CN114296059A - Laser radar point cloud distortion correction method for large-scale rescue equipment - Google Patents
Laser radar point cloud distortion correction method for large-scale rescue equipment Download PDFInfo
- Publication number
- CN114296059A CN114296059A CN202111555737.6A CN202111555737A CN114296059A CN 114296059 A CN114296059 A CN 114296059A CN 202111555737 A CN202111555737 A CN 202111555737A CN 114296059 A CN114296059 A CN 114296059A
- Authority
- CN
- China
- Prior art keywords
- laser
- laser radar
- coordinate system
- angle
- ith
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides a laser radar point cloud distortion correction method facing large-scale rescue equipment. The method gives consideration to the rotating angle and the angular speed of the laser radar, and ensures the accuracy of the rotation transformation matrix; the operation of large-scale rescue equipment for rescue after disaster is analyzed, the position change of the laser radar is divided into two types, and the adaptability of the use scene of the translation transformation matrix is improved; and the Kalman filtering is utilized to reduce the noise of the kinematic parameters of large rescue equipment in the rotation translation transformation matrix, so that the accuracy of the laser radar point cloud distortion correction is improved.
Description
Technical Field
The invention relates to a laser radar point cloud distortion correction method, in particular to a laser radar point cloud distortion correction method for large-scale rescue equipment, and belongs to the field of post-disaster rescue.
Background
China is one of the most serious countries in the world suffering from geological disasters, including earthquakes, debris flows, landslides and the like, and has the characteristics of high occurrence frequency, high damage degree and the like. After a geological disaster occurs, rescue teams need to carry out emergency rescue work by means of engineering machinery. When the existing large-scale rescue equipment mainly based on human operation is used for rescuing, a large amount of rescue personnel are needed on site, so that the outstanding problems of no guarantee on site safety, low rescue efficiency and the like are caused. In order to overcome the problems, the intelligence degree of large-scale rescue equipment needs to be improved, so that a plurality of sensors including laser radars, cameras, millimeter wave radars and the like are added to the equipment.
The laser radar has a wide coverage range and can be suitable for various severe environments; the anti-interference capability is strong, and the interference of radio waves in the surrounding environment can be effectively avoided; the method has high ranging precision, and can accurately obtain the position information of the target in the surrounding environment. When the laser radar collects the point clouds of the surrounding environment, a certain pose difference exists between the coordinate systems of the first point and the last point in each frame of point cloud due to the motion or steering of the carrier. That is, each point in the same frame of point cloud is not in the same coordinate system, which results in point cloud distortion.
The principle of the laser radar point cloud distortion correction is as follows: all laser points in a frame are transformed to the coordinate system of the first laser point using a series of coordinate transformations. Aiming at unmanned vehicles, the Leizhiya et al propose a laser radar point cloud distortion removal method by using information of an inertial navigation system and a wheel speed sensor (patent application number: 201811479464. X). The method can remove errors generated by course angle change and plane motion of the laser radar carrier, but neglects the influence of the pitch angle and the roll angle of the carrier. Yangwu et al comprehensively consider three attitude angles and position changes of the hull for unmanned ships to correct the distortion of the lidar point cloud (patent application No.: 201911222073.4).
The method is characterized in that a crawler excavator is most commonly used in large-scale rescue equipment, an upper rotary table and a travelling mechanism of the equipment can work independently, and the method is introduced by taking the excavator as an example. When the equipment runs, the equipment cannot do rotation action, and the position change of the laser radar and the position change of the equipment are kept consistent; when the equipment performs the rotation operation, the position of the equipment is kept unchanged, and the laser radar performs circular motion. However, in the existing method, the position change of the laser radar and the position change of the carrier of the laser radar are the same, and the scene that the position change of the laser radar and the position change of the carrier of the laser radar are different is not considered. When large-scale rescue equipment works and runs on a rugged road, the pitch angle, the roll angle and the course angle of the laser radar installation position can be continuously changed, and a certain error exists in the measurement through the sensor. However, the existing method does not consider how to guarantee the accuracy of the three angle measurement.
