利用UWB/LiDAR里程计的室内高精度定位方法

Method of UWB/LiDAR odometry based on indoor high precision combined location

针对超宽带(UWB)室内高精度定位中,易受非视距(NLOS)误差而导致定位不连续的问题,该文首先采用小波变换对RTT解算的测距异常值进行削弱,然后将UWB与LiDAR进行组合,综合利用UWB测距值以及LiDAR里程计所提供的距离和角度信息构建量测方程,最后通过扩展卡尔曼滤波进行定位解算。实验结果表明,该文提出的UWB/LiDAR里程计组合定位方法,实现了室内障碍物遮挡情况下的连续高精度定位,定位精度可达到亚分米级。

Aiming at the problem that the positioning discontinuity is easily caused by non light of sight(NLOS)error during the ultra-wide band(UWB)indoor high-precision positioning,in this paper,wavelet transform was used to attenuate the round-trip time(RTT)solved distance measurement anomalies firstly.Subsequently,the LiDAR odometer was used to combine with the UWB,and the measurement equations were constructed from the UWB-observed distance and the information between the LiDAR-derived distance and the angle.Finally,the extended Kalman filter was used to solve the positioning equations.Experimental results showed that the combined method using UWB/LiDAR odometer could achieve continuous high-precision positioning with sub-decimeter accuracy for indoor mobile obstacle-obstructed conditions.