大范围室内空间物品激光定位方法

Laser positioning method for large-scale indoor space objects

为降低受外界干扰导致的室内空间物品定位误差大,无法第一时间找到物品,影响工作效率等问题。为此,提出一种大范围室内空间物品激光定位方法。在扫描平面内,利用激光测距传感器按照一定角度实行距离扫描,以传感器作为坐标中心,构建室内空间坐标系;考虑扫描时会受到噪声干扰,引入EMD非线性方法,经过三次样调插值去除激光信号噪声,然后在两帧点云间划分一次激光测距函数,去除不稳定特征点,获得稳定特征值;最后通过激光发射器发射激光、光电接收器接收激光信号,使激光扫描平面射入接收器中心,获得接收物品和基站间距离,构建约束方程,确定物品位置,完成大范围室内空间物品激光定位。实验证明:所提定位方法可降低大范围室内空间物品定位误差。

In order to reduce the indoor space object positioning error caused by external interference,it is impossible to find objects at the first time,affecting work efficiency and other issues.Therefore,a laser positioning method for large-scale indoor space objects is proposed.In the scanning plane,the laser ranging sensor is used to scan the distance according to a certain angle,and the indoor spatial coordinate system is constructed with the sensor as the coordinate center;Considering the noise interference during scanning,the EMD nonlinear method is introduced to remove the laser signal noise through cubic spline interpolation,and then the laser ranging function is divided between two frame point clouds to remove the unstable feature points and obtain the stable feature values.Finally,the laser transmitter emits the laser and the photoelectric receiver receives the laser signal,so that the laser scanning plane enters the center of the receiver,obtains the distance between the received goods and the base station,constructs the constraint equation,determines the position of the goods,and completes the laser positioning of goods in a large range of indoor space.Experiments show that the proposed positioning method can reduce the positioning error of large-scale indoor space objects.