CN114585879A - 位姿估计的方法和装置 - Google Patents
位姿估计的方法和装置 Download PDFInfo
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- CN114585879A CN114585879A CN202080010683.2A CN202080010683A CN114585879A CN 114585879 A CN114585879 A CN 114585879A CN 202080010683 A CN202080010683 A CN 202080010683A CN 114585879 A CN114585879 A CN 114585879A
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- 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
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Abstract
本申请实施例提供一种位姿估计的方法和装置，有利于提高激光雷达位姿估计的精度和鲁棒性。该方法包括：在惯性测量单元IMU输出的IMU数据的初始化完成之后，根据该IMU数据的积分结果与激光雷达输出的激光点云数据进行该激光雷达的位姿估计，得到该激光雷达的运动加速度，该IMU数据包括陀螺仪数据和加速度计数据；根据该激光雷达的运动加速度和该加速度计数据，得到重力加速度的估计值；根据该重力加速度的估计值与该重力加速度的参考值之间的接近程度，确定是否更新该重力加速度的估计值；在确定不更新该重力加速度的估计值时，输出该位姿估计的结果。
Description
PCT国内申请，说明书已公开。
Claims (31)
- PCT国内申请，权利要求书已公开。
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2020/118035 WO2022061799A1 (zh) | 2020-09-27 | 2020-09-27 | 位姿估计的方法和装置 |
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| WO (1) | WO2022061799A1 (zh) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115421125B (zh) * | 2022-11-07 | 2023-01-10 | 山东富锐光学科技有限公司 | 一种基于数据融合的雷达点云数据惯性校正方法 |
| CN115683170B (zh) * | 2023-01-04 | 2023-03-14 | 成都西物信安智能系统有限公司 | 基于雷达点云数据融合误差的校准方法 |
| CN116359865B (zh) * | 2023-06-02 | 2023-08-04 | 上海几何伙伴智能驾驶有限公司 | 毫米波雷达水平安装角估计方法 |
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| US20180356831A1 (en) * | 2017-06-13 | 2018-12-13 | TuSimple | Sparse image point correspondences generation and correspondences refinement method for ground truth static scene sparse flow generation |
| CN108981693B (zh) * | 2018-03-22 | 2021-10-29 | 东南大学 | 基于单目相机的vio快速联合初始化方法 |
| CN109993113B (zh) * | 2019-03-29 | 2023-05-02 | 东北大学 | 一种基于rgb-d和imu信息融合的位姿估计方法 |
| CN110455301A (zh) * | 2019-08-01 | 2019-11-15 | 河北工业大学 | 一种基于惯性测量单元的动态场景slam方法 |
| CN111539982B (zh) * | 2020-04-17 | 2023-09-15 | 北京维盛泰科科技有限公司 | 一种移动平台中基于非线性优化的视觉惯导初始化方法 |
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- 2020-09-27 CN CN202080010683.2A patent/CN114585879A/zh active Pending
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| WO2020155616A1 (zh) * | 2019-01-29 | 2020-08-06 | 浙江省北大信息技术高等研究院 | 一种基于数字视网膜的拍摄装置的定位方法 |
| CN110879400A (zh) * | 2019-11-27 | 2020-03-13 | 炬星科技（深圳）有限公司 | 激光雷达与imu融合定位的方法、设备及存储介质 |
| CN110887481A (zh) * | 2019-12-11 | 2020-03-17 | 中国空气动力研究与发展中心低速空气动力研究所 | 基于mems惯性传感器的载体动态姿态估计方法 |
| CN110956665A (zh) * | 2019-12-18 | 2020-04-03 | 中国科学院自动化研究所 | 车辆拐弯轨迹双向计算方法、系统、装置 |
| CN111323009A (zh) * | 2020-03-09 | 2020-06-23 | 西南交通大学 | 一种磁悬浮列车定位方法及系统 |
| CN111366153A (zh) * | 2020-03-19 | 2020-07-03 | 浙江大学 | 一种激光雷达与imu紧耦合的定位方法 |
| CN111595333A (zh) * | 2020-04-26 | 2020-08-28 | 武汉理工大学 | 视觉惯性激光数据融合的模块化无人车定位方法及系统 |
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| 刘洪剑等: "基于加速度变噪声EKF的无人机姿态融合算法", 电子测量与仪器学报, vol. 30, no. 3, 31 March 2016 (2016-03-31), pages 333 - 339 * |
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