基于背包测量系统的SLAM方法及优化研究  

Research on SLAM method and modeling optimization based on backpack measurement system

作　　者：董晓晗 潘洁 李奇 陈俊美 张亦卓 亓立壮 刘承浩 DONG Xiao-han;PAN Jie;LI Qi;CHEN Jun-mei;ZHANG Yi-zhuo;QI Li-zhuang;LIU Cheng-hao(Qilu Research Institute,Jinan 250101,China;Aerospace Information Research Institute,Chinese Academy of Sciences,Beijing 100094,China)

机构地区：[1]齐鲁空天信息研究院,山东济南250101 [2]中国科学院空天信息创新研究院,北京100094

出　　处：《激光与红外》2025年第3期343-349,共7页Laser & Infrared

基　　金：复杂山岳景区游客全域位置感知与精准服务应用示范项目(No.2021YFB1407004/2021SFGC0401)资助。

摘　　要：同步定位与地图构建方法(Simultaneous Localization and Mapping,SLAM)作为环境感知与地图构建的关键技术,具有灵活高效的特点。但是传统的背包式激光雷达存在点云特征不完整和数据噪声大导致的点云分层等问题,导致系统无法进行精确定位与建图。为了提升自主定位精度,本文采用机器人操作系统搭建自主定位框架,融合激光雷达、惯性测量单元和全球卫星导航系统(Global Navigation Satellite System,GNSS)等多传感器数据,采用基于图优化的SLAM算法实现环境地图构建与系统位姿估计。实验结果表明,相较于传统SLAM算法,改进后的SLAM算法在融合GNSS数据后在轨迹X轴误差上降低了39%,Y轴误差上降低了30%,在平面定位精度上误差降低了73%,同时,在高程定位精度上有63%的提升,在建图精度上有明显提高,为背包测量系统在复杂环境中的应用提供了新思路。Simultaneous Localization and Mapping(SLAM)as a key technology for environment sensing and map building,is flexible and efficient.However,the traditional backpack l LiDAR has problems such as incomplete point cloud features and point cloud stratification caused by large data noise,which makes the system unable to perform accurate positioning and map building.In order to improve the accuracy of autonomous positioning,a robot operating system is adopted to build an autonomous positioning framework,integrating multi-sensor data such as LiDAR,inertial measurement unit and global navigation satellite system(GNSS),and using a SLAM algorithm based on graph optimization to achieve environmental map construction and system pose estimation.The experimental results show that compared with the traditional SLAM algorithm,the improved SLAM algorithm reduces the trajectory X-axis error by 39%,the Y-axis error by 30%,and the plane positioning accuracy by 73%after integrating GNSS data.At the same time,there is a 63%enhancement in elevation positioning accuracy,and a significant increase in building accuracy,which provides new ideas for the application of backpack measurement systems in complex environments.

关 键 词：背包测量系统 SLAM 优化 建图 

分 类 号：TN958.98[电子电信—信号与信息处理] P225.2[电子电信—信息与通信工程]