CN115307646B - 一种多传感器融合的机器人定位方法、***及装置 - Google Patents
一种多传感器融合的机器人定位方法、***及装置 Download PDFInfo
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- CN115307646B CN115307646B CN202211219785.2A CN202211219785A CN115307646B CN 115307646 B CN115307646 B CN 115307646B CN 202211219785 A CN202211219785 A CN 202211219785A CN 115307646 B CN115307646 B CN 115307646B
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
-
- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
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CN202211219785.2A CN115307646B (zh) | 2022-10-08 | 2022-10-08 | 一种多传感器融合的机器人定位方法、***及装置 |
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CN115307646B true CN115307646B (zh) | 2023-03-24 |
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CN115655302B (zh) * | 2022-12-08 | 2023-03-21 | 安徽蔚来智驾科技有限公司 | 激光里程计的实现方法、计算机设备、存储介质及车辆 |
CN117415811A (zh) * | 2023-11-01 | 2024-01-19 | 天合光能股份有限公司 | 光伏悬挂式清扫机器人位姿调整方法、装置和电子设备 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CN107450577A (zh) * | 2017-07-25 | 2017-12-08 | 天津大学 | 基于多传感器的无人机智能感知***和方法 |
KR20190041315A (ko) * | 2017-10-12 | 2019-04-22 | 한화디펜스 주식회사 | 관성 기반 항법 장치 및 상대사전적분에 따른 관성 기반 항법 방법 |
WO2022142992A1 (zh) * | 2020-12-29 | 2022-07-07 | 深圳市普渡科技有限公司 | 融合定位方法、装置、设备和计算机可读存储介质 |
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CN108181636B (zh) * | 2018-01-12 | 2020-02-18 | 中国矿业大学 | 石化工厂巡检机器人环境建模与地图构建装置和方法 |
CN108680156B (zh) * | 2018-02-26 | 2022-01-07 | 青岛克路德机器人有限公司 | 一种多传感器数据融合的机器人定位方法 |
US11243081B2 (en) * | 2019-03-29 | 2022-02-08 | Trimble Inc. | Slam assisted INS |
CN110873883B (zh) * | 2019-11-29 | 2023-08-29 | 上海有个机器人有限公司 | 融合激光雷达和imu的定位方法、介质、终端和装置 |
CN111077907A (zh) * | 2019-12-30 | 2020-04-28 | 哈尔滨理工大学 | 一种室外无人机的自主定位方法 |
CN111089585A (zh) * | 2019-12-30 | 2020-05-01 | 哈尔滨理工大学 | 一种基于传感器信息融合的建图及定位方法 |
CN113253297B (zh) * | 2021-06-21 | 2021-09-17 | 中国人民解放军国防科技大学 | 融合激光雷达和深度相机的地图构建方法及装置 |
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Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CN107450577A (zh) * | 2017-07-25 | 2017-12-08 | 天津大学 | 基于多传感器的无人机智能感知***和方法 |
KR20190041315A (ko) * | 2017-10-12 | 2019-04-22 | 한화디펜스 주식회사 | 관성 기반 항법 장치 및 상대사전적분에 따른 관성 기반 항법 방법 |
WO2022142992A1 (zh) * | 2020-12-29 | 2022-07-07 | 深圳市普渡科技有限公司 | 融合定位方法、装置、设备和计算机可读存储介质 |
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