Laser radar two-dimensional positioning method based on array columns

• Main Authors: ZHANG TIANHAO, CHEN LIZHONG, PANG GUILIANG, LIU XIAOZHENG, YAN YIQING, XUE ZHENXI, LUO LINWEI, WU GUILIANG, JIN QIANG, ZHENG YUQUN
• Format: Patent
• Language: Chinese; English
• Published: 10.01.2023
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The invention discloses a laser radar two-dimensional positioning method based on array columns. The method comprises the following steps: firstly, determining actual feature points of each column and actually measuring two-dimensional positions of the actual feature points; then the laser radar performs two-dimensional scanning on the stand column and performs processing to obtain scanning feature points corresponding to the actual feature points and a scanning distance and a scanning azimuth angle between the laser radar and the scanning feature points; and then calculating the actual distance and the actual azimuth angle of the laser radar according to the known pose of the laser radar at the previous moment and the selected actual feature points, selecting the scanning distance and the scanning azimuth angle by matching with a threshold value, and then determining the pose of the laser radar according to the selected actual feature points. According to the method, the feature points of the stand columns s