利用UWB/LiDAR里程计的室内高精度定位方法  

Method of UWB/LiDAR odometry based on indoor high precision combined location

作　　者：徐爱功[1] 张涵[1] 宋佳鹏 隋心[1] XU Aigong;ZHANG Han;SONG Jiapeng;SUI Xin(School of Geomatics,Liaoning Technical University,Fuxin,Liaoning 123000,China)

机构地区：[1]辽宁工程技术大学测绘与地理科学学院,辽宁阜新123000

出　　处：《测绘科学》2022年第2期1-7,38,共8页Science of Surveying and Mapping

基　　金：辽宁省重点研发计划项目(2020JH2/10100044);国家自然科学基金项目(42074012);辽宁省自然科学基金计划指导项目(2019-ZD-0051);辽宁省教育厅基础研究项目(LJ2020JCL016)。

摘　　要：针对超宽带(UWB)室内高精度定位中,易受非视距(NLOS)误差而导致定位不连续的问题,该文首先采用小波变换对RTT解算的测距异常值进行削弱,然后将UWB与LiDAR进行组合,综合利用UWB测距值以及LiDAR里程计所提供的距离和角度信息构建量测方程,最后通过扩展卡尔曼滤波进行定位解算。实验结果表明,该文提出的UWB/LiDAR里程计组合定位方法,实现了室内障碍物遮挡情况下的连续高精度定位,定位精度可达到亚分米级。Aiming at the problem that the positioning discontinuity is easily caused by non light of sight(NLOS)error during the ultra-wide band(UWB)indoor high-precision positioning,in this paper,wavelet transform was used to attenuate the round-trip time(RTT)solved distance measurement anomalies firstly.Subsequently,the LiDAR odometer was used to combine with the UWB,and the measurement equations were constructed from the UWB-observed distance and the information between the LiDAR-derived distance and the angle.Finally,the extended Kalman filter was used to solve the positioning equations.Experimental results showed that the combined method using UWB/LiDAR odometer could achieve continuous high-precision positioning with sub-decimeter accuracy for indoor mobile obstacle-obstructed conditions.

关 键 词：UWB 非视距 LiDAR里程计 高精度定位 

分 类 号：P228[天文地球—大地测量学与测量工程]