基于激光雷达和超宽带的SLAM算法  

SLAM algorithm based on lidar and ultra-wideband

作　　者：夏磊 郝钢[1] XIA Lei;HAO Gang(College of Electronic Engineering,Heilongjiang University,Harbin 150080,China)

机构地区：[1]黑龙江大学电子工程学院,哈尔滨150080

出　　处：《黑龙江大学工程学报》2022年第2期62-69,共8页Journal of Engineering of Heilongjiang University

基　　金：国家自然科学基金青年基金项目(61503127)。

摘　　要：为了解决基于概率估计的同时定位与地图构建(SLAM)方法存在的精度低、计算量大、数值不稳定等问题,提出了一种基于激光雷达和超宽带(UWB)的SLAM算法。通过UWB和容积卡尔曼滤波器(CKF)对移动目标位姿进行估计,以及激光雷达和CKF对路标点的位置进行估计,实现实时定位与地图构建的目的。对比传统SLAM算法,该算法引入了UWB定位系统,消除了目标位姿估计的累计误差及其对地图构建的影响。仿真结果表明,提高了定位和地图构建精度。To solve the problems of low accuracy,high computational cost and numerical instability in the simultaneous localization and mapping(SLAM)based on probability estimation,SLAM algorithm based on lidar and ultra-wideband(UWB)is proposed.UWB and cubature Kalman filter(CKF)are used to estimate the pose of the moving target,lidar and CKF are used to estimate the position of the landmarks,so as to achieve the purpose of real-time positioning and map construction.Compared with the traditional SLAM algorithm,the proposed algorithm introduces the UWB positioning system,which reduces the accumulative error of the target pose estimation and its influence on map construction.The simulation results show that the accuracy of positioning and map construction is improved.

关 键 词：定位与地图构建 容积卡尔曼滤波器 激光雷达 超宽带 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]