【摘要】 针对自身不带位置传感器的大型移动平台,设计了一个基于激光雷达的定位系统.所述定位系统利用激光雷达提取外部环境中的线段特征和路标特征,通过扩展卡尔曼滤波算法,对移动平台进行运动预测和位姿修正,从而完成移动平台的定位过程.通过大量实验验证了系统的定位精度和可靠性.更多还原

【Abstract】 For the large mobile platform without position sensor,a localization system using laser radar is designed.The system extracts the features of line segments and landmarks in the environment using laser radar,and then uses the EKF (extended Kalman filter) algorithm for movement prediction and position amendment of the platform,thus the localization is completed.A large number of experiments prove the precision and reliability of the system.更多还原