Tight coupling 3D laser SLAM system and method based on iterative extended Kalman filtering

The invention discloses a tight coupling 3D laser SLAM system and method based on iterative extended Kalman filtering, a laser-inertial odometer is constructed based on an iterative error state extended Kalman filter, and a rear end is formed with the assistance of track-based loopback detection, so...

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Bibliographische Detailangaben
Hauptverfasser:	LI HANG, ZHANG XINLAN, DONG ZILE, TANG BAOFANG, SUN YAN
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	ANALOGOUS ARRANGEMENTS USING OTHER WAVES DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES GYROSCOPIC INSTRUMENTS LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION SURVEYING TESTING
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Beschreibung
Zusammenfassung:	The invention discloses a tight coupling 3D laser SLAM system and method based on iterative extended Kalman filtering, a laser-inertial odometer is constructed based on an iterative error state extended Kalman filter, and a rear end is formed with the assistance of track-based loopback detection, so that the 3D laser SLAM system is formed. And a robot carrying a 3D laser radar and an IMU is used to construct a map by using the SLAM algorithm. The method can effectively improve the positioning precision and robustness, reduces the calculation complexity, has good radar compatibility, and meets the requirements of practical application. 本发明公开了一种基于迭代扩展卡尔曼滤波的紧耦合3D激光SLAM系统及方法，基于迭代误差状态扩展卡尔曼滤波器构建激光-惯性里程计，辅以基于轨迹的回环检测组成后端，构成3D激光SLAM系统，并且使用搭载3D激光雷达和IMU的机器人使用该SLAM算法进行地图构建。本发明能够有效提高定位精度、鲁棒性，并降低计算复杂度，同时具有较好的雷达兼容性，以满足实际应用的需求。