本文選題：激光掃描測距儀 + 微慣性測量單元　； 參考：《計算機仿真》2017年04期

【摘要】：在應急救援場景中,室內(nèi)定位導航系統(tǒng)可以使人員極大提升對環(huán)境的感知能力,增強人身的安全性,同時能夠加快任務部署與完成。目前存在的室內(nèi)定位技術通常需要預先安裝傳感器網(wǎng)絡,無法實時生成未知環(huán)境平面地圖,并不適用于應急救援。提出一種采用激光掃描測距儀與微慣性測量單元的室內(nèi)定位與建圖方法,用于應急救援場景下的室內(nèi)人員定位導航。上述方法自主性強,無需預先安裝傳感器網(wǎng)絡,設計使用卡爾曼濾波器對激光掃描測距儀與微慣性測量單元分別獲得的位置信息進行融合,并得到室內(nèi)環(huán)境的實時建圖。實驗表明,改進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】： 中國電子科技集團公司第二十九研究所;中國人民武裝警察部隊學院研究生部;
【基金】：河北省科技計劃項目(15275427)
【分類號】：TN249
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本文編號：2006527