3D Mapping Based On The Cooperation Of Lidar And GPS/INS

With the concept of digital earth and intelligent city being proposed and the footsteps of the robot era getting closer,both humans and robots have placed higher demands on the acquisition and accuracy of environmental information.The emergence and development of 3D laser SLAM technology has made the acquisition of spatial information faster and more accurate,providing a powerful new means to promote the digitalization of information.However,the existing 3D laser SLAM technology needs to be improved in the balance of popularity,real-time performance and stability.In response to these problems,this paper proposes a 3D mapping system based on laser radar and integrated navigation system to find a balance between real-time performance,robustness and popularity.In this paper,the data fusion between GPS system and inertial navigation system is realized based on uncoupled and loosely coupled methods.And the loosely coupled method is based on Kalman filter algorithm.Through the performance comparison experiments,it is found that the fusion effect obtained by the loosely coupled method is better than by the uncoupled method.Therefore,the loosely coupled combination method is adopted in this paper,and on this basis,for the hopping problem occurs in the positioning result of the integrated navigation system when the satellite signal is occluded or the positioning type is changed,the averaging filtering algorithm is used to re-optimize the positioning result.In order to make up for the defects of map building using laser radar or integrated navigation system alone,this paper proposes a collaborative positioning method for laser radar and integrated navigation system.The method evaluates the laser location information based on the factual constraint,and marks the positioning information of the combined navigation based on the GPS positioning state and the number of received satellite signals.And automatically switches to the integrated navigation system when determining that the laser location fails to match.Or switch back to the laser location when the information of the integrated navigation system is insufficient,so as to ensure the uninterrupted operation of the system,realize the effective complementarity of the two methods,and solved the problem of inaccurate positioning and map building failure caused by factors such as large turning angle,big driving speed,less environmental feature,dense buildings,etc.The unmanned vehicle equipped with GPS system,IMU and 16-line laser radar is used as the experiment platform to carry out map building experiments in large outdoor scenes.The experiment results verify the practicability and effectiveness of the collaborative positioning method of laser radar and integrated navigation system.