同步定位及地图创建算法在车载移动测绘系统中的应用

胡少兴; 陈春朋; 张爱武

doi:doi:10.3788/cjl201239.1108012

中国激光, 2012, 39 (11): 1108012, 网络出版: 2012-10-18

同步定位及地图创建算法在车载移动测绘系统中的应用

Application of SLAM in Vehicle-Borne Mobile Mapping System

论文大纲

胡少兴 ^1,*陈春朋 ¹张爱武 ²

作者单位

¹ 北京航空航天大学机械工程及自动化学院，北京 100191

² 首都师范大学三维信息获取与应用教育部重点实验室，北京 100037

摘要

为了解决车载移动测图中全球卫星定位系统(GPS)失锁及无GPS导致的导航定位问题，提出了一种利用水平布设二维激光扫描仪和里程计结合的快速同步定位及地图创建(SLAM)方法。在详细分析车载移动测图系统定位误差来源的基础上，科学合理地设置系统的预测参数及重预测参数，并给出了宽间隔预测及状态重预测改进后的卡尔曼滤波算法。在不损失计算精度的前提下，提高了计算速度。利用上述算法在实验室环形走廊中进行了实验，实验结果证明了本算法的有效性。

Abstract

To solve the GPS denies or no GPS positioning problem of the vehicle-borne mobile mapping system (VBMMS), a fast simultaneous localization and mapping (SLAM) method using the horizontal 2D laser scanner and the odometer is proposed. Through position error analysis of VBMMS, the scientific prediction and re-prediction parameters are set. An improved extended Kalman filter (EKF) based on wide-interval prediction and re-predition are presented to speed up. The experiments done in the closed corridor show the method mentioned above are reliable.

参考文献

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胡少兴, 陈春朋, 张爱武. 同步定位及地图创建算法在车载移动测绘系统中的应用[J]. 中国激光, 2012, 39(11): 1108012. Hu Shaoxing, Chen Chunpeng, Zhang Aiwu. Application of SLAM in Vehicle-Borne Mobile Mapping System[J]. Chinese Journal of Lasers, 2012, 39(11): 1108012.

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