Disclosure of Invention
Aiming at the problems, the invention provides a laser radar point cloud distortion correction method facing large-scale rescue equipment, which considers the rotating angle and angular speed of a laser radar and ensures the accuracy of a rotating transformation matrix; the operation of large-scale rescue equipment for rescue after disaster is analyzed, the position change of the laser radar is divided into two types, and the adaptability of the use scene of the translation transformation matrix is improved; and the Kalman filtering is utilized to reduce the noise of the kinematic parameters of large rescue equipment in the rotation translation transformation matrix, so that the accuracy of the laser radar point cloud distortion correction is improved.
The invention provides a laser radar point cloud distortion correction method for large-scale rescue equipment, which comprises the following specific steps of:
the method comprises the following steps: determining a rotation transformation matrix of the point cloud by using three attitude angle changes at the laser radar;
the laser radar is fixed at the top of the equipment cockpit, a coordinate system meets the right-hand criterion, the positive direction of a Z axis points to the right upper side of the cockpit, the positive direction of a Y axis points to the right front of the cockpit, and the positive direction of an X axis points to the right of the cockpit;
in a frame of point cloud, the coordinate system of the ith laser point needs to rotate around the X, Y and Z axes in turn by axi,ayi,aziThe degree can be kept to be the same as and parallel to the coordinate system of the 1 st laser point, the rotation direction meets the right-hand rule and is recorded as a positive value, and otherwise, the rotation direction is recorded as a negative value;
the pitch angle, the roll angle, the course angle and the angle increasing direction of the laser radar corresponding to the ith laser point respectivelyThe right-hand rule is satisfied;the angular velocities corresponding to three angles at the jth laser spot, j being 1,2, …, i-1; f is the interval time of two adjacent laser points in the same frame of point cloud;
the coordinate system of the ith laser spot is rotated around the X-axis by axiDegree, rotation transformation matrix ofThe coordinate system of the ith laser spot is rotated around the Y axis by ayiDegree, rotation transformation matrix ofThe coordinate system of the ith laser spot is rotated around the Z axis by aziDegree, rotation transformation matrix of
The rotation transformation matrix F for the ith laser spot is:
step two: determining a translation transformation matrix of the point cloud by using the position change of the laser radar;
when the equipment runs, a plane rectangular coordinate system is established by taking the laser radar position corresponding to the 1 st laser point as an originThe positive direction of (b) points to the east-ward direction,the positive direction of the light source points to the positive north direction; in thatIn the coordinate system, the position coordinate of the laser radar corresponding to the ith laser point issjThe speed of the equipment at the jth laser point; bjIs the included angle between the equipment driving direction and the east-righting direction at the jth laser point,the heading angle at the center of the walking mechanism is equipped;coordinate system rotates counterclockwiseObtaining the XY coordinate system of the 1 st laser point, and in the XY coordinate system of the 1 st laser point, the translation transformation matrix of the ith laser point is
When the equipment executes the rotation operation, a plane rectangular coordinate system is established by taking the rotation center of the upper rotary table as an originThe positive direction of (b) points to the east-ward direction,the positive direction of the light source points to the positive north direction; in thatIn the coordinate system, the position coordinate of the laser radar corresponding to the 1 st laser point isThe position coordinate of the laser radar corresponding to the ith laser point isd is the distance from the laser radar to the rotation center; e.g. of the typeiIs at the same timeThe polar angle of the lidar position corresponding to the ith laser point in the coordinate system,in thatIn the coordinate system, the position coordinate of the laser radar corresponding to the ith laser point isIn the XY coordinate system of the 1 st laser spot, the translation transformation matrix of the ith laser spot is
The translation transformation matrix for the ith laser spot is:
step three: improving accuracy of laser radar point cloud distortion correction by using Kalman filtering;
for the rescue process of equipment, the state quantity is taken asWherein the content of the first and second substances,respectively a pitch angle, a roll angle and a course angle at the laser radar,respectively a pitch angle speed, a roll angle speed and a course angle speed at the laser radar,respectively the course angle and the course at the center of the equipment travelling mechanismAn angular velocity; taking the pitch angle, the roll angle and the course angle output by the inertial sensor at the laser radar and the course angle output by the inertial sensor at the center of the equipment travelling mechanism as observed quantities, namelyWherein the content of the first and second substances,respectively a pitch angle, a roll angle and a course angle output by an inertial sensor at the laser radar,the course angle output by an inertial sensor at the center of the equipment travelling mechanism;
