基于激光雷达平面实时定位研究

RESEARCH REAL TIME POSITIONING ON PLANAR BASED ON LIDAR

将激光雷达安置于坐标原点,利用激光雷达测定平面上目标点坐标(r,θ),实现对目标点的定位。为了避免激光雷达测量上的视野盲区,设置激光雷达在平面上360°旋转对空间进行扫描捕获目标点,为了消除激光雷达位于一固定点对目标点的定位,导致定位测量上数据的单一性,将激光雷达置于一移动平台,构建动态坐标系,测量与平台同平面目标点相对激光雷达位置的坐标(r_(i),θ_(i)),通过坐标转换,将多次测量的坐标平均值作为目标点的定位坐标值,实现对平面上特征点的定位,最后利用MATLAB进行数据处理绘图。

The lidar is placed at the coordinate origin,and the coordinates of the target point on the plane are measured by the lidar to realize the positioning of the target point.In order to avoid the blind area in lidar measurement,the lidar is set to scan and capture the target points by 360°rotation on the plane.In order to eliminate the location of the lidar at a fixed point to the target point,resulting in the single data in the positioning measurement,the lidar is placed on a mobile platform,and a dynamic coordinate system is constructed to measure the target point relative to the lidar in the same plane of the platform Through coordinate transformation,the average value of coordinates measured many times is taken as the positioning coordinate value of the target point,so as to realize the positioning of the feature points on the plane.Finally,the data processing and drawing are carried out by using MATLAB.