Research On Ranging And Positioning Of Multidimensional Information Based On Lidar

In recent years,with the deployment of 5G networks and the advancement of the Internet of Everything,the automation and intelligence of various devices have also developed rapidly.The accurate and efficient completion of sensory perception of the surrounding environment is the basis for achieving high intelligence.At present,the physical defects and observation errors of a single sensor will cause difficulties in environmental detection.Therefore,the use of multi-sensor fusion to achieve efficient and accurate ranging and positioning is a current research hotspot.In this paper,lidar is used as the core sensor to realize the observation and ranging of the environment.The multi-sensor fusion method is used to realize the positioning and observation function of the indoor environment on the mobile robot as the sensor carrier.The application of positioning in autonomous navigation was studied.The main work and contributions of this paper are as follows:(1)The sensor ranging models commonly used in actual environmental perception are studied,and the methods of different sensors for implementing ranging and the processing of observation data are introduced.Aiming at the movement distortion of the lidar during range measurement,a scheme is proposed to fuse the lidar point cloud distortion with camera fusion.(2)On the basis of the data fusion and distortion elimination of the lidar camera,amulti-sensor fusion perception positioning system is constructed.Including thefront-end odometer thread of lidar camera data fusion,the back-end optimization thread for error correction through wheel odometer and inertial measurement unit;the loop detection thread for similarity detection through feature extraction clustering And with the mobile robot as the carrier,on the basis of the robot operating system platform,the functions of real-time positioning and composition are realized.(3)On the basis of multi-dimensional information ranging and positioning,its application in autonomous navigation scenarios is studied.An improved A * global path planning algorithm is proposed.Compared with the original A * algorithm,this algorithm optimizes the way of node insertion and realizes the adaptability of the estimation function.Compared with the traditional algorithm,the improved algorithm is safe,efficient and smooth.On this basis,an autonomous navigation system including global path planning and local path planning is constructed.In this paper,the computer simulation and experiment of the proposed algorithm and the constructed system are carried out,and the function of the fusion positioning system and autonomous navigation system is verified by mobile robot.The construction of a global map of the indoor environment and the generation of autonomous navigation trajectories are realized,and the reliability and real-time performance of the system are verified.