本文選題：激光掃描測(cè)距儀 + 微慣性測(cè)量單元�。� 參考：《計(jì)算機(jī)仿真》2017年04期

【摘要】：在應(yīng)急救援場(chǎng)景中,室內(nèi)定位導(dǎo)航系統(tǒng)可以使人員極大提升對(duì)環(huán)境的感知能力,增強(qiáng)人身的安全性,同時(shí)能夠加快任務(wù)部署與完成。目前存在的室內(nèi)定位技術(shù)通常需要預(yù)先安裝傳感器網(wǎng)絡(luò),無法實(shí)時(shí)生成未知環(huán)境平面地圖,并不適用于應(yīng)急救援。提出一種采用激光掃描測(cè)距儀與微慣性測(cè)量單元的室內(nèi)定位與建圖方法,用于應(yīng)急救援場(chǎng)景下的室內(nèi)人員定位導(dǎo)航。上述方法自主性強(qiáng),無需預(yù)先安裝傳感器網(wǎng)絡(luò),設(shè)計(jì)使用卡爾曼濾波器對(duì)激光掃描測(cè)距儀與微慣性測(cè)量單元分別獲得的位置信息進(jìn)行融合,并得到室內(nèi)環(huán)境的實(shí)時(shí)建圖。實(shí)驗(yàn)表明,改進(jìn)方法提高了人員在未知的室內(nèi)環(huán)境中的定位精度,同時(shí)可建造增量式室內(nèi)環(huán)境地圖。
[Abstract]:In the emergency rescue scene, the indoor positioning and navigation system can greatly enhance the personnel perception of the environment, enhance personal security, and speed up the deployment and completion of the task. The existing indoor positioning technology usually needs to install sensor network in advance, which can not generate the plane map of unknown environment in real time, so it is not suitable for emergency rescue. A method of indoor positioning and mapping based on laser scanning rangefinder and micro inertial measurement unit is proposed, which can be used for indoor personnel positioning and navigation in emergency rescue scene. The above method has strong autonomy and does not need to install sensor network. Kalman filter is used to fuse the position information obtained by laser scanning rangefinder and micro inertial measurement unit and to get the real time map of indoor environment. The experimental results show that the improved method can improve the positioning accuracy of people in unknown indoor environment and can also build incremental indoor environment map.
【作者單位】： 中國(guó)電子科技集團(tuán)公司第二十九研究所;中國(guó)人民武裝警察部隊(duì)學(xué)院研究生部;
【基金】：河北省科技計(jì)劃項(xiàng)目(15275427)
【分類號(hào)】：TN249
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本文編號(hào)：2006527