DOI：10.3969/j.issn.1672-3872.2023.18.045
基金项目：重庆三峡学院研究生科研创新基金“草莓智能化采摘技术研究与应用”（YJSKY23020）
作者：朱洪达，罗强，辛琪（重庆三峡学院机械工程学院，重庆 404100）
摘 要：为进一步研究多传感器融合的定位技术，项目小组介绍了几种常见传感器融合的定位方法，涉及的传感器包括里程计（ODO）、激光雷达（LiDAR）、全球卫星导航系统（GNSS）、惯性测量单元（IMU）等。基于不同传感器的适用条件以及各定位方法的测试结果，总结了GNSS/IMU传感器融合、GPS/INS/磁力计传感器融合、里程计/LiDAR/GNSS传感器融合三类传感器组合定位技术的优缺点，其中里程计/LiDAR/GNSS传感器融合定位技术定位精度高，并以里程计/LiDAR/GNSS传感器融合定位技术为例进行详细剖析，建议从室内外无缝定位平滑过渡优化、定位精度优化两方面对多传感器融合的定位方案进行改进，以提高定位精度。
关键词：多传感器融合；定位技术；定位精度
Abstract: In order to further study the positioning technology of multi-sensor fusion, the project team introduced several positioning methods fused by common sensors, including odometer (ODO), laser radar (LiDAR), global satellite navigation (GNSS), inertial measurement unit (IMU), etc. Based on the applicable conditions of different sensors and the test results of various positioning methods, the advantages and disadvantages of three types of sensor combination positioning technologies, namely GNSS/IMU sensor fusion, GPS/INS/magnetometer sensor fusion, and odometer/LiDAR/GNSS sensor fusion, are summarized. Among them, odometer/LiDAR/GNSS sensor fusion positioning technology has high positioning accuracy, and odometer/LiDAR/GNSS sensor fusion positioning technology is taken as an example for detailed analysis. It is recommended to improve the positioning scheme of multi-sensor fusion from two aspects: indoor and outdoor seamless positioning, smooth transition optimization, and positioning accuracy optimization, in order to improve the positioning accuracy.
Keywords: multi-sensor fusion; positioning technology; positioning accuracy
引文信息：[1]朱洪达，罗强，辛琪.基于多传感器融合的定位技术概述[J].南方农机，2023，54(18)：165-167.
查看全文请下载PDF文件↓
