【作者】 张毅； 付梦印； 王美玲；

【Author】 Yi Zhang;Mengyin Fu;Meiling Wang;Academy of Auto Control,Beijing Institute of Technology;

【机构】 北京理工大学自动化学院；

【摘要】 本文针对即时定位与地图构建问题中的无人地面车辆自身定位的精度问题进行了分析,在地图构建的环境描述方法上,根据车载传感器在环境信息描述上具有较强的几何特征这个特点,提出了一种基于几何特性的环境描述方法,并针对环境描述中的不确定性问题进行了分析,利用计算几何的方法对传感器测量误差产生的不确定性进行了建模和描述,最后利用计算几何的计算方法,提出一种定位估计算法,能够减少测量误差对定位坐标计算的影响。更多还原

【Abstract】 This paper analyzes the accuracy concerns of self-positioning of some unmanned ground vehicle that is undertaking simultaneous localization and mapping.The environment information description provided by vehicle sensor usually has strong geometric feature.Thus,the paper puts forward a method with geometric feature for simultaneous localization and mapping environment description.After analyzing the uncertainties in this type of environment description,the paper uses computational geometry to model and describe the uncertainties caused by measuring error of the sensor.At last,by using computational geometry,the paper proposes a location estimation algorithm that helps to reduce the impact of measuring errors on calculation coordinates.更多还原