the state equation and the observation equation of the discretized Kalman filtering are as follows:
in the formula, t represents a discretization time; a represents a state transition matrix and a state transition matrix,c represents a discrete period; h denotes an observation matrix which is,q and R are independent zero mean system white noise and observation white noise vectors, the system noise covariance matrix corresponding to Q is Q, and the observation noise covariance matrix corresponding to R is R;
the recursion process comprises time updating and measurement updating, the first two steps of the next recursion process are time updating, and the remaining three steps are measurement updating;
and (3) time updating:
and (3) measurement updating:
the rotation transformation matrix after the optimization of the Kalman filtering state quantity isThe translation transformation matrix isDefining the original coordinates of the ith laser point in one frame of point cloud data of the laser radar asThe coordinates of the ith laser spot after distortion correction areThe calculation formula is as follows;
has the advantages that:
1. the invention gives consideration to the rotating angle and the angular speed of the laser radar coordinate system, thereby ensuring the accuracy of the rotation transformation matrix;
2. according to the method, the operation of rescue after a disaster of large rescue equipment is analyzed, the position change of the laser radar is divided into two types, and the adaptability of the use scene of the translation transformation matrix is improved;
3. according to the method, the Kalman filtering is utilized to reduce the noise of the kinematic parameters of large rescue equipment in the rotational translation transformation matrix, so that the accuracy of the laser radar point cloud distortion correction is improved.
Drawings
FIG. 1 is a general design scheme diagram of a laser radar point cloud distortion correction method for large-scale rescue equipment;
fig. 2 is a schematic diagram of the rotation direction of the lidar coordinate system.
Detailed Description
The technical solutions provided by the present invention will be described in detail below with reference to specific examples, and it should be understood that the following detailed description is only illustrative and not intended to limit the scope of the present invention.
The invention provides a laser radar point cloud distortion correction method for large-scale rescue equipment. The method comprises the steps of firstly determining a rotation transformation matrix of point cloud by using three attitude angle changes at a laser radar, then determining a translation transformation matrix of the point cloud by using position changes at the laser radar, and finally improving accuracy of distortion correction of the point cloud of the laser radar by using Kalman filtering. The method gives consideration to the rotating angle and the angular speed of the laser radar, and ensures the accuracy of the rotation transformation matrix; the operation of large-scale rescue equipment for rescue after disaster is analyzed, the position change of the laser radar is divided into two types, and the adaptability of the use scene of the translation transformation matrix is improved; and the Kalman filtering is utilized to reduce the noise of the kinematic parameters of large rescue equipment in the rotation translation transformation matrix, so that the accuracy of the laser radar point cloud distortion correction is improved.
The overall design scheme is shown in fig. 1, and the specific steps comprise:
the method comprises the following steps: determining a rotation transformation matrix of the point cloud by using three attitude angle changes at the laser radar;
the laser radar is fixed at the top of the equipment cockpit, the coordinate system meets the right-hand criterion, the positive direction of the Z axis points to the position right above the cockpit, the positive direction of the Y axis points to the position right ahead of the cockpit, and the positive direction of the X axis points to the position right of the cockpit. The laser radar has a plurality of lasers in the vertical direction, and emits a plurality of laser beams at the same time. The point cloud correction method of each laser beam is the same, so the invention introduces the point cloud correction method of a single laser beam.
In a frame of point cloud, the coordinate system of the ith laser point needs to rotate around the X, Y and Z axes in turn by axi,ayi,aziThe degree can be kept to be the same as and parallel to the coordinate axis of the 1 st laser point, the rotation direction meets the right-hand rule and is recorded as a positive value, and the rotation direction meets the right-hand rule and is recorded as a negative value, as shown in fig. 2.
The pitch angle, the roll angle and the course angle of the laser radar corresponding to the ith laser point respectively, the angle increasing direction meets the right-hand rule, and the course angle is defined as the included angle between the laser radar and the true north direction;the angular velocities corresponding to three angles at the jth laser spot, j being 1,2, …, i-1; f is the interval time of two adjacent laser points in the same frame point cloud, and is obtained through a product manual of a laser radar.
