一种LiDAR平面配准方法辅助的IMU室内定位算法  

An IMU Indoor Location Algorithm Assisted by LiDAR Plane Registration Method

作　　者：聂明炎 杨诚 NIE Mingyan;YANG Cheng(School of Remote Sensing and Information Engineering,Wuhan University,Wuhan 430079,China;School of Land Science and Technology,China University of Geosciences,Beijing 100083,China)

机构地区：[1]武汉大学遥感信息工程学院,湖北武汉430079 [2]中国地质大学(北京)土地科学技术学院,北京100083

出　　处：《测绘地理信息》2021年第5期27-30,共4页Journal of Geomatics

基　　金：香港创新及科技基金(ITP/053/16LP)。

摘　　要：室内环境由于缺乏观测条件,无法使用全球导航卫星系统(global navigation satellite system,GNSS)进行定位,而单独惯性导航系统(inertial navigation system,INS)由于传感器的误差累积,定位结果快速偏移且无法受到限制。因此,针对室内未知环境下移动背包的定位问题,提出激光雷达(light detection and ranging,LiDAR)与惯性测量单元(inertial measurement unit,IMU)的组合导航系统,使用LiDAR平面配准获得的载体速度作为扩展卡尔曼滤波器观测量,对IMU位姿推算的误差进行修正。结果表明,该方法可以有效控制惯性导航误差的漂移,从而提高室内定位精度。Global navigation satellite system(GNSS)cannot be used for indoor positioning due to indoor environment’s lack of observation conditions. The error accumulation of sensors makes the positioning results of inertial navigation system(INS)drift rapidly and cannot be limited. Therefore,an integrated navigation system based on light detection and ranging(LiDAR)and inertial measurement unit(IMU)is proposed to solve the positioning problem of mobile backpack in the unknown indoor environment. The carrier velocity obtained by LiDAR plane registration is used as the observation of extended Kalman filter to correct the error of IMU position and attitude. The results show that the proposed method can effectively control the drift of inertial navigation error,so as to improve indoor positioning accuracy.

关 键 词：激光雷达(light detection and ranging LiDAR)平面配准 惯性测量单元(inertial measurement unit IMU) 扩展卡尔曼滤波器 室内定位 

分 类 号：P228[天文地球—大地测量学与测量工程] TN96[天文地球—测绘科学与技术]