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首页> 外文期刊>Journal of Field Robotics >Federated-Filter-Based Unmanned Ground Vehicle Localization Using 3D Range Registration with Digital Elevation Model in Outdoor Environments
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Federated-Filter-Based Unmanned Ground Vehicle Localization Using 3D Range Registration with Digital Elevation Model in Outdoor Environments

机译：在户外环境中使用3D范围配准和数字高程模型进行基于联合过滤的无人地面车辆定位

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摘要

An integrated GPS/INS does not guarantee localization robustness in outdoor environments, because GPS is vulnerable to external disturbances. However, a digital elevation model (DEM) contains 3D data on the terrain over a specified area and hence can provide in-depth localization information during GPS blockage. This paper proposes federated-filter-based localization using three-dimensional (3D) range registration with a DEM. A noreset-feedback method is used and a 3D LIDAR sensor, magnetic compass, and odometer are used to correct INS errors in GPS blockage. For 3D range registration with DEM, this paper presents a framework based on the weighted registration scheme of two transformations, pairwise registration and registration with DEM, with the INS position and attitude information. The transformation is first determined by comparing the results of two registration methods with the INS position and is then modified to replace the orientation result of 3D registration with the INS attitude. A multilayered DEM approach using the height of the integrated system is also used to constrain the search range of DEM into three layers near the current unmanned ground vehicle (UGV) position when the corresponding point is searched for in the DEM. Experimental results show that the proposed localization algorithm can greatly enhance the robustness and accuracy of UGV localization in outdoor environments.
机译：集成的GPS / INS不能保证室外环境中的定位稳健性，因为GPS容易受到外部干扰。但是，数字高程模型（DEM）包含指定区域上地形的3D数据，因此可以在GPS阻塞期间提供深度的定位信息。本文提出了一种使用基于DEM的三维（3D）范围配准的基于联合滤波器的定位方法。使用noreset-feedback方法，并使用3D LIDAR传感器，磁罗经和里程表来校正GPS阻塞中的INS错误。对于使用DEM进行3D范围配准，本文提出了一个基于两次转换的加权配准方案的框架，成对配准和DEM配准，并带有INS位置和姿态信息。首先通过将两种配准方法的结果与INS位置进行比较来确定转换，然后将其修改为以INS姿态替换3D配准的定向结果。当在DEM中搜索相应点时，使用集成系统高度的多层DEM方法还用于将DEM的搜索范围限制为当前无人地面车辆（UGV）位置附近的三层。实验结果表明，提出的定位算法可以大大提高户外环境下UGV定位的鲁棒性和准确性。

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  • 来源
    《Journal of Field Robotics》 |2012年第2期|p.298-314|共17页
  • 作者

    Ji-Hoon Choi; Yong-Woon Park; Jun Kim; Tok-Sun Choe; Jae-Bok Song;

  • 作者单位

    UGV Technology Directorate, Agency for Defense Development, Yuseong, Daejeon305-600, Korea;

    UGV Technology Directorate, Agency for Defense Development, Yuseong, Daejeon305-600, Korea;

    UGV Technology Directorate, Agency for Defense Development, Yuseong, Daejeon305-600, Korea;

    UGV Technology Directorate, Agency for Defense Development, Yuseong, Daejeon305-600, Korea;

    Department of Mechanical Engineering, Korea University, Sungbuk-gu, Seoul 136-713, Korea;

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