基于激光雷达的机器人定位信息处理技术研究  

Research on localization information processing technology of robot based on lidar

作　　者：梁林勋 杨俊杰[1] 楼志斌[2] LIANG Linxun;YANG Junjie;LOU Zhi-bin(Shanghai University of Electric Power,Shanghai,200090,China;Shanghai Academy of Science&Technology,Shanghai,201203,China)

机构地区：[1]上海电力学院,上海200090 [2]上海科学院,上海201203

出　　处：《自动化与仪器仪表》2020年第1期40-43,共4页Automation & Instrumentation

基　　金：国家自然科学基金资助项目(No.61202369);上海市自然科学基金资助项目(No.14ZR1417400);上海市教育委员会科研创新项目(No.13YZ102)

摘　　要：为了提高机器人定位和测距能力,提出一种基于激光雷达的机器人定位信息处理技术,采用激光雷达扫描技术进行机器人定位信号采集,对采集的激光雷达信号进行相关波束形成处理,采用相关处理后对激光雷达信号进行扩频处理,生成机器人定位测距码,结合测距码加权技术进行自适应学习,采用相位估计方法进行机器人的目标位置跟踪识别,根据处理后的激光雷达信号进行机器人的目标方位估计和测距,实现机器人准确定位。仿真结果表明,采用该方法进行机器人定位的准确性较高,激光雷达信号输出信噪比较高,说明机器人定位的抗干扰能力较强,提高了机器人的定位测距精度。In order to improve the localization and ranging ability of the robot,a robot localization information processing technology based on laser radar is proposed.The laser radar scanning technology is used to collect the localization signal of the robot.The laser radar signal is processed by correlation-beamforming,and the laser radar signal is processed by spread spectrum after correlation processing,and the robot location-ranging code is generated,and the adaptive learning is carried out by combining the weighted technology of ranging code.The phase estimation method is used to track and identify the target position of the robot,and the target azimuth estimation and ranging are carried out according to the processed laser radar signal,so that the robot can locate accurately.The simulation results show that the accuracy of the proposed method is high and the signal-to-noise ratio of the laser radar signal is high,which indicates that the anti-jamming ability of the robot is strong and the positioning accuracy of the robot is improved.

关 键 词：激光雷达 机器人定位 信息处理 测距码 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]