摘要
传统系统对移动目标进行定位时,未考虑GPS易受天气和位置干扰的缺陷,导致定位结果具有一定的误差,为此设计了基于激光雷达技术的移动目标定位系统,系统硬件由标签模块、CAN网络模块和激光雷达模块等构成,采用激光雷达模块实现激光雷达信号的采集、测量以及传输;系统软件在激光雷达模块中设计构建激光雷达测量模型,通过该模型测量移动目标位置信息后,采用扩展卡尔曼滤波算法对移动目标进行运动预测与位置修正完成准确定位。实验结果表明,所设计系统可有效定位移动目标,且经过多次实验,定位耗时最大值仅为11ms、定位误差率最大值为0.12、定位功能稳定性高达99.99%、灵活性高达97%,具有耗时短、误差小以及稳定性与灵活性高的优势。
When using inertial global psitioning system(GPS)combined navigation and positioning system to locate moving targets,GPS's vulnerability to weather and position interferences were not considered,resulting in certain errors in positioning results.A mobile target positioning system based on lidar technology is designed.The system hardware consists of a label module,CAN network module,and a lidar module.The lidar module is used to achieve the collection,measurement,and transmission of lidar signals.The system software designs and constructs a lidar measurement model in the lidar module.After measuring the moving target position information through the model,the extended Kalman filter algorithm is used to predict the moving target and correct the position to accurately locate it.The experimental results show that the designed system can effectively locate moving targets.After many experiments,the maximum positioning time is only 11 ms,the maximum positioning error rate is 0.12,the positioning function stability is as high as 99.99%,and the flexibility is as high as 97%.It has the advantages of short time,small error,high stability and flexibility.
作者
王艳玲
张淼森
王晴
郑倩倩
盛晶晶
WANG Yanling;ZHANG Miaomiao;WANG Qing;ZHENG Qianqian;SHENG Jingjing(Electronic Information College of Changchun Guanghua University,Changchun 130031,China)
出处
《激光杂志》
北大核心
2019年第6期112-115,共4页
Laser Journal
基金
吉林省十三五科学技术项目(No.JJKH20171027KJ)
关键词
激光雷达
移动目标
定位系统
测量模型
滤波算法
目标位置
lidar
move the target
positioning system
measurement models
filtering algorithm
target location
