Research On Light Detection And Ranging Technology Based On SLAM

In recent years,with the rapid development of Light Detection And Ranging Technology(LIDAR),it has very broad application prospects in digital cities,disaster monitoring,coastal engineering,and forestry surveys.High-precision laser measurement requires high accuracy of position and posture,so it requires high-precision navigation and positioning algorithms.The development of Simultaneous Localization and Mapping(SLAM)theory breaks the limitations of traditional navigation and positioning methods,gives full play to the sensor's own advantages,and achieves good navigation positioning and environmental composition effects.With the application of SLAM theory in the field of LIDAR,the precision of LIDAR has been greatly improved,so laser SLAM technology has also received increasing attention.This paper designs and implements a highly autonomous laser scanning system(LIDAR system),and studies laser SLAM technology.Using laser SLAM technology in LIDAR system to achieve higher precision navigation positioning and construction of high-precision 3D points cloud map.The main research contents of this paper are as follows:(1)According to the needs of the project,the LIDAR system has realized the real-time synchronous acquisition of laser and inertial measurement unit(IMU)data,and completed the display,storage,filtering of a 3D point cloud and a series of algorithm processing work in the ground station.(2)In this paper,the basic framework of 3D laser measurement technology based on SLAM is designed,and then the laser SLAM algorithm steps of LIDAR system are formulated according to the basic module of laser SLAM theory.In this paper,the advantages of the point cloud feature extraction method based on the smoothness parameters are introduced.Based on the analysis of the system's motion,a Levenberg-Marquardt-based odometer estimation and map matching optimization scheme is implemented.Finally,the advantages and disadvantages of the laser SLAM algorithm based on Levenberg-Marquardt are analyzed through multiple experiments.(3)For the disadvantages of laser SLAM algorithm based on Levenberg-Marquardt method in the case of nonlinear motion,this paper uses IMU to optimize it,and designs and implements a fusion method based on extended Kalman filter and weighted fusion to perform motion estimation.Finally,the experimental data is used to analyze the improvement of laser SLAM algorithm based on Levenberg-Marquardt method.The 3D laser measurement technology based on the fusion IMU laser SLAM algorithm designed in this paper has been applied in practical projects.Its measurement accuracy meets the requirements of the project,and the error is less than 5 cm.