摘要
针对设备对接等特殊环境对导航定位系统的需求,提出了一种新的基于激光测距传感器进行位置跟踪的方法,主要包含激光雷达成像特征匹配和EKF滤波跟踪两部分,相比传统的雷达与视觉定位具备高精高速等特点。在搭建的实验平台上通过进行室内跟踪实验,最终验证了该方法的有效性。
For the docking equipments＇ needs of navigation and positioning system,a new location tracking method based on laser radar sensor is proposed.The method includes two parts which are image feature matching and EKF tracking,and it has higher precision and speeds comparing to traditional visual or radar positioning.On the basis of the experimental platform be built,lots of indoor tracking experiments prove the effectiveness of this method.
出处
《机械与电子》
2012年第5期65-68,共4页
Machinery & Electronics
基金
江苏省科技支撑计划资助项目(BE2010054)
关键词
识别
特征提取
滤波跟踪
误差分析
recognition
feature extraction
tracking filter
error analysis