The coordinate system of the ith laser spot is rotated around the X-axis by axiDegree, rotation transformation matrix ofThe coordinate system of the ith laser spot is rotated around the Y axis by ayiDegree, rotation transformation matrix ofThe coordinate system of the ith laser spot is rotated around the Z axis by aziDegree, rotation transformation matrix of
Thus, the rotation transformation matrix F for the ith laser spot is:
step two: determining a translation transformation matrix of the point cloud by using the position change of the laser radar;
when the on-site rescue is carried out after a disaster, the large-scale rescue equipment can be regarded as planar motion within the time of one circle of rotation of the laser radar, namely the position of the laser radar is regarded to be kept unchanged in the vertical direction. When the equipment runs, the position change of the laser radar and the position change of the equipment are kept consistent because the equipment cannot do a rotary action; when the equipment performs the rotation operation, the position of the equipment is kept unchanged, and the laser radar performs circular motion.
When the equipment runs, a plane rectangular coordinate system is established by taking the laser radar position corresponding to the 1 st laser point as an originThe positive direction of (b) points to the east-ward direction,the positive direction of (c) points to the north direction. In thatIn the coordinate system, the position coordinate of the laser radar corresponding to the ith laser point issjObtaining the speed of equipment at the jth laser point through information conversion of a walking motor; bjIs the included angle between the equipment driving direction and the east-righting direction at the jth laser point,the heading angle at the center of the walking mechanism is equipped.Counter-clockwise coordinate systemRotateObtaining the XY coordinate system of the 1 st laser point, and in the XY coordinate system of the 1 st laser point, the translation transformation matrix of the ith laser point is
When the equipment executes the rotation operation, a plane rectangular coordinate system is established by taking the rotation center of the upper rotary table as an originThe positive direction of (b) points to the east-ward direction,the positive direction of (c) points to the north direction. In thatIn the coordinate system, the position coordinate of the laser radar corresponding to the 1 st laser point isThe position coordinate of the laser radar corresponding to the ith laser point isd is the distance from the laser radar to the rotation center, and is obtained by static measurement in advance; e.g. of the typeiIs at the same timeThe polar angle of the lidar position corresponding to the ith laser point in the coordinate system,in thatIn the coordinate system, the position coordinate of the laser radar corresponding to the ith laser point isIn the XY coordinate system of the 1 st laser spot, the translation transformation matrix of the ith laser spot is
Thus, the translation transformation matrix for the ith laser spot is:
step three: method for improving accuracy of laser radar point cloud distortion correction by utilizing Kalman filtering
Parameters in the rotation transformation matrix F and the translation transformation matrix B relate to three-axis angles and angular speeds at the laser radar and a course angle at the center of a walking mechanism, and the large-scale rescue equipment is considered to be in a dynamic state during rescue after disasters, so that data obtained by an inertial sensor has large random errors, and the accuracy of laser radar point cloud distortion correction is further influenced. The accuracy of the above parameters is thus improved by means of kalman filtering.
For the rescue process of equipment, the state quantity is taken asWherein the content of the first and second substances,respectively a pitch angle, a roll angle and a course angle at the laser radar,respectively a pitch angle speed, a roll angle speed and a course angle speed at the laser radar,respectively is a course angle and a course angular velocity at the center of the equipment walking mechanism. The pitch angle, the roll angle and the course angle output by the inertial sensor at the laser radar and the inertial transmission at the center of the equipment travelling mechanismHeading angle of sensor output as observed quantity, i.e.Wherein the content of the first and second substances,respectively a pitch angle, a roll angle and a course angle output by an inertial sensor at the laser radar,the heading angle output by the inertial sensor at the center of the walking mechanism is provided.
The state equation and the observation equation of the discretized Kalman filtering are as follows:
in the formula, t represents a discretization time; a represents a state transition matrix and a state transition matrix,c represents a discrete period; h represents an observation matrix, and the parameters of the state quantities include the parameters of the observed quantities, so that Q and R are independent zero mean system white noise and observation white noise vectors, the system noise covariance matrix corresponding to Q is Q, and the observation noise covariance matrix corresponding to R is R.
