激光测距传感器在自主导航小车中的位置标定

发布时间：2018-05-13 18:02

本文选题：传感器 + 激光测距传感器　；参考：《激光与光电子学进展》2017年06期

【摘要】：为解决二维(2D)激光测距传感器在自主导航小车中的位置标定问题,提出了一种新的标定方法,首先根据小车直行时的轨迹方程和传感器的姿态信息,求解出传感器在小车中的姿态;然后根据小车原地旋转时传感器、小车控制点的轨迹以及相位关系,计算出传感器在小车中的位置。实验结果表明,该标定方法简便、精确、可靠,标定精度满足小车导航的要求。
[Abstract]:In order to solve the problem of position calibration of 2-D laser ranging sensor in autonomous navigation vehicle, a new calibration method is proposed. Firstly, according to the trajectory equation of the vehicle and the attitude information of the sensor, a new calibration method is proposed. The attitude of the sensor in the vehicle is solved, and the position of the sensor in the vehicle is calculated according to the track and phase relationship of the sensor and the control point of the vehicle when the vehicle rotates in situ. The experimental results show that the calibration method is simple, accurate and reliable, and the calibration accuracy can meet the requirements of vehicle navigation.
【作者单位】：上海交通大学激光制造与材料改性重点实验室;
【基金】：国防基础科研计划项目(A0720132003) 上海市重大技术装备研制专项(ZB-ZBYZ-03-11-0485)
【分类号】：TP212;TP23

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