【摘要】 针对室内定位中UWB受非视距影响明显以及LiDAR SLAM算法误差累积的问题,提出一种UWB/LiDAR组合定位算法,即将UWB测距信息、LiDAR SLAM的位移增量和角度观测值作为量测值,利用扩展卡尔曼滤波进行参数解算。实验结果表明:UWB/LiDAR组合定位系统能有效抑制非视距影响和SLAM算法误差累积;相对于单一传感器,UWB/LiDAR组合定位系统能稳定地提供厘米级定位精度。更多还原

【Abstract】 Aiming at the problem that it is susceptible to non-line-of-sight for UWB and error accumulation for LiDAR SLAM algorithm in indoor positioning,the paper proposed a combined positioning algorithm of UWB/LiDAR:the ranging information of UWB,the displacement increments and angle observations of LiDAR SLAM were taken as measurement values,and the extended Kalman filter was used to calculate the parameters.Experimental result showed that the proposed method could effectively suppress the impact of non-line-of-sight and the error accumulation of SLAM algorithm;moreover,compared with the single sensor,the UWB/LiDAR combined positioning system could stably provide the positioning accuracy of centimeter-level.更多还原