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: 

• TN966