
| WO2020147316A1 (en) * | 2019-01-16 | 2020-07-23 | 北京百度网讯科技有限公司 | Unmanned vehicle positioning method and device |
| CN111854748A (en) * | 2019-04-09 | 2020-10-30 | 北京航迹科技有限公司 | Positioning system and method |
| CN112805534A (en) * | 2019-08-27 | 2021-05-14 | 北京航迹科技有限公司 | System and method for locating target object |
| CN113267787A (en) * | 2021-02-26 | 2021-08-17 | 深圳易行机器人有限公司 | AGV accurate positioning system based on laser navigation and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107190696A (en) * | 2017-07-06 | 2017-09-22 | 深圳汉阳科技有限公司 | Full-automatic snowplough |
| CN107817500A (en) * | 2017-07-28 | 2018-03-20 | 浙江工业大学 | A kind of modularization stage laser positioning method |
| CN108196260A (en) * | 2017-12-13 | 2018-06-22 | 北京汽车集团有限公司 | The test method and device of automatic driving vehicle multi-sensor fusion system |
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| CN110244702A (en) * | 2018-03-07 | 2019-09-17 | 罗伯特·博世有限公司 | For generating or updating the method and positioning system of ambient enviroment map |
| CN110837092A (en) * | 2018-08-17 | 2020-02-25 | 北京四维图新科技股份有限公司 | Method and device for vehicle positioning and lane-level path planning |
| CN111367269A (en) * | 2018-12-26 | 2020-07-03 | 武汉万集信息技术有限公司 | Navigation positioning method, device and system of laser radar |
| CN111367269B (en) * | 2018-12-26 | 2023-08-15 | 武汉万集信息技术有限公司 | Navigation positioning method, device and system of laser radar |
| WO2020147316A1 (en) * | 2019-01-16 | 2020-07-23 | 北京百度网讯科技有限公司 | Unmanned vehicle positioning method and device |
| CN111854748A (en) * | 2019-04-09 | 2020-10-30 | 北京航迹科技有限公司 | Positioning system and method |
| CN110376577B (en) * | 2019-08-01 | 2020-03-13 | 北京市交大路通科技有限公司 | Vehicle positioning method and device, electronic equipment and storage medium |
| CN110376577A (en) * | 2019-08-01 | 2019-10-25 | 北京市交大路通科技有限公司 | A kind of method, apparatus of vehicle location, electronic equipment and storage medium |
| CN112805534A (en) * | 2019-08-27 | 2021-05-14 | 北京航迹科技有限公司 | System and method for locating target object |
| CN112805534B (en) * | 2019-08-27 | 2024-05-17 | 北京航迹科技有限公司 | System and method for locating a target object |
| CN113267787A (en) * | 2021-02-26 | 2021-08-17 | 深圳易行机器人有限公司 | AGV accurate positioning system based on laser navigation and control method thereof |
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