The recursion process comprises time updating and measurement updating, the first two steps of the next recursion process are time updating, and the remaining three steps are measurement updating;
and (3) time updating:
and (3) measurement updating:
the rotation transformation matrix after the optimization of the Kalman filtering state quantity isThe translation transformation matrix isDefining the original coordinates of the ith laser point in one frame of point cloud data of the laser radar asThe coordinates of the ith laser spot after distortion correction areThe calculation formula is as follows;
Claims (1)
1. a laser radar point cloud distortion correction method for large-scale rescue equipment is characterized by comprising the following specific steps:
the method comprises the following steps: determining a rotation transformation matrix of the point cloud by using three attitude angle changes at the laser radar;
the laser radar is fixed at the top of the equipment cockpit, a coordinate system meets the right-hand criterion, the positive direction of a Z axis points to the right upper side of the cockpit, the positive direction of a Y axis points to the right front of the cockpit, and the positive direction of an X axis points to the right of the cockpit;
in a frame of point cloud, the coordinate system of the ith laser point needs to rotate around the X, Y and Z axes in turn by axi,ayi,aziThe degree can be kept to be the same as and parallel to the coordinate system of the 1 st laser point, the rotation direction meets the right-hand rule and is recorded as a positive value, and otherwise, the rotation direction is recorded as a negative value;
the pitch angle, the roll angle and the course angle of the laser radar corresponding to the ith laser point are respectively, and the angle increasing direction meets the right-hand rule;the angular velocities corresponding to three angles at the jth laser spot, j being 1,2, …, i-1; f is the interval time of two adjacent laser points in the same frame of point cloud;
the coordinate system of the ith laser spot is rotated around the X-axis by axiDegree, rotation transformation matrix ofThe coordinate system of the ith laser spot is rotated around the Y axis by ayiDegree, rotation transformation matrix ofSeating of the ith laser spotThe mark being rotated about the Z-axis by aziDegree, rotation transformation matrix of
The rotation transformation matrix F for the ith laser spot is:
step two: determining a translation transformation matrix of the point cloud by using the position change of the laser radar;
when the equipment runs, a plane rectangular coordinate system is established by taking the laser radar position corresponding to the 1 st laser point as an origin The positive direction of (b) points to the east-ward direction,the positive direction of the light source points to the positive north direction; in thatIn the coordinate system, the position coordinate of the laser radar corresponding to the ith laser point issjThe speed of the equipment at the jth laser point; bjIs the included angle between the equipment driving direction and the east-righting direction at the jth laser point, for equipping with travelling mechanismsA heading angle at the center;coordinate system rotates counterclockwiseObtaining the XY coordinate system of the 1 st laser point, and in the XY coordinate system of the 1 st laser point, the translation transformation matrix of the ith laser point is
When the equipment executes the rotation operation, a plane rectangular coordinate system is established by taking the rotation center of the upper rotary table as an origin The positive direction of (b) points to the east-ward direction,the positive direction of the light source points to the positive north direction; in thatIn the coordinate system, the position coordinate of the laser radar corresponding to the 1 st laser point isThe position coordinate of the laser radar corresponding to the ith laser point isd is the distance from the laser radar to the rotation center; e.g. of the typeiIs at the same timeLaser radar position corresponding to ith laser point in coordinate systemThe polar angle is arranged at the position of the magnetic pole,in thatIn the coordinate system, the position coordinate of the laser radar corresponding to the ith laser point isIn the XY coordinate system of the 1 st laser spot, the translation transformation matrix of the ith laser spot is
The translation transformation matrix for the ith laser spot is:
step three: improving accuracy of laser radar point cloud distortion correction by using Kalman filtering;
for the rescue process of equipment, the state quantity is taken asWherein the content of the first and second substances,respectively a pitch angle, a roll angle and a course angle at the laser radar,respectively a pitch angle speed, a roll angle speed and a course angle speed at the laser radar,respectively setting a course angle and a course angular speed at the center of the equipment travelling mechanism; by laser radarThe pitch angle, the roll angle and the course angle output by the inertial sensor at the center of the equipment travelling mechanism are observed quantities, namelyWherein the content of the first and second substances,respectively a pitch angle, a roll angle and a course angle output by an inertial sensor at the laser radar,the course angle output by an inertial sensor at the center of the equipment travelling mechanism;
