基于二维激光雷达和多超宽带的图优化融合定位研究  

Research on map optimization fusion location based on 2D LiDAR and multi-UWB

作　　者：陈义坤 陈庆盈 李研彪[1] 徐永胜 CHEN Yikun;CHEN Qingying;LI Yanbiao;Xu Yongshen(College of Mechanical Engineering,Zhejiang University of Technology,Hangzhou 310014;Ningbo Institute of Materials Technology and Engineering,Chinese Academy of Sciences,Ningbo 315201)

机构地区：[1]浙江工业大学机械工程学院,杭州310014 [2]中国科学院宁波材料技术与工程研究所,宁波315201

出　　处：《高技术通讯》2024年第10期1118-1126,共9页Chinese High Technology Letters

基　　金：国家自然科学基金(U1909215,92048201,52127803,U21A20122);浙江省重点研发计划(2022C01096);浙江省基金(LD22E050007);宁波市重点研发计划暨揭榜挂帅项目(2023z041);中科院装备研制项目(YJKYYQ20200030);宁波市2025重大专项(2021Z020)资助项目。

摘　　要：特殊环境下单纯激光雷达的定位方式以及单超宽带(UWB)融合激光的定位方式容易出现定位漂移、精度较差、激光雷达建图时不断的叠图问题。基于激光雷达与UWB超宽带传感器定位模型差异,利用两者优劣互补原则,提出多UWB位姿动态误差补偿算法,利用多UWB定位标签获取移动机器人坐标以及姿态。使用滑动窗口滤波算法和多UWB位姿动态误差补偿算法处理UWB定位数据得到先验位姿,通过图优化算法与激光雷达进行融合得到更加精准的地图、更加精确收敛和航向角更稳定的移动机器人位姿。The positioning techniques using single lidar and single ultra-wide band(UWB)fusion lidar in specialized environments face challenges like position drifting,poor accuracy,and continuous map overlapping during lidar mapping.By exploiting the complementary strengths of lidar and UWB ultra-wideband sensor localization models,the multi-UWB pose dynamic error compensation algorithm is introduced to derive coordinates and attitude of mobile robots through a fleet of UWB localization tags.The UWB localization data undergoes sliding window filtering and multi-UWB pose dynamic error compensation to derive prior pose.By fusing with lidar via graph optimization algorithm more precise maps and stable heading angles of the mobile robot are obtained.

关 键 词：超宽带(UWB) 二维激光雷达(2D Li DAR) 移动机器人 位姿动态误差补偿 多传感器融合 图优化 同时定位与地图构建(SLAM) 

分 类 号：TN925[电子电信—通信与信息系统] TN958.98[电子电信—信息与通信工程]