本文選題：傳感器 + 激光測(cè)距傳感器�。� 參考：《激光與光電子學(xué)進(jìn)展》2017年06期

【摘要】：為解決二維(2D)激光測(cè)距傳感器在自主導(dǎo)航小車(chē)中的位置標(biāo)定問(wèn)題,提出了一種新的標(biāo)定方法,首先根據(jù)小車(chē)直行時(shí)的軌跡方程和傳感器的姿態(tài)信息,求解出傳感器在小車(chē)中的姿態(tài);然后根據(jù)小車(chē)原地旋轉(zhuǎn)時(shí)傳感器、小車(chē)控制點(diǎn)的軌跡以及相位關(guān)系,計(jì)算出傳感器在小車(chē)中的位置。實(shí)驗(yàn)結(jié)果表明,該標(biāo)定方法簡(jiǎn)便、精確、可靠,標(biāo)定精度滿(mǎn)足小車(chē)導(dǎo)航的要求。
[Abstract]:In order to solve the problem of position calibration of 2-D laser ranging sensor in autonomous navigation vehicle, a new calibration method is proposed. Firstly, according to the trajectory equation of the vehicle and the attitude information of the sensor, a new calibration method is proposed. The attitude of the sensor in the vehicle is solved, and the position of the sensor in the vehicle is calculated according to the track and phase relationship of the sensor and the control point of the vehicle when the vehicle rotates in situ. The experimental results show that the calibration method is simple, accurate and reliable, and the calibration accuracy can meet the requirements of vehicle navigation.
【作者單位】： 上海交通大學(xué)激光制造與材料改性重點(diǎn)實(shí)驗(yàn)室;
【基金】：國(guó)防基礎(chǔ)科研計(jì)劃項(xiàng)目(A0720132003) 上海市重大技術(shù)裝備研制專(zhuān)項(xiàng)(ZB-ZBYZ-03-11-0485)
【分類(lèi)號(hào)】：TP212;TP23

【參考文獻(xiàn)】

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本文編號(hào)：1884233