the state equation and the observation equation of the discretized Kalman filtering are as follows:
in the formula, t represents a discretization time; a represents a state transition matrix and a state transition matrix,c represents a discrete period; h denotes an observation matrix which is,q and R are independent zero mean system white noise and observation white noise vectors, the system noise covariance matrix corresponding to Q is Q, and the observation noise covariance matrix corresponding to R is R;
the recursion process comprises time updating and measurement updating, the first two steps of the next recursion process are time updating, and the remaining three steps are measurement updating;
and (3) time updating:
and (3) measurement updating:
the rotation transformation matrix after the optimization of the Kalman filtering state quantity isThe translation transformation matrix isDefining the original coordinates of the ith laser point in one frame of point cloud data of the laser radar asThe coordinates of the ith laser spot after distortion correction areThe calculation formula is as follows;
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202111555737.6A CN114296059A (en) | 2021-12-17 | 2021-12-17 | Laser radar point cloud distortion correction method for large-scale rescue equipment |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202111555737.6A CN114296059A (en) | 2021-12-17 | 2021-12-17 | Laser radar point cloud distortion correction method for large-scale rescue equipment |
Publications (1)
Publication Number | Publication Date |
---|---|
CN114296059A true CN114296059A (en) | 2022-04-08 |
Family
ID=80968488
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202111555737.6A Pending CN114296059A (en) | 2021-12-17 | 2021-12-17 | Laser radar point cloud distortion correction method for large-scale rescue equipment |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN114296059A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115079128A (en) * | 2022-08-23 | 2022-09-20 | 深圳市欢创科技有限公司 | Method and device for distortion removal of laser radar point cloud data and robot |
-
2021
- 2021-12-17 CN CN202111555737.6A patent/CN114296059A/en active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115079128A (en) * | 2022-08-23 | 2022-09-20 | 深圳市欢创科技有限公司 | Method and device for distortion removal of laser radar point cloud data and robot |
CN115079128B (en) * | 2022-08-23 | 2022-12-09 | 深圳市欢创科技有限公司 | Method and device for distortion removal of laser radar point cloud data and robot |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110631593B (en) | Multi-sensor fusion positioning method for automatic driving scene | |
US11243081B2 (en) | Slam assisted INS | |
CN109946730B (en) | Ultra-wideband-based high-reliability fusion positioning method for vehicles under cooperation of vehicle and road | |
CN110208842A (en) | Vehicle high-precision locating method under a kind of car networking environment | |
EP0936519B1 (en) | Integrated vehicle positioning and navigation system, apparatus and method | |
CN107132563B (en) | Combined navigation method combining odometer and dual-antenna differential GNSS | |
CN111338342B (en) | Automatic tracking driving control system and method for wheel type engineering machinery | |
CN113311436B (en) | Method for correcting wind measurement of motion attitude of laser wind measuring radar on mobile platform | |
CN104535061A (en) | Navigation system based on multi-sensor data fusion | |
CN111829512A (en) | AUV navigation positioning method and system based on multi-sensor data fusion | |
CN112034479A (en) | Positioning method and system applied to intelligent inspection unmanned aerial vehicle under coal mine | |
CN111982114A (en) | Rescue robot for estimating three-dimensional pose by adopting IMU data fusion | |
Dill et al. | Seamless indoor-outdoor navigation for unmanned multi-sensor aerial platforms | |
CN115993825A (en) | Unmanned vehicle cluster control system based on air-ground cooperation | |
CN114296059A (en) | Laser radar point cloud distortion correction method for large-scale rescue equipment | |
CN111308457A (en) | Method, system and storage medium for north finding of pulse Doppler radar | |
CN116728410A (en) | Robot absolute positioning precision error compensation method under narrow working environment | |
RU195749U1 (en) | Intelligent vision system for an unmanned aerial vehicle for solving navigation problems, building a three-dimensional map of the surrounding space and obstacles, and autonomous patrolling | |
CN206540555U (en) | Front-wheel angle measuring system based on double GNSS antennas and single shaft MEMS gyro | |
CN115031726A (en) | Data fusion navigation positioning method | |
CN113581320A (en) | Autonomous three-dimensional surveying and mapping unmanned vehicle for mine and surveying and mapping method | |
CN113670318B (en) | Co-location method and location system | |
Zhao et al. | Cooperative localization based on robust GPS and Radar fusion for multiple aerial vehicles | |
Yang et al. | AGV robot for laser-SLAM based method testing in automated container terminal | |
Ray et al. | GPS and sonar based area mapping and navigation by mobile robots |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination |