计算机工程

• 开发研究与工程应用 • 上一篇    下一篇

基于激光测距仪与微惯性测量单元的室内个人导航方法

冯敬伟,车明明,马巍,戴文,韩梅   

  1. (中国电子科技集团公司第二十九研究所,成都 610036)
  • 收稿日期:2015-05-11 出版日期:2016-08-15 发布日期:2016-08-15
  • 作者简介:冯敬伟(1986-),男,工程师、博士研究生,主研方向为室内定位、嗅觉模拟系统、模式识别;车明明,工程师、硕士研究生;马巍,工程师、博士研究生;戴文、韩梅,工程师、硕士研究生。
  • 基金项目:
    河北省科技计划基金资助项目(15275427)。

Indoor Personal Navigation Method Based on Laser Range Finder and Micro-inertial Measurement Unit

FENG Jingwei,CHE Mingming,MA Wei,DAI Wen,HAN Mei   

  1. (The 29th Research Institute of China Electronics Technology Group Corporation,Chengdu 610036,China)
  • Received:2015-05-11 Online:2016-08-15 Published:2016-08-15

摘要: 现有室内定位导航技术大多需要提前部署传感器网络,不适用于应急救援场景。为此,基于激光测距仪与微惯性测量单元提出一种新型的室内个人导航方法,在室内个人导航中引入同时定位与地图创建技术,无须提前部署传感器网络,实时生成室内二维平面图,并通过扫描匹配算法进行导航定位。实验结果表明,与惯性导航定位相比,该方法可以在不同的轨迹与环境下获得更精确的定位结果。

关键词: 室内个人导航, 同时定位与地图创建, 激光测距仪, 微惯性测量单元, 扫描匹配, 仿射变换

Abstract: Existing indoor navigation solutions usually rely on pre-installed sensor networks,and are not suitable for emergency agents.A new indoor personal navigation method based on laser range finder and Micro-inertial Measurement Unit(MIMU) which does not need pre-installed sensor networks is proposed.Simultaneous Localization and Mapping(SLAM) is introduced in indoor personal navigation.This method can continuously obtain indoor maps,and scan matching is used as navigation algorithm.Experimental results show that the proposed method can achieve preciser indoor navigation in different environment compared with inertial navigation.

Key words: indoor personal navigation, Simultaneous Localization and Mapping(SLAM), laser range finder, Micro-inertial Measurement Unit(MIMU), scan matching, affine transformation

中图分类号: