CN114252099A - 一种智能车辆多传感器融合自标定方法及*** - Google Patents
一种智能车辆多传感器融合自标定方法及*** Download PDFInfo
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- CN114252099A CN114252099A CN202111474977.3A CN202111474977A CN114252099A CN 114252099 A CN114252099 A CN 114252099A CN 202111474977 A CN202111474977 A CN 202111474977A CN 114252099 A CN114252099 A CN 114252099A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
- G01S19/235—Calibration of receiver components
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN115523929A (zh) * | 2022-09-20 | 2022-12-27 | 北京四维远见信息技术有限公司 | 一种基于slam的车载组合导航方法、装置、设备及介质 |
Citations (7)
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US20100235129A1 (en) * | 2009-03-10 | 2010-09-16 | Honeywell International Inc. | Calibration of multi-sensor system |
CN109345596A (zh) * | 2018-09-19 | 2019-02-15 | 百度在线网络技术(北京)有限公司 | 多传感器标定方法、装置、计算机设备、介质和车辆 |
CN109544638A (zh) * | 2018-10-29 | 2019-03-29 | 浙江工业大学 | 一种用于多传感器融合的异步在线标定方法 |
CN109631855A (zh) * | 2019-01-25 | 2019-04-16 | 西安电子科技大学 | 基于orb-slam的高精度车辆定位方法 |
CN109991636A (zh) * | 2019-03-25 | 2019-07-09 | 启明信息技术股份有限公司 | 基于gps、imu以及双目视觉的地图构建方法及*** |
CN111735479A (zh) * | 2020-08-28 | 2020-10-02 | 中国计量大学 | 一种多传感器联合标定装置及方法 |
CN113091771A (zh) * | 2021-04-13 | 2021-07-09 | 清华大学 | 一种激光雷达-相机-惯导联合标定方法及*** |
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- 2021-12-03 CN CN202111474977.3A patent/CN114252099B/zh active Active
Patent Citations (7)
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---|---|---|---|---|
US20100235129A1 (en) * | 2009-03-10 | 2010-09-16 | Honeywell International Inc. | Calibration of multi-sensor system |
CN109345596A (zh) * | 2018-09-19 | 2019-02-15 | 百度在线网络技术(北京)有限公司 | 多传感器标定方法、装置、计算机设备、介质和车辆 |
CN109544638A (zh) * | 2018-10-29 | 2019-03-29 | 浙江工业大学 | 一种用于多传感器融合的异步在线标定方法 |
CN109631855A (zh) * | 2019-01-25 | 2019-04-16 | 西安电子科技大学 | 基于orb-slam的高精度车辆定位方法 |
CN109991636A (zh) * | 2019-03-25 | 2019-07-09 | 启明信息技术股份有限公司 | 基于gps、imu以及双目视觉的地图构建方法及*** |
CN111735479A (zh) * | 2020-08-28 | 2020-10-02 | 中国计量大学 | 一种多传感器联合标定装置及方法 |
CN113091771A (zh) * | 2021-04-13 | 2021-07-09 | 清华大学 | 一种激光雷达-相机-惯导联合标定方法及*** |
Non-Patent Citations (2)
Title |
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张少将: "基于多传感器信息融合的智能车定位导航***研究", 《中国优秀硕士学位论文全文数据库(电子期刊)工程科技Ⅱ辑》, no. 1, pages 035 - 490 * |
许凤麟: "基于室内移动机器人同时定位的多传感器在线标定", 《中国优秀硕士学位论文全文数据库(电子期刊)信息科技辑》, no. 9, pages 138 - 272 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115523929A (zh) * | 2022-09-20 | 2022-12-27 | 北京四维远见信息技术有限公司 | 一种基于slam的车载组合导航方法、装置、设备及介质 |
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Application publication date: 20220329 Assignee: Wuhan Pusheng Technology Co.,Ltd. Assignor: WUHAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2024980002938 Denomination of invention: A method and system for intelligent vehicle multi-sensor fusion self calibration Granted publication date: 20240223 License type: Common License Record date: 20240319 |
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Application publication date: 20220329 Assignee: ZONESION (WUHAN) TECHNOLOGY CO.,LTD. Assignor: WUHAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2024980008065 Denomination of invention: A method and system for intelligent vehicle multi-sensor fusion self calibration Granted publication date: 20240223 License type: Common License Record date: 20240625 |