Research On Lidar/IMU Integrated Navigation And Positioning Method

In recent years,many people tend to use positioning technology for indoor location services with increasing demands.Hospitals,warehouse logistics,museums,emergency rescue and disaster relief and other places are all application scenes of indoor positioning technology.A LOAM algorithm based on APF(adaptive particle filter)is proposed in this paper to solve the localization error problem of LOAM algorithm used in indoor combined navigation.Experiments show that the trajectory of the LOAM fusion APF(adaptive particle filter)algorithm is nearly twice as accurate as that of the LOAM algorithm.In order to better verify the accuracy effect,r-FANS16 line lidar integrated inertial navigation device IMU was used to test and compare the results under closed and non-closed routes.The results verify that LOAM algorithm fusion APF algorithm provides accurate position trajectory for the vehicle under closed route.In addition,LOAM algorithm can also be used to fuse APF algorithm in non-closed-loop trajectory to effectively perform calibration compensation for motion distortion and filter noise points,so as to achieve the effect of trajectory correction,reduce the error with the real trajectory,and improve the positioning accuracy.This method solves the deviation problem in the positioning trajectory and has certain practical significance.This article has carried on the research analysis from the following aspects.1.Introduce the basic conceptual knowledge of lidar SLAM,point cloud data processing method,point cloud registration method,LOAM algorithm,APF algorithm and loop-loop detection and other related technologies.2.Various coordinate systems,namely the conversion between coordinate systems,are introduced,as well as relevant knowledge of strapdown inertial system.For example,some algorithms such as quaternion method and equivalent rotation vector method are explained.3.Based on the current research status at home and abroad and the existing basic hardware platform and research background,a combination technology of lidar and IMU multi-sensor is proposed to reduce indoor positioning error by LOAM fusion APF algorithm.Aiming at the comparison of positioning trajectory accuracy between semi-closed route and fully closed route,the accuracy requirements of semi-closed route and fully closed route are satisfied,the motion distortion and isolated noise points can be effectively eliminated,and the positioning accuracy can be improved to centimeter level.