| 引用本文: | 王赞,杨明,郭林栋,王春香,王冰.利用磁钉段特征创建磁钉地图的新方法[J].哈尔滨工业大学学报,2019,51(3):23.DOI:10.11918/j.issn.0367-6234.201710105 |
| WANG Zan,YANG Ming,GUO Lindong,WANG Chunxiang,WANG Bing.A new magnetic map generation method using magnetic segment features[J].Journal of Harbin Institute of Technology,2019,51(3):23.DOI:10.11918/j.issn.0367-6234.201710105 |
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| 利用磁钉段特征创建磁钉地图的新方法 |
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王赞1,2,杨明1,2,郭林栋1,2,王春香3,王冰1,2
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(1.上海交通大学 电子信息与电气工程学院,上海 200240;2.系统控制与信息处理教育部重点实验室(上海交通大学), 上海 200240; 3.上海交通大学 机器人研究所,上海 200240)
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| 摘要: |
| 针对磁钉导航系统中磁钉地图创建困难、现有建图方法不适用于多路口磁钉地图的问题,提出一种利用磁钉段特征创建磁钉地图的新方法. 首先采用惯导、里程计和磁尺采集道路磁钉数据,依据标志磁钉划分磁钉段,从传感器数据中提取出磁钉段的特征,进行特征匹配,在匹配成功的磁钉段之间建立闭环约束. 然后利用改进图优化算法,减小错误闭环约束对优化结果的影响. 最后从优化完成的图中提取出磁钉点,再建立磁钉地图. 基于真实道路环境的实验结果表明:利用磁钉段特征创建磁钉地图的新方法操作简单,建立的磁钉地图精度较高,全局一致性很好,导航试验也验证了地图的可用性. 该方法可以很好地解决多路口磁钉地图建图问题,是一种有效的磁钉地图创建方法. |
| 关键词: 磁钉导航 磁钉地图 闭环约束 磁钉段特征 图优化 |
| DOI：10.11918/j.issn.0367-6234.201710105 |
| 分类号:TP242.6 |
| 文献标识码:A |
| 基金项目:国家自然科学基金重大研究计划培育项目(91420101) |
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| A new magnetic map generation method using magnetic segment features |
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WANG Zan1,2,YANG Ming1,2,GUO Lindong1,2,WANG Chunxiang3,WANG Bing1,2
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(1. School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China; 2. Key Laboratory of System Control and Information Processing (Shanghai Jiao Tong University), Ministry of Education, Shanghai 200240, China; 3. Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240, China)
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| Abstract: |
| To solve the difficulty of generating magnetic maps in magnetic guidance system and improve the poor applicability of the existing methods on multi-intersection mapping, a method applying the feature of magnetic segment is proposed in this paper. First, IMU, odometer, and magnetic ruler were used to collect the road magnets data, and then the data were divided into magnetic segments based on the signal magnetic segment. After that the features of the magnetic segments were extracted from the sensors data, they were matched and loop closure constraints were established between the segments. Second, by using the improved graph-based optimization algorithm, the influence of error constraints was reduced. Finally, the corrected magnets were obtained from the optimized graph and the magnetic map could be generated. Based on the experimental results of a real road, it can be concluded that the method is simple to operate and the obtained magnetic map is accurate with high global consistency. The guidance experiment also verified the usability of the method. Therefore, this method has a wide applicability on multi-intersection mapping and it can effectively generate magnetic maps. |
| Key words: magnetic guidance magnetic map loop closure magnetic segment feature graph-based optimization |
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