http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-113960622-A
Outgoing Links
| Predicate | Object |
|---|---|
| assignee | http://rdf.ncbi.nlm.nih.gov/pubchem/patentassignee/MD5_5a3af8c0eb98fa32c9867f1657fdd194 |
| classificationCPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G01S17-86 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G01S7-4802 |
| classificationIPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G01S17-86 http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G01S7-48 |
| filingDate | 2021-10-26-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| inventor | http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_4c898c97cbb6ab4d829bdfdf0807a40e http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_301e09dc9a92a5ee066509d4184413ed http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_b89444fd35d3d7910cdce9efb98a8886 |
| publicationDate | 2022-01-21-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber | CN-113960622-A |
| titleOfInvention | Real-time positioning method and device fusing laser radar and IMU sensor information |
| abstract | The invention provides a real-time positioning method and a real-time positioning device integrating laser radar and IMU sensor information, which take unscented Kalman filtering as a framework, use high-frequency inertial measurement unit data to predict the motion of an unmanned platform, and cache the data; after receiving the laser radar data with the timestamp, the point cloud matching module uses the predicted pose as prior information and performs matching based on normal distribution transformation and a known point cloud map to obtain global positioning information with delay; and updating the unscented Kalman filtering at the moment of the laser radar timestamp by using the positioning information, calibrating the prediction error of the inertial measurement unit, and performing re-prediction by using cached high-frequency inertial measurement unit data based on the positioning information to realize the low-delay and high-frequency positioning effect. The method can realize high-frequency and low-delay real-time positioning, and brings better control effect. |
| isCitedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-116295345-A http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-114660589-B http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-114660589-A http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-114608569-A http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-114897942-B http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-114897942-A |
| priorityDate | 2021-10-26-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type | http://data.epo.org/linked-data/def/patent/Publication |
Incoming Links
| Predicate | Subject |
|---|---|
| isDiscussedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/protein/ACCP27058 http://rdf.ncbi.nlm.nih.gov/pubchem/compound/CID25078152 http://rdf.ncbi.nlm.nih.gov/pubchem/substance/SID422707724 |
Total number of triples: 24.