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Invention Grant
CN106969784B 一种并发建图定位与惯性导航的组合误差融合系统 失效 - 权利终止 转让

一种并发建图定位与惯性导航的组合误差融合系统
Abstract:
本发明公开了一种并发建图定位与惯性导航的组合误差融合系统，属于智能导航装置领域，包括运载体、惯性导航器件、并发建图定位装置和误差融合装置；所述惯性导航器件包括加速度计、陀螺仪和惯性导航驱动装置，所述并发建图定位装置包括激光雷达和环境地图构建装置；所述误差融合装置包括线性离散并发建图定位误差模块、惯性导航误差模块和加权融合模块；使机器人定位与导航更精确可靠。
Abstract(English):

The invention belongs to the field of intelligent navigation devices and discloses a simultaneous localization and mapping and inertial navigation combined error fusion system. The system comprises a carrier, an inertial navigation device, a simultaneous localization and mapping device and an error fusion device. The inertial navigation device comprises an accelerometer, a gyroscope and an inertial navigation driving device. The simultaneous localization and mapping device comprises laser radar and an environment map building device. The error fusion device comprises a linear discrete simultaneous localization and mapping error module, an inertial navigation error module and a weight fusion module. Therefore, high accuracy and reliability in positioning and navigation of robots can be realized.

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